EXOTica motion planning and control toolbox in the 15 most downloaded ROS packages in 2020
Developed by IPAB SLMC researchers
The EXOTica library is a generic Optimisation Toolset for Robotics platforms, written in C++ with bindings for Python. Its motivation is to provide a more streamlined process for developing algorithms for tasks such as Inverse Kinematics, Trajectory Optimisation, and Optimal Control.