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The Core project is the main repository intended to be cloned by end-users.

It provides all the configuration required to begin a project with OwnTech Power API, and includes the ability to automatically download OwnTech libraries.

This submodule contains file to manipulate propositional logic based on BDDs

C++ library of directed graphs

Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio

Sandbox Optimal Biped-Explicit Control

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

Torque control for TALOS

C++ utilities. Used as a submodule

Source code of ddgraph. Used as a submodule.

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

Multi contact trajectory generation for the COM using Bezier curves

This repository contains a stabilizer for Biped Locomotion.

A spring plugin for gazebo

A spring plugin for gazebo