Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control

Optimal Control for Switched Systems

Stochastic Nonlinear MPC

The Simple Simulator: Simulation Made Simple

Barkour Robot: Agile Quadruped Robots by Google DeepMind

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

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

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

Main collector of ergoCub specific SW

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

Multibody Dynamics Library designed for Free Floating Robots

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

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