Stéphane Caron

pink. Python inverse kinematics using Pinocchio and QP solvers

lipm_walking_controller. Walking controller for humanoid robots based on inverted pendulum tracking

awesome-open-source-robots. A curated list of awesome robots that are open source

pymanoid. Humanoid robotics prototyping environment based on OpenRAVE

matplotlive. Stream live plots to a matplotlib figure

pypoman. Python module for polyhedral geometry

vulp. Robot/simulation switch for the mjbots stack

qpmpc. Model predictive control in Python based on quadratic programming

loop-rate-limiters. Loop rate limiters in Python with an API similar to rospy.Rate

analytical-wrench-cone. Analytical formula of the wrench friction cone for surface contacts

lpsolvers. Linear programming solvers in Python with a unified API

smart-grid-scheduling. Energy-consumption scheduling algorithms for smart electrical grids

pink_bench. A library of robot motions performed by inverse kinematics and model predictive control.

meshcat-shapes. Additional shapes to decorate MeshCat scenes (frames, text, ...)

mpc_balancer. Model predictive controller to balance Upkie wheeled bipeds

fip-walkgen. 3D walking pattern generation by NMPC of the floating-base pendulum model

robotics-brain-teasers. A tiny collection of robotics problems, for learning and for fun

reinforcement-learning-legged-robots. Slides of an introduction to reinforcement learning for legged robots

palimpsest. Fast serializable C++ dictionaries

multi-contact-zmp. ZMP support areas for multi-contact stability under frictional contacts

capture-walkgen. Capturability-based walking pattern generation over uneven terrains

uplot-python. Python wrapper for μPlot 📈

pyfme. Symbolic (analytical) polyhedron projection by Fourier-Motzkin elimination using SymPy

capture_walking_controller. Capturability-based controller for walking with variable-height

vhip_walking_controller. Walking controller based on variable-height inverted pendulum tracking

robotics-mva-2023. Tutorials for the Robotics MVA 2023 class

topp-mpc. Model Predictive Control with automatic timings based on Time-Optimal Path Parameterization (TOPP)

proxqp_balancer. Model predictive controller testing the ProxQP solver

vhip-balance. Balancing a variable-height inverted pendulum

foxplot. Plot time series from MessagePack or line-delimited JSON

valmix. Terminal user interface to adjust live variables of a program from the command line

mpacklog.py. Log dictionaries to MessagePack files in Python

quasistatic-stair-climbing. Quasi-static stair climbing with the HRP-4 humanoid robot

mc-lmpc-walkgen. Multi-contact walking pattern generation over rough terrains by linearized MPC

vhip_light. Variable-height inverted pendulum balancing in Python

openrave_models. Robot models for OpenRAVE

bazel_pinocchio. Bazel workspace rules to build Pinocchio targets

aiorate. Loop frequency regulation for asyncio

mpacklog.cpp. Log dictionaries to MessagePack files in C++

pid_balancer. Legacy Upkie agent that balances by PID control

contact_stability. ROS package for checking multi-contact stability