Repositories list

• jrl-umi3218.github.com

  Public
  JRL webpage

  TeX

  •

  Apache License 2.0

  •65•8•1•1•Updated Jul 31, 2025Jul 31, 2025

• tvm

  Public
  A framework for writing and solving optimization problem, with an emphasis on robotic control (Beta)

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •15•27•1•5•Updated Jul 28, 2025Jul 28, 2025

• lexls

  Public
  A fast C++ solver for lexicographic least-squares problems

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •2•12•4•0•Updated Jul 28, 2025Jul 28, 2025

• mc-talos

  Public
  mc_rtc robot module for Talos robot

  C++

  •4•0•0•0•Updated Jul 28, 2025Jul 28, 2025

• github-actions

  Public
  GitHub Actions used in JRL projects

  JavaScript

  •

  BSD 2-Clause "Simplified" License

  •5•1•0•4•Updated Jul 28, 2025Jul 28, 2025

• mc_rtc_ros

  Public
  Tools for the mc_rtc framework built around ROS

  C++

  •

  BSD 2-Clause "Simplified" License

  •11•10•2•0•Updated Jul 25, 2025Jul 25, 2025

• mc_go1

  Public
  Robot module for the unitree Go1 robot

  C++

  •1•1•1•0•Updated Jul 25, 2025Jul 25, 2025

• mc_naoqi

  Public
  Communication module between mc_rtc and SoftBank robots running NAOqi operating system

  C++

  •

  BSD 2-Clause "Simplified" License

  •3•4•0•1•Updated Jul 25, 2025Jul 25, 2025

• mc_hoap3_tcp

  Public
  TCP communication interface between mc_rtc and the HOAP3 robot

  C++

  •

  BSD 2-Clause "Simplified" License

  •0•0•0•0•Updated Jul 25, 2025Jul 25, 2025

• mc_naoqi_dcm

  Public
  Local DCM module for SoftBankRobotics robots designed to be used with mc_naoqi interface

  C++

  •

  BSD 2-Clause "Simplified" License

  •2•1•1•0•Updated Jul 25, 2025Jul 25, 2025

• mc_panda_lirmm

  Public
  Custom robot modules for panda robots in LIRMM

  C++

  •

  BSD 2-Clause "Simplified" License

  •1•1•0•0•Updated Jul 25, 2025Jul 25, 2025

• jrl-cmakemodules

  Public
  CMake utility toolbox

  CMake

  •

  Other

  •51•71•20•1•Updated Jul 24, 2025Jul 24, 2025

• copra

  Public
  This a c++ implementation of a Time Invariant Linear Model Predictive Controller (LMPC) done in C++14 with python bindings

  C++

  •

  BSD 2-Clause "Simplified" License

  •10•39•0•1•Updated Jul 23, 2025Jul 23, 2025

• mc_rtc

  Public
  mc_rtc is an interface for simulated and real robotic systems suitable for real-time control

  C++

  •

  BSD 2-Clause "Simplified" License

  •44•147•21•8•Updated Jul 19, 2025Jul 19, 2025

• eigen-quadprog

  Public
  eigen-quadprog allow to use the QuadProg QP solver with the Eigen3 library.

  C

  •

  GNU Lesser General Public License v3.0

  •19•39•2•2•Updated Jul 16, 2025Jul 16, 2025

• SpaceVecAlg

  Public
  Implementation of spatial vector algebra with the Eigen3 linear algebra library.

  C++

  •

  BSD 2-Clause "Simplified" License

  •24•78•1•0•Updated Jul 16, 2025Jul 16, 2025

• mc_state_observation

  Public
  State observers for mc_rtc

  C++

  •

  BSD 2-Clause "Simplified" License

  •10•1•2•7•Updated Jul 16, 2025Jul 16, 2025

• eigen-qld

  Public
  eigen-qld allow to use the QLD QP solver with the Eigen3 library.

  C

  •

  BSD 2-Clause "Simplified" License

  •12•16•0•0•Updated Jul 16, 2025Jul 16, 2025

• sch-core

  Public
  Implementation and computation algorithms for the convex hulls

  C++

  •

  BSD 2-Clause "Simplified" License

  •17•14•2•1•Updated Jul 14, 2025Jul 14, 2025

• Tasks

  Public
  The Tasks library is designed to make real-time control for kinematics tree and list of kinematics tree.

  C++

  •

  BSD 2-Clause "Simplified" License

  •34•102•14•5•Updated Jul 14, 2025Jul 14, 2025

• mc-hoap3

  Public
  mc_rtc robot module for the HOAP3 robot

  C++

  •

  BSD 2-Clause "Simplified" License

  •0•0•0•1•Updated Jul 14, 2025Jul 14, 2025

• RBDyn

  Public
  RBDyn provides a set of classes and functions to model the dynamics of rigid body systems.

  C++

  •

  BSD 2-Clause "Simplified" License

  •51•198•8•5•Updated Jul 14, 2025Jul 14, 2025

• mc-sawyer

  Public
  RobotModule implementation for the Sawyer robot

  C++

  •1•0•0•0•Updated Jul 9, 2025Jul 9, 2025

• github-actions-runner

  Public
  Docker's containerized github-actions runner

  Shell

  •

  MIT License

  •6•0•0•0•Updated Jun 17, 2025Jun 17, 2025

• lipm_walking_controller

  Public
  Walking controller based on linear inverted pendulum tracking

  C++

  •

  BSD 2-Clause "Simplified" License

  •76•20•17•1•Updated Jun 17, 2025Jun 17, 2025

• jrl-qp

  Public
  Tools and implementations to write, specialize and test QP solvers

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •6•13•3•1•Updated Jun 13, 2025Jun 13, 2025

• mc_udp

  Public
  UDP-based client-server implementation for mc_rtc

  C++

  •

  BSD 2-Clause "Simplified" License

  •9•3•1•1•Updated Jun 4, 2025Jun 4, 2025

• state-observation

  Public
  Describes interfaces for state observers, and implements some observers (including linear and extended Kalman filters)

  C++

  •

  BSD 2-Clause "Simplified" License

  •22•2•1•0•Updated Jun 2, 2025Jun 2, 2025

• perceptionsoftwarecollection

  Public
  Curation of the software used/developed at JRL for perception

  2•3•0•1•Updated May 28, 2025May 28, 2025

• ur_modern_driver

  Public
  An interface for mc_rtc to control UR10 robots using a modified version of the deprecated ur_modern_driver. This allows controlling UR10 CB2 robots with a Polyscope version < 1.8.x

  C++

  •1•0•0•0•Updated May 21, 2025May 21, 2025