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@loco-3d

loco-3d

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crocoddyl

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

ndcurves

Library for creating smooth cubic splines

whole_body_state_rviz_plugin

Rviz plugins to display whole-body states and trajectories

multicontact-locomotion-planning

MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning

whole_body_state_msgs

Standardised ROS messages for encoding whole-body state information

sl1m

Implementation of the sl1m solver for multi contact planning

multicontact-api

This package install a python module used to define, store and use ContactSequence objects.

Jupyter Notebook

linear-feedback-controller

RosControl linear feedback controller with pal base estimator and RosTopics external interface.

quadruped-walkgen

linear-feedback-controller-msgs

ROS messages which correspond to the loco-3d/linear-feedback-controller package

solo-collisions

sot-talos-balance

Coordination project for the control of the balance of Talos.