This report presents the results and achievements of Team HOly in the TUM ICS's Humanoid Olympics challenge. Three teams competed in making their provided Bioloid robot succeed in walking and climbing stairs. We give details on how we successfully implemented both the mandatory tasks and additional special fight and rgb-d human imitation modes: Utilizing ROS, MoveIt, OpenRave's IKfast and RViz. Furthermore, we share insights on our hardware observations and modifications. On a final note, our soulution's performance is documented in the video linked in the appendix.

Check out this neat video