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Differential Dynamic Programming Solver

Wrapping the Stack-of-Stacks in roscontrol

Refactoring of hpp-model using the kinematic tree of pinocchio

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

Implements affordance extraction for multi-contact planning

Auto-tuned Iterative Closest Point -- AICP -- Public

Arduino demo software for this project's hardware

Collection of dynamic-graph entities aimed at implementing torque control on different robots. https://github.com/stack-of-tasks/sot-torque-control

Miscellaneous tools for the Stack of tasks

ROS wrapper around the https://github.com/qualisys/qualisys_cpp_sdk package

Rviz plugins to display whole-body states and trajectories

Collection of dynamic-graph entities aimed at implementing torque control on different robots. https://github.com/stack-of-tasks/sot-torque-control

Library for creating curves

Priority allocation algorithms for the oMDP