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CMake utility toolbox
RBDyn provides a set of classes and functions to model the dynamics of rigid body systems.
The Tasks library is designed to make real-time control for kinematics tree and list of kinematics tree.
A ROS-free URDF parser to create RBDyn structures
Python bindings for the sch library
eigen-qld allow to use the QLD QP solver with the Eigen3 library.
Travis build scripts
Provide Eigen3 to numpy conversion
Implementation of spatial vector algebra with the Eigen3 linear algebra library.
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
Implementation and computation algorithms for the convex hulls
Human manipulation kinodynamics dataset
eigen-quadprog allow to use the QuadProg QP solver with the Eigen3 library.
Walking Pattern Generator for Humanoids
eigen-gurobi allows to use the Gurobi QP solver with the Eigen3 library
Shared tests for the sch library (do NOT clone directly this repository, it is aimed at being used as a submodule)
Library for vizualization of the the sch volumes
Tutorials in IPython notebook for the SpaceVecAlg and RBDyn library.
Matrix Abstract Layer to allow multiple libraries on JRL code
Basic example of jrl-cmakemodules usage
Creation of convex hulls volumes
Implementation of RNEA for robot control
JRL Math Tools- Provides small size matrices efficient implementation
A simple library to load motion capture data
Puppet module managing ROS
Provides a humanoid robot model to test algorithms
Most used topics