The Whole-Body Locomotion Framework (WoLF) is an end-to-end software suite devoted to the loco-manipulation of quadruped robots. WoLF abstracts the complexity of planning and control of quadrupedal robot hardware into a simple to use and robust software that can be connected through multiple tele-operation devices to different quadruped robot models. Furthermore, WoLF allows controlling mounted devices, such as arms or pan-tilt cameras, jointly with the quadrupedal platform. In this short paper, we introduce the main features of WoLF and its overall software architecture.

翻译：整体移动框架(WOLF)是一个端对端软件套件,专门用于四重机器人的遥控操纵。WOLF将四重机器人硬件的规划和控制的复杂性归纳为简单易用和坚固的软件,可通过多部远程操作设备与不同的四重机器人模型连接。此外,WOLF允许与四重平台联合控制武器或全板照相机等挂载装置。在本简短的文件中,我们介绍了WOLF的主要特征及其总体软件结构。