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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

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 curves

"Implementation of RB-PRM planner using hpp."

Multi contact trajectory generation for the COM using Bezier curves

This package is extracted from an original work of Justin Carpentier (jcarpent@laas.fr), with the goal to simplify the library and remove old dependencies. This package install a python module used to define, store and use ContactSequence objects.

python bindings for the rbprm library

Coordination project for the control of the balance of Talos.

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 smooth cubic splines

Wrapping the Stack-of-Stacks in roscontrol

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

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