@bmagyar Great! Many humanoids use cascade control schemes that aren't handled (to my knowledge) by ros_control. For hardware interfaces, we may want to initially focus on a couple of widespread core robot platforms for which we can provide ros_control hardware abstraction. There have been a few non-ROS humanoid frameworks that have demonstrated common walking controllers across multiple platforms. @airballking Can you provide a link to your WBC framework? @SammyRamone RoboCup, both soccer and rescue leagues, may be a community where we can get the most initial traction. However, we'll need to be careful to make sure our stack supports RoboCup without loss of generality. --- [Visit Topic](https://discourse.ros.org/t/humanoids-sig/1949/5) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: