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@stack-of-tasks

Stack Of Tasks development team

One implementation of the Stack of Tasks framework

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  1. pinocchio pinocchio Public

    A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

    C++ 3.1k 496

  2. eigenpy eigenpy Public

    Efficient bindings between Numpy and Eigen using Boost.Python

    C++ 200 49

  3. tsid tsid Public

    Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio

    C++ 300 92

  4. sot-core sot-core Public archive

    Hierarchical task solver plug-in for dynamic-graph

    C++ 19 30

  5. dynamic-graph dynamic-graph Public archive

    Efficient data-flow library for robotics.

    C++ 31 23

  6. sot-dynamic-pinocchio sot-dynamic-pinocchio Public archive

    Encapsulate Pinocchio in SoT

    C++ 6 13

Repositories

Showing 10 of 93 repositories
  • eigenpy Public

    Efficient bindings between Numpy and Eigen using Boost.Python

    stack-of-tasks/eigenpy’s past year of commit activity
    C++ 200 BSD-2-Clause 49 22 3 Updated Feb 3, 2026
  • pinocchio Public

    A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

    stack-of-tasks/pinocchio’s past year of commit activity
    C++ 3,094 BSD-2-Clause 496 92 (1 issue needs help) 7 Updated Feb 2, 2026
  • odri_gz_ros2_control Public

    Gazebo Plugin to simulate the ODRI interface (add the Kp Kd gains to the hardware interface

    stack-of-tasks/odri_gz_ros2_control’s past year of commit activity
    C++ 3 Apache-2.0 1 0 2 Updated Feb 1, 2026
  • tsid Public

    Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio

    stack-of-tasks/tsid’s past year of commit activity
    C++ 300 BSD-2-Clause 92 7 3 Updated Jan 26, 2026
  • eiquadprog Public

    C++ reimplementation of eiquadprog

    stack-of-tasks/eiquadprog’s past year of commit activity
    C++ 52 LGPL-3.0 28 4 0 Updated Jan 26, 2026
  • odri_dual_motor_testbed_robot Public

    ROS-2 package to handle the ODRI dual motor testbed robot

    stack-of-tasks/odri_dual_motor_testbed_robot’s past year of commit activity
    Python 0 0 0 1 Updated Jan 19, 2026
  • parametric-curves Public

    Library for creating curves. Forked from https://github.com/stonneau/spline

    stack-of-tasks/parametric-curves’s past year of commit activity
    C++ 13 5 0 1 Updated Jan 19, 2026
  • odri_bolt_robot Public

    Repository to handle the BOLT robot under ROS-2

    stack-of-tasks/odri_bolt_robot’s past year of commit activity
    Python 4 Apache-2.0 2 1 2 Updated Jan 19, 2026
  • ddp-actuator-solver Public

    Differential Dynamic Programming Solver

    stack-of-tasks/ddp-actuator-solver’s past year of commit activity
    C++ 4 5 0 1 Updated Jan 19, 2026
  • ros2_hardware_interface_odri Public

    ros2_control System Interface for the Open Dynamic Robot Initiative Master Board

    stack-of-tasks/ros2_hardware_interface_odri’s past year of commit activity
    C++ 6 4 1 3 Updated Dec 22, 2025
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