Barrett WAM & BHand-280 CAD and modular URDFs with inertial properties.
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Contains packages for modeling various aspects of robot information, specified in the Xml Robot Description Format (URDF). The core package of this stack is urdf, which parses URDF files, and constructs an object model (C++) of the robot.
Code used in tutorials found on ROS wiki
Implementation of receding horizon control using a variational integrator.
A simple demo that uses a URDF to describe a marionette, trep to integrate the dynamics of the marionette, and various interfaces to allow a user to control the system.