OCS2 is a C++ toolbox tailored for Optimal Control for Switched Systems (OCS2). The toolbox provides an efficient implementation of the following algorithms:

  • SLQ: Continuous-time domin DDP

  • iLQR: Discrete-time domain DDP

  • SQP: Multiple-shooting algorithm based on HPIPM

  • PISOC: Path integral stochatic optimal control

OCS2 handles general path constraints through Augmented Lagrangian or relaxed barrier methods. To facilitate the application of OCS2 in robotic tasks, it provides the user with additional tools to set up the system dynamics (such as kinematic or dynamic models) and cost/constraints (such as self-collision avoidance and end-effector tracking) from a URDF model. The library also provides an automatic differentiation tool to calculate derivatives of the system dynamics, constraints, and cost. To facilitate its deployment on robotic platforms, the OCS2 provides tools for ROS interfaces. The toolbox’s efficient and numerically stable implementations in conjunction with its user-friendly interface have paved the way for employing it on numerous robotic applications with limited onboard computation power.

How to use the OCS2 toolbox?

OCS2 can be easily installed on Ubuntu. The source code is also publicly available. To get started with the control toolbox, please refer to the Installation started, and Getting Started pages.


The OCS2 toolbox is released under the BSD 3-Clause license. Please note the license and notice files in the source directory.


The following people have been involved in the development of OCS2:

Project Manager: Farbod Farshidian (ETHZ).

Main Developers: Farbod Farshidian (ETHZ), Ruben Grandia (ETHZ), Michael Spieler (ETHZ), Jan Carius (ETHZ), Jean-Pierre Sleiman (ETHZ).

Other Developers: Mayank Mittal, Johannes Pankert, Perry Franklin, Tom Lankhorst, David Hoeller, Asutosh Satapathy, Markus Giftthaler, Edo Jelavic.

Acknowledgement: The OCS2 toolbox development initiated by the ADRL team at ETH Zurich, and the project has continued to evolve at RSL, ETH Zurich. The RSL team now actively supports the development of OCS2.