Updating the Doxygen Documentation

Compilation In the page “Sources” you can find the main two components of the OCRA project, namely ocra-recipes and ocra-wbi-plugins,...

iCub Quickstart Guide

Introduction In this guide we will show you how to get OCRA and it’s iCub plugins installed and running as...

What is OCRA

O.C.R.A. stands for Optimization-based Control for Robotics Applications. It is a set of tools which facilitates the development of optimization-based...

Writing a plugin for OCRA