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Starred repositories

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Optimal Control for Switched Systems

C++ 962 233 Updated Oct 19, 2023

Stochastic Nonlinear MPC

Python 2 1 Updated Aug 28, 2023

The Simple Simulator: Simulation Made Simple

101 1 Updated May 27, 2024

Barkour Robot: Agile Quadruped Robots by Google DeepMind

C++ 196 26 Updated Jul 15, 2024

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++ 890 180 Updated Jan 16, 2025

Header-only C++ library containing controllers designed for Lie Groups.

CMake 64 7 Updated Jan 13, 2025

A differentiable physics engine and multibody dynamics library for control and robot learning.

Python 94 13 Updated Jan 16, 2025

Main collector of ergoCub specific SW

C++ 14 18 Updated Jan 10, 2025

Resolve a package:// or model:// URI to an absolute filename in Python.

Python 10 2 Updated May 14, 2024

Multibody Dynamics Library designed for Free Floating Robots

C++ 183 70 Updated Jan 10, 2025

adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.

Python 155 21 Updated Jan 10, 2025

Tiny Differentiable Simulator is a header-only C++ and CUDA physics library for reinforcement learning and robotics with zero dependencies.

C++ 1,256 130 Updated Oct 18, 2024
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