Repositories list

• pinocchio

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

  pythonc-plus-plusrobotics+ 14kinematicsdynamicsautomatic-differentiationcondamotion-planningroscode-generation+ 7

  C++

  •

  BSD 2-Clause "Simplified" License

  •484•2.9k•90•10•Updated Dec 15, 2025Dec 15, 2025

• tsid

  Public

  stack-of-tasks/tsid’s past year of commit activity
  Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio

  controlroboticsoptimization+ 3humanoidspinocchiotask-space-inverse-dynamics

  C++

  •

  BSD 2-Clause "Simplified" License

  •88•291•6•5•Updated Dec 15, 2025Dec 15, 2025

• odri_gz_ros2_control

  Public

  stack-of-tasks/odri_gz_ros2_control’s past year of commit activity
  Gazebo Plugin to simulate the ODRI interface (add the Kp Kd gains to the hardware interface

  C++

  •

  Apache License 2.0

  •1•3•0•2•Updated Dec 15, 2025Dec 15, 2025

• eiquadprog

  Public
  C++ reimplementation of eiquadprog

  C++

  •

  GNU Lesser General Public License v3.0

  •28•49•4•0•Updated Dec 15, 2025Dec 15, 2025

• eigenpy

  Public

  stack-of-tasks/eigenpy’s past year of commit activity
  Efficient bindings between Numpy and Eigen using Boost.Python

  pythonnumpyboost+ 4eigenbindingspython3-libraryboost-python

  C++

  •

  BSD 2-Clause "Simplified" License

  •48•198•21•2•Updated Dec 15, 2025Dec 15, 2025

• ros2_hardware_interface_odri

  Public

  stack-of-tasks/ros2_hardware_interface_odri’s past year of commit activity
  ros2_control System Interface for the Open Dynamic Robot Initiative Master Board

  C++

  •4•6•1•3•Updated Dec 8, 2025Dec 8, 2025

• odri_dual_motor_testbed_robot

  Public

  stack-of-tasks/odri_dual_motor_testbed_robot’s past year of commit activity
  ROS-2 package to handle the ODRI dual motor testbed robot

  Python

  •0•0•0•1•Updated Dec 8, 2025Dec 8, 2025

• pinocchio-minimal

  Public

  stack-of-tasks/pinocchio-minimal’s past year of commit activity
  Minimal project using Pinocchio as Rigid Body Dynamics library

  C++

  •

  BSD 2-Clause "Simplified" License

  •8•27•2•1•Updated Dec 8, 2025Dec 8, 2025

• parametric-curves

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

  C++

  •5•12•0•1•Updated Dec 8, 2025Dec 8, 2025

• odri_bolt_robot

  Public

  stack-of-tasks/odri_bolt_robot’s past year of commit activity
  Repository to handle the BOLT robot under ROS-2

  Python

  •

  Apache License 2.0

  •2•4•1•2•Updated Dec 8, 2025Dec 8, 2025

• ddp-actuator-solver

  Public
  Differential Dynamic Programming Solver

  C++

  •5•3•0•1•Updated Dec 8, 2025Dec 8, 2025

• sot-tools

  Public archive
  Miscellaneous tools for the Stack of tasks

  C++

  •

  BSD 2-Clause "Simplified" License

  •12•1•2•1•Updated Nov 24, 2025Nov 24, 2025

• sot-dynamic-pinocchio

  Public archive
  Encapsulate Pinocchio in SoT

  C++

  •

  BSD 2-Clause "Simplified" License

  •13•6•3•2•Updated Nov 24, 2025Nov 24, 2025

• sot-torque-control

  Public archive
  Collection of dynamic-graph entities aimed at implementing torque control on different robots.

  C++

  •

  Other

  •15•14•18•3•Updated Nov 24, 2025Nov 24, 2025

• talos_integration_tests

  Public archive
  A repository to perform integration tests

  Python

  •7•2•2•3•Updated Nov 24, 2025Nov 24, 2025

• talos-torque-control

  Public archive
  Specific torque control part of sot-torque-control for Talos

  Python

  •

  BSD 2-Clause "Simplified" License

  •8•5•2•3•Updated Nov 24, 2025Nov 24, 2025

• talos-metapkg-ros-control-sot

  Public archive
  Metapkg to run the Stack-of-Tasks on TALOS with ros control

  Python

  •

  BSD 2-Clause "Simplified" License

  •3•1•1•1•Updated Nov 24, 2025Nov 24, 2025

• talos-data

  Public archive
  TALOS robot data for the Stack-Of-Tasks

  CMake

  •

  GNU Lesser General Public License v3.0

  •8•3•1•1•Updated Nov 24, 2025Nov 24, 2025

• sot-tiago

  Public archive
  Stack of tasks for Tiago

  C++

  •

  Other

  •3•0•1•1•Updated Nov 24, 2025Nov 24, 2025

• sot-talos

  Public archive
  Stack-of-Tasks package for the humanoid robot TALOS from PAL-Robotics

  Python

  •

  BSD 2-Clause "Simplified" License

  •3•1•3•1•Updated Nov 24, 2025Nov 24, 2025

• sot-pattern-generator

  Public archive
  jrl-walkgen bindings for dynamic-graph

  C++

  •

  ISC License

  •14•5•0•1•Updated Nov 24, 2025Nov 24, 2025

• sot-application

  Public archive
  Application dependent control graph initialization scripts for the Stack of Tasks

  Python

  •

  BSD 2-Clause "Simplified" License

  •6•0•0•1•Updated Nov 24, 2025Nov 24, 2025

• sot-core

  Public archive
  Hierarchical task solver plug-in for dynamic-graph

  C++

  •

  BSD 2-Clause "Simplified" License

  •30•19•16•3•Updated Nov 24, 2025Nov 24, 2025

• roscontrol_sot

  Public archive
  Wrapping the Stack-of-Stacks in roscontrol

  C++

  •

  BSD 2-Clause "Simplified" License

  •6•3•1•1•Updated Nov 24, 2025Nov 24, 2025

• dynamic_graph_bridge_msgs

  Public archive
  Python

  •7•0•0•1•Updated Nov 24, 2025Nov 24, 2025

• dynamic_graph_bridge

  Public archive
  Dynamic graph bindings for ROS

  C++

  •

  Other

  •26•2•3•2•Updated Nov 24, 2025Nov 24, 2025

• dynamic-graph-tutorial

  Public archive
  Tutorial for the dynamic-graph

  C++

  •

  Other

  •6•5•0•2•Updated Nov 24, 2025Nov 24, 2025

• dynamic-graph-python

  Public archive
  Python bindings for dynamic-graph

  C++

  •

  Other

  •21•9•3•1•Updated Nov 24, 2025Nov 24, 2025

• dynamic-graph

  Public archive
  Efficient data-flow library for robotics.

  controlroboticshumanoid-robots+ 2control-graphdata-flow-graph

  C++

  •

  Other

  •23•31•3•1•Updated Nov 24, 2025Nov 24, 2025

• stack-of-tasks.github.com

  Public
  Website

  HTML

  •3•2•0•0•Updated Sep 17, 2025Sep 17, 2025