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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.

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

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

package for the simulation of the Ouster OS1-64 with ros and gazebo.

package for the simulation of the Ouster OS1-64 with ros and gazebo.

Encapsulate Pinocchio in SoT

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

Just checking how OpenMP & Boost::Python interact.

Set of robot URDFs for benchmarking and developed examples.