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1. crocoddyl crocoddyl Public

   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

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2. ndcurves ndcurves Public

   Library for creating smooth cubic splines

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3. multicontact-locomotion-planning multicontact-locomotion-planning Public

   MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning

   Python 79 13

4. whole_body_state_rviz_plugin whole_body_state_rviz_plugin Public

   Rviz plugins to display whole-body states and trajectories

   C++ 73 18

5. sl1m sl1m Public

   Implementation of the sl1m solver for multi contact planning

   Python 23 18

6. whole_body_state_msgs whole_body_state_msgs Public

   Standardised ROS messages for encoding whole-body state information

   CMake 14 7