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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

Some biomechanical and robotic models

Some biomechanical and robotic models

A framework to generate interpretable and fair AI models for multi-class classification

List of demonstrations. Will be used for examples & integration tests.

Set of tools for the Gepetto Team

Implements affordance extraction for multi-contact planning

Refactoring of hpp-model using the kinematic tree of pinocchio

Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio