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

RBDL - Rigid Body Dynamics Library - ORB Version - The two main differences to the original rbdl is that this version has error handling and uses polymorphism for constraints

C++/python codes for contact-rich trajectory optimization.

Examples of model predictive control using the CasADi C++ and Python APIs

A C++ implementation of MPC framework for the humanoids using iLQR to solve the optimal control problem, leveraging the Pinocchio-Casadi library for efficient rigid body dynamics and analytical derivatives.

A modular, GPU-accelerated control system framework for AUV. Features Model Predictive Control (MPC) with CasADi, CUDA-based environment mapping, GPU-accelerated A* path planning, Fossen equations for marine vehicle dynamics, and supports imitation learning by distilling CasADi-based nonlinear MPC models into NN controllers.