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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
A C++ Algorithmic Differentiation Package: Home Page
A place to submit conda recipes before they become fully fledged conda-forge feedstocks
Python bindings for CppAD and CppADCodeGen using Boost.Python
nanobind: tiny and efficient C++/Python bindings
Rviz plugins to display whole-body states and trajectories
MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning
A conda-smithy repository for crocoddyl.
ROS driver for controlling Boston Dynamics' Spot robot
Source Code Generation for Automatic Differentiation using Operator Overloading
High-performance automatic differentiation of LLVM and MLIR.
Standardised ROS messages for encoding whole-body state information
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Memmo 2020 Summer School
Tiny Differentiable Simulator is a header-only C++ and CUDA physics library for reinforcement learning and robotics with zero dependencies.
Jupyter widget helpers for ROS, the Robot Operating System
Set of robot URDFs for benchmarking and developed examples.
The Dynamic Whole-body Locomotion library (DWL)
Official URDF and SDF models of the iCub humanoid robot.