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Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio

This repo contains a PDDL-based planning system for ROS2.

Utility classes to check the (robust) equilibrium of a system in contact with the environment.

This repository contains a stabilizer for Biped Locomotion.

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on an efficient Differential Dynamic Programming (DDP) algorithm. Crocoddyl computes optimal trajectories along to optimal feedback gains. It uses P

Library for creating smooth cubic splines

Encapsulate Pinocchio in SoT

Reinforcement learning for Solo quadruped

Wrapping the Stack-of-Stacks in roscontrol

Miscellaneous tools for the Stack of tasks

This package is intended to ease construction of CORBA servers by templating actions that are common to all servers.

Unreal engine 4 environnement for HTC VIVE and Director Task