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calvin

CALVIN - A benchmark for Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Tasks

cassie-doc

The official Agility Robotics Cassie documentation and software release repository.

cassie-gazebo-sim

Gazebo simulator for the Agility Robotics Cassie robot

cassie-mujoco-sim

A simulation library for Agility Robotics' Cassie robot using MuJoCo

cppad

A C++ Algorithmic Differentiation Package: Home Page

cpprobotics

Header-only C++ library for robotics, control, and path planning algorithms. Work in progress, contributions are welcome!

drnn

dyros_tocabi_v2

v2

free_gait

An Architecture for the Versatile Control of Legged Robots

gazebo_models

Gazebo database of SDF models. This is a predecessor to https://app.gazebosim.org

hpp-fcl

An extension of the Flexible Collision Library

ifopt

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

ipopt

COIN-OR Interior Point Optimizer IPOPT

legged_control

Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls

maniskill2

SAPIEN Manipulation Skill Benchmark 2

minifoc

你还在为有刷电机的高噪声、低响应速度和低寿命而烦恼吗？这个项目是一个20块钱就能搞定的FOC无刷电机控制方案！This project is a FOC (Field Oriented Control) BLDC Motor control scheme that can be done for 3$!

mks-servo42b

MKS SERVO42B is 3d printer closed loop stepper motor

model_predictive_controller_cpp

This is MPC (model predictive controller) that can predict steering and throttle to drive in a simulator.

motion_imitation

Code accompanying the paper "Learning Agile Robotic Locomotion Skills by Imitating Animals"

mpc-and-mhe-implementation-in-matlab-using-casadi

This is a workshop on implementing model predictive control (MPC) and moving horizon estimation (MHE) on Matlab. The implementation is based on the Casadi Package which is used for numerical optimization. A non-holonomic mobile robot is used as a system for the implementation. The workshop video recording can be found here https://www.youtube.com/p

mpc_ros

Differential Wheeled Mobile Robot - Nonlinear Model Predictive Control based on ROS

nano_stepper

Stepper feedback controller

ocs2

Optimal Control for Switched Systems

ocs2_robotic_assets

Various robotic assets for OCS2 Toolbox

orocos_kinematics_dynamics

Orocos Kinematics and Dynamics C++ library

pigot

None

pinocchio

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

pybullet_robots

Prototyping robots for PyBullet (F1/10 MIT Racecar, Sawyer, Baxter and Dobot arm, Boston Dynamics Atlas and Botlab environment)

quadruped_ctrl

MIT mini cheetah quadruped robot simulated in pybullet environment using ros.

rbdl

RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics, the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix and is also able to