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We introduce Crocoddyl (Contact RObot COntrol by Differential DYnamic Library), an open-source framework tailored for efficient multi-contact optimal control.
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C. Mastalli, R. Budhiraja, and N. Mansard, “Crocoddyl: a fast and flexible optimal control library for robot control under contact sequence,” https://github.com/loco-3d/crocoddyl , 2019
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