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72 search results found

Awesome Robotics Libraries ⭐ 1,953

😎 A curated list of robotics libraries and software

Rl Baselines3 Zoo ⭐ 1,640

A training framework for Stable Baselines3 reinforcement learning agents, with hyperparameter optimization and pre-trained agents included.

Teaser Plusplus ⭐ 1,453

A fast and robust point cloud registration library

Symforce ⭐ 1,282

Fast symbolic computation, code generation, and nonlinear optimization for robotics

Pypose ⭐ 1,103

A library for differentiable robotics.

Control Toolbox ⭐ 838

The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control

Awesome Robotics ⭐ 817

A curated list of awesome links and software libraries that are useful for robots.

An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)

Proxsuite ⭐ 315

The Advanced Proximal Optimization Toolbox

Python binding of SLAM graph optimization framework g2o

Minisam ⭐ 230

A general and flexible factor graph non-linear least square optimization framework

A lightweight framework for Gaussian processes and Bayesian optimization of black-box functions (C++11)

Rigid transforms + Lie groups, in JAX

Aprilsam ⭐ 183

SLAM optimization algorithm

MoveIt kinematics_base plugin based on particle optimization & GA

Scptoolbox.jl ⭐ 172

Sequential Convex Programming Toolbox for nonconvex trajectory optimization.

Python Graphslam ⭐ 160

Graph SLAM solver in Python

Rawsim O ⭐ 155

A simulation framework for Robotic Mobile Fulfillment Systems

Pytorch code for ECCV'22 paper. ShAPO: Implicit Representations for Multi-Object Shape, Appearance and Pose Optimization

Clipper ⭐ 141

graph-theoretic framework for robust pairwise data association

Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio

Distributed Pose Graph Optimization

Safeopt ⭐ 108

Safe Bayesian Optimization

Roboticsmaster ⭐ 104

Online Robotics Master

Robotics tools in C++11. Implements soft real time arm drivers for Kuka LBR iiwa plus V-REP, ROS, Constrained Optimization based planning, Hand Eye Calibration and Inverse Kinematics integration.

Paper Simulation ⭐ 93

Let's reproduce paper simulations of multi-robot systems, formation control, distributed optimization and cooperative manipulation.

Some records and notes of weekly arXiv papers, GRASP seminars, and resources

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

Frost Dev ⭐ 80

Fast Robot Optimization and Simulation Toolkit (FROST)

An optimization framework that links CasADi, Ipopt, ACADOS and biorbd for Optimal Control Problem

The Simultaneous Trajectory Estimation and Mapping (STEAM) Engine.

Robotic Python - Robotic Control Interface & Manipulation Planning Library

Incrementalinference.jl ⭐ 72

Clique recycling non-Gaussian (multi-modal) factor graph solver; also see Caesar.jl.

Trajectory optimization algorithms for robotic control.

Omg Planner ⭐ 68

An Optimization-based Motion and Grasp Planner

OpTaS: An optimization-based task specification library for trajectory optimization and model predictive control.

Behavior Optimization and Learning for Robots

Contactimplicitmpc.jl ⭐ 52

Fast contact-implicit model-predictive control for robotic systems that make and break contact with their environments.

Decentralized Multiagent Trajectory Planner Robust to Communication Delay

Motion Averaging

Poseoptimizationslam3d ⭐ 48

Python sample code of 3D pose optimization SLAM

Motion_planning ⭐ 39

Algorithm and model experiments for robot motion planning. Implemented in Julia.

Liecasadi ⭐ 36

Rigid transform using Lie groups and Dual Quaternions, written in CasADi!

Dpgo_ros ⭐ 35

ROS wrapper for distributed pose graph optimization

Python Implementation of Planning and Control

Motion_planning ⭐ 31

Design Bench ⭐ 30

Benchmarks for Model-Based Optimization

Iterativelqr.jl ⭐ 30

A Julia package for constrained iterative LQR (iLQR)

Flobaroid ⭐ 29

Framework for dynamical system identification of floating-base rigid body tree structures

Differential Drive Robot ⭐ 21

Path planning and control algorithms for a differential drive robot using ROS2

Robodojo.jl ⭐ 20

A differentiable simulator for robotic systems.

Directtrajectoryoptimization.jl ⭐ 19

A Julia package for constrained trajectory optimization using direct methods.

public library for all internal software

Paper_romualdi_2022_icra_centroidal Mpc Walking ⭐ 15

ICRA 2022 paper

Vtnmpc Autonomous Wind Turbine Inspection ⭐ 12

This repository contains the code and simulation files for the submitted paper titled "Autonomous Wind Turbine Inspection Framework Enabled by Visual Tracking Nonlinear Model Predictive Control (VT-NMPC)".

Revolve2 ⭐ 11

A python library for optimization, geared towards modular robots and evolutionary computing.

Bilevel Planner ⭐ 11

Trajectory Generator for MAV using Bilevel Optimization

Paper_bergonti_2022_tro_kinematics Control Morphingcovers ⭐ 10

Supplementary Material "Modeling and Control of Morphing Covers for the Adaptive Morphology of Humanoid Robots" published in IEEE Transactions on Robotics 2022

Map Alignment Nonrigid Optimization 2d ⭐ 10

Nonrigid Optimization of Multimodal 2D Map Alignment

Self Balancing Robot ⭐ 9

Control algorithms for a self balancing robot (two wheeled inverted pendulum) using ROS2

Gsplines_cpp ⭐ 8

Generalized Splines for Motion Optimization in C++ and python3

Trajoptlib ⭐ 7

Library for generating time-optimal trajectories for FRC robots. Used by the HelixNavigator path planning app.

Autom_param_optimization ⭐ 7

ROS wrapper for SMAC, a versatile tool for optimizing algorithm parameters

Ihmc Robotics ⭐ 6

Work done in IHMC Robotics since Aug 2019

Phd Thesis ⭐ 6

Balance preservation and task prioritization in whole body motion control of humanoid robots

Ocra Recipes ⭐ 6

Optimization-based Control for Robotics Applications

Memoryefficientstablelds ⭐ 6

Codebase associated with paper "Memory-Efficient Learning of Stable Linear Dynamical Systems for Prediction and Control"

An implementation of the CPL-Sync algorithm for planar pose graph optimization (PGO)

C++ Optimization-based framework for Robotic Control Applications

Input Inference For Control ⭐ 5

Input Inference for Control (i2c), a control-as-inference framework for optimal control

Kinematic redundancy resolution for replicating natural posture of human arm by performing constrained muscle-effort minimization (considering wrist pose and range of joint motion) with a human arm musculoskeletal model and OpenSIM C++ API.

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