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@dmronga
dmronga authored Aug 29, 2023
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# WBC - Whole-Body Control

[Code API](https://arc-opt.github.io/wbc/index.html) | [Full Documentation](https://github.com/wbc/doc/full_doc.md)
[Code API](https://arc-opt.github.io/wbc/index.html) | [Full Documentation](https://arc-opt.github.io/Documentation/)

WBC is C++ library for optimization-based control of redundant robots. It allows intuitive specification and execution of reactive robot control problems that involve multiple simultaneously running tasks.

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