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    93 repositories

    • pinocchio

      Public
      A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
      pythonc-plus-plusrobotics
      pythonc-plus-plusroboticskinematicsdynamicsautomatic-differentiationcondamotion-planningroscode-generation
      C++
      •
      BSD 2-Clause "Simplified" License
      •530•3.3k•90•6•Updated Apr 20, 2026Apr 20, 2026

    • parametric-curves

      Public
      Library for creating curves. Forked from https://github.com/stonneau/spline
      C++
      •5•14•0•0•Updated Apr 14, 2026Apr 14, 2026

    • odri_dual_motor_testbed_robot

      Public
      ROS-2 package to handle the ODRI dual motor testbed robot
      Python
      •0•0•0•0•Updated Apr 14, 2026Apr 14, 2026

    • ddp-actuator-solver

      Public
      Differential Dynamic Programming Solver
      C++
      •5•4•0•0•Updated Apr 14, 2026Apr 14, 2026

    • tsid

      Public
      Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio
      controlroboticsoptimization
      controlroboticsoptimizationhumanoidspinocchiotask-space-inverse-dynamics
      C++
      •
      BSD 2-Clause "Simplified" License
      •97•318•7•0•Updated Apr 14, 2026Apr 14, 2026

    • eiquadprog

      Public
      C++ reimplementation of eiquadprog
      C++
      •
      GNU Lesser General Public License v3.0
      •29•56•4•0•Updated Apr 14, 2026Apr 14, 2026

    • pinocchio-minimal

      Public
      Minimal project using Pinocchio as Rigid Body Dynamics library
      C++
      •
      BSD 2-Clause "Simplified" License
      •9•28•2•1•Updated Apr 13, 2026Apr 13, 2026

    • odri_bolt_robot

      Public
      Repository to handle the BOLT robot under ROS-2
      Python
      •
      Apache License 2.0
      •2•5•1•2•Updated Apr 13, 2026Apr 13, 2026

    • stack-of-tasks.github.com

      Public
      Website
      HTML
      •3•2•0•0•Updated Apr 8, 2026Apr 8, 2026

    • eigenpy

      Public
      Efficient bindings between Numpy and Eigen using Boost.Python
      pythonnumpyboost
      pythonnumpyboosteigenbindingspython3-libraryboost-python
      C++
      •
      BSD 2-Clause "Simplified" License
      •50•205•22•2•Updated Apr 7, 2026Apr 7, 2026

    • ros2_hardware_interface_odri

      Public
      ros2_control System Interface for the Open Dynamic Robot Initiative Master Board
      C++
      •4•7•1•2•Updated Apr 7, 2026Apr 7, 2026

    • odri_gz_ros2_control

      Public
      Gazebo Plugin to simulate the ODRI interface (add the Kp Kd gains to the hardware interface
      C++
      •
      Apache License 2.0
      •1•4•0•2•Updated Apr 1, 2026Apr 1, 2026

    • sot-tools

      Public archive
      Miscellaneous tools for the Stack of tasks
      C++
      •
      BSD 2-Clause "Simplified" License
      •12•1•2•1•Updated Nov 24, 2025Nov 24, 2025

    • sot-dynamic-pinocchio

      Public archive
      Encapsulate Pinocchio in SoT
      C++
      •
      BSD 2-Clause "Simplified" License
      •13•6•3•2•Updated Nov 24, 2025Nov 24, 2025

    • sot-torque-control

      Public archive
      Collection of dynamic-graph entities aimed at implementing torque control on different robots.
      C++
      •
      Other
      •15•15•18•3•Updated Nov 24, 2025Nov 24, 2025

    • talos_integration_tests

      Public archive
      A repository to perform integration tests
      Python
      •7•2•2•3•Updated Nov 24, 2025Nov 24, 2025

    • talos-torque-control

      Public archive
      Specific torque control part of sot-torque-control for Talos
      Python
      •
      BSD 2-Clause "Simplified" License
      •8•6•2•3•Updated Nov 24, 2025Nov 24, 2025

    • talos-metapkg-ros-control-sot

      Public archive
      Metapkg to run the Stack-of-Tasks on TALOS with ros control
      Python
      •
      BSD 2-Clause "Simplified" License
      •3•1•1•1•Updated Nov 24, 2025Nov 24, 2025

    • talos-data

      Public archive
      TALOS robot data for the Stack-Of-Tasks
      CMake
      •
      GNU Lesser General Public License v3.0
      •8•3•1•1•Updated Nov 24, 2025Nov 24, 2025

    • sot-tiago

      Public archive
      Stack of tasks for Tiago
      C++
      •
      Other
      •3•0•1•1•Updated Nov 24, 2025Nov 24, 2025

    • sot-talos

      Public archive
      Stack-of-Tasks package for the humanoid robot TALOS from PAL-Robotics
      Python
      •
      BSD 2-Clause "Simplified" License
      •3•1•3•1•Updated Nov 24, 2025Nov 24, 2025

    • sot-pattern-generator

      Public archive
      jrl-walkgen bindings for dynamic-graph
      C++
      •
      ISC License
      •14•5•0•1•Updated Nov 24, 2025Nov 24, 2025

    • sot-application

      Public archive
      Application dependent control graph initialization scripts for the Stack of Tasks
      Python
      •
      BSD 2-Clause "Simplified" License
      •6•0•0•1•Updated Nov 24, 2025Nov 24, 2025

    • sot-core

      Public archive
      Hierarchical task solver plug-in for dynamic-graph
      C++
      •
      BSD 2-Clause "Simplified" License
      •30•19•16•3•Updated Nov 24, 2025Nov 24, 2025

    • roscontrol_sot

      Public archive
      Wrapping the Stack-of-Stacks in roscontrol
      C++
      •
      BSD 2-Clause "Simplified" License
      •6•4•1•1•Updated Nov 24, 2025Nov 24, 2025

    • dynamic_graph_bridge_msgs

      Public archive
      Python
      •7•0•0•1•Updated Nov 24, 2025Nov 24, 2025

    • dynamic_graph_bridge

      Public archive
      Dynamic graph bindings for ROS
      C++
      •
      Other
      •26•3•3•2•Updated Nov 24, 2025Nov 24, 2025

    • dynamic-graph-tutorial

      Public archive
      Tutorial for the dynamic-graph
      C++
      •
      Other
      •6•5•0•2•Updated Nov 24, 2025Nov 24, 2025

    • dynamic-graph-python

      Public archive
      Python bindings for dynamic-graph
      C++
      •
      Other
      •21•9•3•1•Updated Nov 24, 2025Nov 24, 2025

    • dynamic-graph

      Public archive
      Efficient data-flow library for robotics.
      controlroboticshumanoid-robots
      controlroboticshumanoid-robotscontrol-graphdata-flow-graph
      C++
      •
      Other
      •23•31•3•1•Updated Nov 24, 2025Nov 24, 2025
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