Discover jrl-umi3218/mc_rtc_ros Open Source project

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C++
License
BSD 2-Clause "Sim...
Created almost 5 years ago
Updated 6 months ago

jrl-umi3218

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Tools for the mc_rtc framework built around ROS

RBDyn

RBDyn provides a set of classes and functions to model the dynamics of rigid body systems.

C++

164

mc_rtc

mc_rtc is an interface for simulated and real robotic systems suitable for real-time control

C++

106

Tasks

The Tasks library is designed to make real-time control for kinematics tree and list of kinematics tree.

C++

SpaceVecAlg

Implementation of spatial vector algebra with the Eigen3 linear algebra library.

C++

jrl-cmakemodules

CMake utility toolbox

CMake

Eigen3ToPython

Provide Eigen3 to numpy conversion

Python

copra

This a c++ implementation of a Time Invariant Linear Model Predictive Controller (LMPC) done in C++14 with python bindings

C++

eigen-quadprog

eigen-quadprog allow to use the QuadProg QP solver with the Eigen3 library.

tvm

A framework for writing and solving optimization problem, with an emphasis on robotic control (Beta)

C++

sva_rbdyn_tutorials

Tutorials in IPython notebook for the SpaceVecAlg and RBDyn library.

Python

eigen-qld

eigen-qld allow to use the QLD QP solver with the Eigen3 library.

jrl-walkgen

Walking Pattern Generator for Humanoids

C++

sch-core

Implementation and computation algorithms for the convex hulls

C++

jrl-qp

Tools and implementations to write, specialize and test QP solvers

C++

CaptureProblemSolver

A dedicated solver for the capture problem initially presented in S. Caron, B. Mallein "Balance control using both ZMP and COM height variations: A convex boundedness approach", ICRA 2018

C++

mc_rbdyn_urdf

A ROS-free URDF parser to create RBDyn structures

C++

mc_franka

Interface between mc_rtc and libfranka

C++

mc_panda

Panda's RobotModule and extensions for mc_rtc

C++

eigen-gurobi

eigen-gurobi allows to use the Gurobi QP solver with the Eigen3 library

C++

jrl-travis

Travis build scripts

Shell

lexls

A fast C++ solver for lexicographic least-squares problems

C++

jrl-umi3218.github.com

JRL webpage

TeX

mc_vrep

Interface between mc_rtc and CoppeliaSim (was V-REP)

C++

jrl-mal

Matrix Abstract Layer to allow multiple libraries on JRL code

C++

mc_force_sensor_calibration_controller

Controller to calibrate force sensors and let mc_rtc remove the effect of gravity due to links attached to the force sensors (grippers/feet).

C++

mc_naoqi

Communication module between mc_rtc and SoftBank robots running NAOqi operating system

C++

mc_openrtm

Interface between OpenRTM and mc_rtc

C++

mc_udp

UDP-based client-server implementation for mc_rtc

C++

jrl-dynamics

Implementation of RNEA for robot control

C++

pepper-fsm-controller

Sample FSM controller for the Pepper humanoid robot

C++

eigen-osqp

eigen-osqp allows to use the OSQP solver with the Eigen3 library

C++

jrl-mathtools

JRL Math Tools- Provides small size matrices efficient implementation

C++

libmocap

A simple library to load motion capture data

C++

mc_env_description

Description package for environments used along the mc_rtc framework

CMake

sample-humanoid-robot

Provides a humanoid robot model to test algorithms

Shell

ManipulationKinodynamics

Human manipulation kinodynamics dataset

jrl-cmakemodules-tutorials

Basic example of jrl-cmakemodules usage

CMake

pepper_description

ROS description package for the Pepper robot customized for mc_rtc usage

CMake

sch-creator

Creation of convex hulls volumes

C++

nao_description

NAO ROS description package modified for mc_rtc

CMake

mc_state_observation

State observers for mc_rtc

C++

mc_naoqi_dcm

Local DCM module for SoftBankRobotics robots designed to be used with mc_naoqi interface

C++

mc_rtc_msgs

ROS messages for mc_rtc

CMake

sch-visualization

Library for vizualization of the the sch volumes

C++

mc_rtc_data

Data for the mc_rtc package

CMake

SpringEstimator

CMake

bibmanagement

Python package to manipulate bibliographies and output them in various formats.

Python

mc-talos

mc_rtc robot module for Talos robot

C++

sch-core-python

Python bindings for the sch library

CMake

human_description

Human model ROS description package customized for mc_rtc

CMake

github-actions

GitHub Actions used in JRL projects

JavaScript

mc_int_obj_description

Description package for sample interactive objects in the mc_rtc framework

CMake

mc_go1

Robot module for the unitree Go1 robot

C++

mc_go1_description

Robot description for the Unitree Go1 robot

CMake

mc_panda_lirmm

Custom robot modules for panda robots in LIRMM

C++

mc_human

Human robot module for mc_rtc

C++

jrl-umi3218/mc_rtc_ros

jrl-umi3218

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