{"id":19963284,"url":"https://github.com/advrhumanoids/opensot","last_synced_at":"2026-03-15T13:13:13.899Z","repository":{"id":235187604,"uuid":"24753240","full_name":"ADVRHumanoids/OpenSoT","owner":"ADVRHumanoids","description":"An Open Source Task Solving library with Constraints","archived":false,"fork":false,"pushed_at":"2025-11-04T14:50:28.000Z","size":17151,"stargazers_count":120,"open_issues_count":16,"forks_count":9,"subscribers_count":5,"default_branch":"4.0-devel","last_synced_at":"2025-12-21T08:11:32.083Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"gpl-3.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ADVRHumanoids.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2014-10-03T09:33:45.000Z","updated_at":"2025-12-17T05:40:03.000Z","dependencies_parsed_at":null,"dependency_job_id":"cb8e261f-6893-4600-abd8-b5b0d382c27c","html_url":"https://github.com/ADVRHumanoids/OpenSoT","commit_stats":null,"previous_names":["advrhumanoids/opensot"],"tags_count":10,"template":false,"template_full_name":null,"purl":"pkg:github/ADVRHumanoids/OpenSoT","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2FOpenSoT","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2FOpenSoT/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2FOpenSoT/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2FOpenSoT/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ADVRHumanoids","download_url":"https://codeload.github.com/ADVRHumanoids/OpenSoT/tar.gz/refs/heads/4.0-devel","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2FOpenSoT/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":30542127,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-03-15T12:15:27.454Z","status":"ssl_error","status_checked_at":"2026-03-15T12:15:26.919Z","response_time":61,"last_error":"SSL_read: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-13T02:15:30.144Z","updated_at":"2026-03-15T13:13:13.894Z","avatar_url":"https://github.com/ADVRHumanoids.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"OpenSoT  ![Travis badge](https://app.travis-ci.com/ADVRHumanoids/OpenSoT.svg?token=iQZzUD6rXcPydQAabf7T\u0026branch=devel)\n============\nOpenSoT is a library dedicated to hierarchical whole-body control of robots subject to linear constraints. \n\nOpenSoT was initially developed under the EU Project [WALK-MAN](https://cordis.europa.eu/project/id/611832).\nIts development continued under the EU Projects  [CogIMon](https://cordis.europa.eu/project/id/644727) and [CENTAURO](https://cordis.europa.eu/project/id/644839). \nIn 2018 the OpenSoT library has been recognized as an [**EU funded Deep Tech Innovation** under the category Exploring](https://innovation-radar.ec.europa.eu/innovation/30633).\nCurrently, OpenSoT is a joint project between the Inria Centre at Université de Lorraine (LARSEN/HUCEBOT team) and the Istituto Italiano di Tecnologia (HHCM Lab).\n\nDocumentation can be found at https://advrhumanoids.github.io/OpenSoT/index.html\n\n**Try our Docker: https://github.com/hucebot/opensot_docker**\n\nMain Add-ons\n------------\n- [CartesI/O](https://github.com/ADVRHumanoids/CartesianInterface)\n- [Visual Servoing](https://github.com/EnricoMingo/opensot_visual_servoing), developed in collaboration with IDSIA - USI/SUPSI (Dr. [Antonio Paolillo](https://github.com/TotoPaolillo))\n- [Compliant Stabilizer](https://github.com/ADVRHumanoids/compliant_stabilizer), developed in collaboration with Dr. [Chengxu Zhou](https://eps.leeds.ac.uk/mechanical-engineering/staff/1720/dr-chengxu-zhou) \n\nHow to cite this work:\n======================\nPlease support ```OpenSoT``` development by referencing it in your works/publications/projects the following:\n```\n@ARTICLE{opensot:ram25,\n  author={Hoffman, Enrico Mingo and Laurenzi, Arturo and Tsagarakis, Nikos G.},\n  journal={IEEE Robotics \u0026 Automation Magazine}, \n  title={The Open Stack of Tasks Library: OpenSoT: A Software Dedicated to Hierarchical Whole-Body Control of Robots Subject to Constraints}, \n  year={2025},\n  volume={32},\n  number={1},\n  pages={24-34},\n  doi={10.1109/MRA.2024.3487395}}\n```\n\n\n```\n@inproceedings{opensot:humanoids17,\n  title = {Robot Control for Dummies: Insights and Examples using OpenSoT},\n  author = {Mingo Hoffman, Enrico and Rocchi, Alessio and Laurenzi, Arturo and Tsagarakis, Nikos G.},\n  pages     = {736-741},\n  booktitle = {{IEEE-RAS} International Conference on Humanoid Robots (Humanoids)},\n  year = {2017},\n  doi={10.1109/HUMANOIDS.2017.8246954}\n}\n```\n\n```\n@inproceedings{opensot:icra15,\n  title={OpenSoT: a Whole-Body Control Library for the Compliant Humanoid Robot COMAN},\n  author={Rocchi, Alessio and Hoffman, Enrico Mingo and Caldwell, Darwin G. and Tsagarakis, Nikos G.},\n  booktitle={IEEE International Conference on Robotics and Automation (ICRA)},\n  pages={1093--1099},\n  year={2015},\n  organization={IEEE},\n  doi={10.1109/ICRA.2015.7140076}\n}\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fadvrhumanoids%2Fopensot","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fadvrhumanoids%2Fopensot","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fadvrhumanoids%2Fopensot/lists"}