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Metapkg to run the Stack-of-Tasks on TALOS with ros control

TALOS device to get the Stack-Of-Tasks in TALOS.

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

Specifically taylored talos data for SoT

Torque control for TALOS

Minimal project using Pinocchio as Rigid Body Dynamics library

Differential Dynamic Programming Solver

Stack of tasks for Tiago

Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio

A repository to perform integration tests

Encapsulate Pinocchio in SoT

Template library for parametric-curves

Implements affordance extraction for multi-contact planning