Differential Dynamic Programming and Iterative LQR in Drake

Experimental repository for Moveit2 - Drake integration

Model Predictive Path Integral Control (MPPI) with PyTorch

Dynamical movement primitives (DMPs), probabilistic movement primitives (ProMPs), and spatially coupled bimanual DMPs for imitation learning.

Transforms your CasADi functions into batchable JAX-compatible functions. By combining the power of CasADi with the flexibility of JAX, JAXADi enables the creation of efficient code that runs smoot…

Create beautiful diagrams just by typing notation in plain text.

Driver software for the Franka robots.

Lie group math library.

Official Code for RVT-2 and RVT

ROS wrapper for Meta's Segment-Anything model

Official implemnetation of SpringGrasp: Synthesizing Compliant, Dexterous Grasp under Shape Uncertainty

A set of Cartesian controllers for the ROS1 and ROS2-control framework.

Control the Robotiq 2F-85 Gripper seamlessly with this ROS driver package.

A solver for nonlinear programming with GPU support

Model-based design and verification for robotics.

Code for "Cameras as Rays"

A light-weight and extensible C++ library for Pseudospectral Collocation of Switched Systems

Minimal, clean, single-file implementations of common robotics controllers in MuJoCo.

Robotics Mathematical modeling and theory with Python (learning through extensive numerical simulations and animations.)

CUDA accelerated rasterization of gaussian splatting

A ROS/Python API for controlling and managing the Franka Emika Panda robot (real and simulated).

A ROS 2 package for launching MuJoCo simulation instances that interface with ROS 2.