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Gabriele Nava authored Mar 11, 2019
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The repository contains Simulink-based whole-body controllers for humanoid robots, and configuration and utility Matlab functions to perform balancing simulations with Gazebo simulator and on the Yarp-based robot [iCub](http://www.icub.org/).

**Warning! This repository is under active development. In future releases, both `master` and `devel` branches may break compatibility with older versions of WBC. If you are interested in retrieving a `stable` version of this repo, `fork the repository` or refer to the following releases:**
**Warning! This repository is under active development. In future releases, `master` branch may break compatibility with older versions of WBC. If you are interested in retrieving a `stable` version of this repo, `fork the repository` or refer to the following releases:**

- [WBC v2.0](https://github.com/robotology/whole-body-controllers/releases/tag/v2.0)
- [WBC v1.0](https://github.com/robotology/whole-body-controllers/releases/tag/v1.0)
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