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towr

by ethz-adrl · GitHub

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

⭐ Stars

1.1k

🍴 Forks

249

📜 License

BSD-3-Clause

Commercial use OK

📅 Created

2018

🔄 Last commit

3 yr ago

🏷️ Category

biped

💻 Language

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📈 Star history

2026-07-202026-07-21

📄 About

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

❓ Frequently asked questions

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

towr is an open-source project. It is released under the BSD-3-Clause license.

Yes. towr is free and open source — you can use, modify and self-host it.

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