@dkotfis Sure. The framework is called giskard and you can find the various repositories in this github organization: https://github.com/semroco A good working example of upper-body control that uses the robot Boxy of our group can found here: https://github.com/SemRoCo/giskard_boxy Following the install instructions, you can see the robot in simulation with interactive markers to pull the end-effectors. I apologize for the sparse documentation. Please do not hesitate to file issues for questions or bugs. --- [Visit Topic](https://discourse.ros.org/t/humanoids-sig/1949/6) 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: