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5 search results found

Incremental Potential Contact (IPC) is for robust and accurate time stepping of nonlinear elastodynamics. IPC guarantees intersection- and inversion-free trajectories regardless of materials, time-step sizes, velocities, or deformation severity.

Robotoc ⭐ 223

Efficient optimal control solvers for robotic systems.

A next-generation solver for nonlinearly constrained nonconvex optimization. Modular and lightweight, it unifies iterative methods (SQP vs interior points) and globalization techniques (filter method vs merit function, line search vs trust region method) in a single framework. Competitive against IPOPT, filterSQP, SNOPT, MINOS and CONOPT

qpSWIFT is a light-weight sparse quadratic programming solver

Tinyhpipm ⭐ 5

a refactored, stripped down, opinionated version of HPIPM

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