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    94 repositories

    • tsid

      Public
      Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio
      controlroboticsoptimization
      controlroboticsoptimizationhumanoidspinocchiotask-space-inverse-dynamics
      C++
      •
      BSD 2-Clause "Simplified" License
      •98•341•1•0•Updated Jul 20, 2026Jul 20, 2026

    • odri_dual_motor_testbed_robot

      Public
      ROS-2 package to handle the ODRI dual motor testbed robot
      Python
      •2•0•0•1•Updated Jul 20, 2026Jul 20, 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
      •2•4•0•2•Updated Jul 20, 2026Jul 20, 2026

    • odri_bolt_robot

      Public
      Repository to handle the BOLT robot under ROS-2
      Python
      •
      Apache License 2.0
      •2•5•1•2•Updated Jul 20, 2026Jul 20, 2026

    • 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
      •557•3.6k•96•9•Updated Jul 20, 2026Jul 20, 2026

    • pinocchio-minimal

      Public
      Minimal project using Pinocchio as Rigid Body Dynamics library
      C++
      •
      BSD 2-Clause "Simplified" License
      •9•28•2•0•Updated Jul 15, 2026Jul 15, 2026

    • odri_forward_command_controller

      Public
      A ros2 controller to send (position, velocity, effort, Kp, Kd) commands to an odri device
      C++
      •1•2•0•0•Updated Jul 8, 2026Jul 8, 2026

    • eigenpy

      Public
      Efficient bindings between Numpy and Eigen using Boost.Python
      pythonnumpyboost
      pythonnumpyboosteigenbindingspython3-libraryboost-python
      C++
      •
      BSD 2-Clause "Simplified" License
      •52•208•22•2•Updated Jul 7, 2026Jul 7, 2026

    • eiquadprog

      Public
      C++ reimplementation of eiquadprog
      C++
      •
      GNU Lesser General Public License v3.0
      •29•57•4•0•Updated Jul 6, 2026Jul 6, 2026

    • ros2_hardware_interface_odri

      Public
      ros2_control System Interface for the Open Dynamic Robot Initiative Master Board
      C++
      •4•7•1•3•Updated Jul 6, 2026Jul 6, 2026

    • stack-of-tasks.github.com

      Public
      Website
      HTML
      •3•2•0•0•Updated Jun 26, 2026Jun 26, 2026

    • odri_master_board_sdk_release

      Public
      Hardware and Firmware of the Solo Quadruped Master Board
      C++
      •
      BSD 2-Clause "Simplified" License
      •53•0•0•0•Updated Jun 3, 2026Jun 3, 2026

    • ddp-actuator-solver

      Public archive
      Differential Dynamic Programming Solver
      C++
      •5•4•0•0•Updated Apr 30, 2026Apr 30, 2026

    • parametric-curves

      Public archive
      Library for creating curves. Forked from https://github.com/stonneau/spline
      C++
      •5•14•0•0•Updated Apr 30, 2026Apr 30, 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
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