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> {{https://i.imgur.com/qliQVx1.png||width="80%"}} {{attachment:monped_hopper.gif||width="80%"}} <> == Install == To '''install''' the software, type {{{ $ sudo apt-get install ros--towr-ros }}} If the binaries for your distro don't exist yet, clone the repo into your catkin workspace as described here: '''https://github.com/ethz-adrl/towr'''. == Run == To '''run''' the program, type {{{ $ roslaunch towr_ros towr_ros.launch }}} {{attachment:towr_gui.gif||width="100%"}} == Example Motions == More examples can be found here: ||<>|||| == Publications == If you use this library in an academic context, please cite the following [[https://www.alex-winkler.com|paper]]: {{{ @article{winkler18, author = {Winkler, Alexander W and Bellicoso, Dario C and Hutter, Marco and Buchli, Jonas}, title = {Gait and Trajectory Optimization for Legged Systems through Phase-based End-Effector Parameterization}, journal = {IEEE Robotics and Automation Letters (RA-L)}, year = {2018}, month = {July}, pages = {1560-1567}, volume = {3}, doi = {10.1109/LRA.2018.2798285}, } }}} == Developers == For users interested in looking a bit behind the curtains, the [[https://github.com/ethz-adrl/towr#develop|Github Readme]] is the way to start. == Feedback == Please ask usage and general trajectory optimization questions on [[https://answers.ros.org/questions/scope:all/sort:activity-desc/tags:towr/page:1|ROS Answers]] using the tag `towr`. For specific code issues/bugs or improvements, use Github's [[https://github.com/ethz-adrl/towr/issues|issue tracker]]. ## AUTOGENERATED DON'T DELETE ## CategoryStack