The Tasks library is designed to make real-time control for kinematics tree and list of kinematics tree.
eigen-qld allow to use the QLD QP solver with the Eigen3 library.
Implementation of spatial vector algebra with the Eigen3 linear algebra library.
RBDyn provides a set of classes and functions to model the dynamics of rigid body systems.
A ROS-free URDF parser to create RBDyn structures
Python bindings for the sch library
Provide Eigen3 to numpy conversion
CMake utility toolbox
Travis build scripts
Walking Pattern Generator for Humanoids
eigen-gurobi allows to use the Gurobi QP solver with the Eigen3 library
Implementation and computation algorithms for the convex hulls
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.
Human manipulation kinodynamics dataset
Matrix Abstract Layer to allow multiple libraries on JRL code
Basic example of jrl-cmakemodules usage
eigen-quadprog allow to use the QuadProg QP solver with the Eigen3 library.
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