Repositories list

• tsid

  Public
  Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio

  controloptimizationhumanoids+ 3pinocchiotask-space-inverse-dynamicsrobotics

  C++

  •

  BSD 2-Clause "Simplified" License

  •85•254•6•0•Updated Jul 29, 2025Jul 29, 2025

• pinocchio

  Public
  A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

  roboticskinematicsdynamics+ 14automatic-differentiationmotion-planningroscode-generationurdfrigid-body-dynamicscppad+ 7

  C++

  •

  BSD 2-Clause "Simplified" License

  •452•2.6k•91•8•Updated Jul 28, 2025Jul 28, 2025

• eigenpy

  Public
  Efficient bindings between Numpy and Eigen using Boost.Python

  numpyboosteigen+ 4bindingspython3-libraryboost-pythonpython

  C++

  •

  BSD 2-Clause "Simplified" License

  •45•191•21•3•Updated Jul 25, 2025Jul 25, 2025

• stack-of-tasks.github.com

  Public
  Website

  HTML

  •3•2•0•1•Updated Jul 22, 2025Jul 22, 2025

• talos-torque-control

  Public
  Specific torque control part of sot-torque-control for Talos

  Python

  •

  BSD 2-Clause "Simplified" License

  •8•5•2•3•Updated Jul 14, 2025Jul 14, 2025

• sot-tiago

  Public
  Stack of tasks for Tiago

  C++

  •

  Other

  •3•0•1•1•Updated Jul 14, 2025Jul 14, 2025

• sot-tools

  Public
  Miscellaneous tools for the Stack of tasks

  C++

  •

  BSD 2-Clause "Simplified" License

  •12•1•2•1•Updated Jul 14, 2025Jul 14, 2025

• sot-talos

  Public
  Stack-of-Tasks package for the humanoid robot TALOS from PAL-Robotics

  Python

  •

  BSD 2-Clause "Simplified" License

  •3•1•3•1•Updated Jul 14, 2025Jul 14, 2025

• sot-pattern-generator

  Public
  jrl-walkgen bindings for dynamic-graph

  C++

  •

  ISC License

  •14•5•0•1•Updated Jul 14, 2025Jul 14, 2025

• sot-dynamic-pinocchio

  Public
  Encapsulate Pinocchio in SoT

  C++

  •

  BSD 2-Clause "Simplified" License

  •14•6•3•2•Updated Jul 14, 2025Jul 14, 2025

• sot-core

  Public
  Hierarchical task solver plug-in for dynamic-graph

  C++

  •

  BSD 2-Clause "Simplified" License

  •31•19•16•3•Updated Jul 14, 2025Jul 14, 2025

• talos-data

  Public
  TALOS robot data for the Stack-Of-Tasks

  CMake

  •

  GNU Lesser General Public License v3.0

  •8•1•1•1•Updated Jul 14, 2025Jul 14, 2025

• roscontrol_sot

  Public
  Wrapping the Stack-of-Stacks in roscontrol

  C++

  •

  BSD 2-Clause "Simplified" License

  •6•3•1•1•Updated Jul 14, 2025Jul 14, 2025

• talos_integration_tests

  Public
  A repository to perform integration tests

  Python

  •7•2•2•3•Updated Jul 14, 2025Jul 14, 2025

• talos-metapkg-ros-control-sot

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

  Python

  •

  BSD 2-Clause "Simplified" License

  •4•1•1•1•Updated Jul 14, 2025Jul 14, 2025

• sot-torque-control

  Public
  Collection of dynamic-graph entities aimed at implementing torque control on different robots.

  C++

  •

  Other

  •15•13•18•3•Updated Jul 14, 2025Jul 14, 2025

• dynamic-graph-python

  Public
  Python bindings for dynamic-graph

  C++

  •

  Other

  •21•9•3•1•Updated Jul 14, 2025Jul 14, 2025

• odri_bolt_robot

  Public
  Repository to handle the BOLT robot under ROS-2

  Python

  •

  Apache License 2.0

  •2•1•1•2•Updated Jul 14, 2025Jul 14, 2025

• ros2_hardware_interface_odri

  Public
  ros2_control System Interface for the Open Dynamic Robot Initiative Master Board

  C++

  •4•3•1•3•Updated Jul 14, 2025Jul 14, 2025

• sot-application

  Public
  Application dependent control graph initialization scripts for the Stack of Tasks

  Python

  •

  BSD 2-Clause "Simplified" License

  •6•0•0•1•Updated Jul 14, 2025Jul 14, 2025

• pinocchio-minimal

  Public
  Minimal project using Pinocchio as Rigid Body Dynamics library

  C++

  •

  BSD 2-Clause "Simplified" License

  •8•22•2•2•Updated Jul 14, 2025Jul 14, 2025

• parametric-curves

  Public
  Library for creating curves. Forked from https://github.com/stonneau/spline

  C++

  •5•12•0•1•Updated Jul 14, 2025Jul 14, 2025

• odri_dual_motor_testbed_robot

  Public
  ROS-2 package to handle the ODRI dual motor testbed robot

  Python

  •0•0•0•1•Updated Jul 14, 2025Jul 14, 2025

• dynamic_graph_bridge

  Public
  Dynamic graph bindings for ROS

  C++

  •

  Other

  •27•2•3•2•Updated Jul 14, 2025Jul 14, 2025

• eiquadprog

  Public
  C++ reimplementation of eiquadprog

  C++

  •

  GNU Lesser General Public License v3.0

  •26•47•4•1•Updated Jul 14, 2025Jul 14, 2025

• dynamic-graph

  Public
  Efficient data-flow library for robotics.

  controlroboticshumanoid-robots+ 2control-graphdata-flow-graph

  C++

  •

  Other

  •24•29•3•1•Updated Jul 14, 2025Jul 14, 2025

• dynamic_graph_bridge_msgs

  Public
  Python

  •7•0•0•1•Updated Jul 14, 2025Jul 14, 2025

• dynamic-graph-tutorial

  Public
  Tutorial for the dynamic-graph

  C++

  •

  Other

  •6•5•0•2•Updated Jul 14, 2025Jul 14, 2025

• ddp-actuator-solver

  Public
  Differential Dynamic Programming Solver

  C++

  •5•3•0•1•Updated Jul 14, 2025Jul 14, 2025

• 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•3•0•2•Updated Jul 7, 2025Jul 7, 2025