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    19 repositories

    • crocoddyl

      Public
      Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •173•0•0•0•Updated Jul 22, 2024Jul 22, 2024

    • brax

      Public
      Massively parallel rigidbody physics simulation on accelerator hardware.
      Jupyter Notebook
      •
      Apache License 2.0
      •255•0•0•0•Updated Jul 19, 2024Jul 19, 2024

    • Ipopt

      Public
      COIN-OR Interior Point Optimizer IPOPT
      C++
      •
      Other
      •284•0•0•0•Updated Jul 18, 2024Jul 18, 2024

    • osqp-eigen

      Public
      Simple Eigen-C++ wrapper for OSQP library
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •118•0•0•0•Updated Jul 8, 2024Jul 8, 2024

    • choreonoid

      Public
      An integrated graphical robotics application framework including a simulator, a motion editor, etc.
      C++
      •
      Other
      •43•0•0•0•Updated Jul 3, 2024Jul 3, 2024

    • mujoco

      Public
      Multi-Joint dynamics with Contact. A general purpose physics simulator.
      Jupyter Notebook
      •
      Apache License 2.0
      •820•0•0•0•Updated Jun 26, 2024Jun 26, 2024

    • ungar

      Public
      Simplifying optimal control with metaprogramming
      C++
      •
      Apache License 2.0
      •11•0•0•0•Updated Jun 25, 2024Jun 25, 2024

    • manif

      Public
      A small C++11 header-only library for Lie theory.
      C++
      •
      MIT License
      •246•0•0•0•Updated Jun 21, 2024Jun 21, 2024

    • legged_control

      Public
      Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •235•0•0•0•Updated Jun 20, 2024Jun 20, 2024

    • horizon

      Public
      an intuitive optimization tool tailored to robotics, based on CasADi
      Python
      •
      Other
      •10•0•0•0•Updated Jun 19, 2024Jun 19, 2024

    • raisimLib

      Public
      Visit www.raisim.com
      C++
      •
      Other
      •94•0•0•0•Updated Jun 15, 2024Jun 15, 2024

    • stable-baselines3

      Public
      PyTorch version of Stable Baselines, reliable implementations of reinforcement learning algorithms.
      Python
      •
      MIT License
      •1.7k•0•0•0•Updated Jun 13, 2024Jun 13, 2024

    • Dojo.jl

      Public
      A differentiable physics engine for robotics
      Julia
      •
      MIT License
      •29•1•0•0•Updated Apr 2, 2024Apr 2, 2024

    • ocs2

      Public
      Optimal Control for Switched Systems
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •227•0•0•0•Updated Oct 19, 2023Oct 19, 2023

    • Cheetah-Software

      Public
      C++
      •
      MIT License
      •924•0•0•0•Updated Oct 18, 2023Oct 18, 2023

    • towr

      Public
      A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •232•0•0•0•Updated Apr 17, 2023Apr 17, 2023

    • qpSWIFT

      Public
      qpSWIFT is a light-weight sparse quadratic programming solver
      C
      •
      GNU General Public License v3.0
      •24•0•0•0•Updated Mar 24, 2023Mar 24, 2023

    • DynaCoRE

      Public
      C++
      •15•0•0•0•Updated Aug 3, 2020Aug 3, 2020

    • invariant-ekf

      Public
      C++ library to implement invariant extended Kalman filtering for aided inertial navigation.
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •101•0•0•0•Updated Aug 17, 2019Aug 17, 2019