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ability-hand-api

Materials for the ability hand API, including raspberry pi C code, matlab, URDF files, etc.

adt_opt

Trajectory optimization w/ draco act dynamics

anymal_c_simple_description

Simplified robot description of the ANYmal C quadrupedal robot.

atrias-matlab

Code for the ATRIAS bipedal robot. Contains the hardware interface, controllers, simulation, and post-processing tools.

c_class

Code for 6.s096 Effective Programming in c/c++

ccc_class

Computational Cognitive Control Repo

control

A repository for control benchmarking code

controlit_models

A collection of robot models that can be used with ControlIt!

dcm_matlab

Implementation of continuous double support DCM trajectories from "Three-dimensional bipedal walking control based on divergent component of motion" in matlab

djangotutorials

Django Tutorials with virtual python environment

drake

A planning, control, and analysis toolbox for nonlinear dynamical systems. More info at

dreamer

Various code for Dreamer robot

dreamer_head_plots

python_plot_script

eigenpy_catkin

Catkin wrapper for eigenpy

ekf_floatingbase_estimator

Code dump of of a state estimator estimator for a robot with a floating base. Previously used on the Mercury robot.

fsrl

gesture_recognition

Matlab GMM for gesture recognition

hpp-fcl

An extension of the Flexible Collision Library

hpp-fcl_catkin

Catkin packaging of hpp-fcl

hri_class

code repo for hri class

icra2020locomanipulation

Implementation of the ICRA 2020 Locomanipulation Paper: "Finding Locomanipulation Plans Quickly in the Locomotion Constrained Manifold"

ifopt

An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)

ihmc-open-robotics-software

Robotics software featuring legged locomotion algorithms and a momentum-based controller core with optimization. Supporting software for world-class robots including humanoids, running birds, exoskeletons, mechs and more.

ik_thermal_msgs

Package for handling custom thermal messages

jrl-cmakemodules

CMake utility toolbox

lcp_val_simulator

sandbox environment for lcp-based dynamic simulator for valkyrie

modernrobotics

Modern Robotics: Mechanics, Planning, and Control Code Library

myros

12.04 LTS ROS repo

nlp_optimization

nstrf_2017

code repository for summer nstrf 2017 development with valkyrie