Numerical optimization algorithms with examples in Python.

myCobot ROS2 package

RL for Walk and Stop for quadruped legged robot (AlienGo - Unitree) + Examples. PPO (SKRL), DDPG (SKRL, SB3), TD3 (SB3).

Safe MPC using Learned Viability

Continuous Actor Critic algorithm with Trajectory Optimization

This sofware is an open source framework used for didactics to simulate and deploy new robot plaforms

CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained …

Set of robot URDFs for benchmarking and developed examples.

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

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

Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio

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Whole-body Compliant Dynamical Contacts in Cognitive Humanoids

All code migrated to the iDynTree library.