Identification of dynamic parameters of robotic systems

A tool that converts common robot modeling formats to a unified schema

Library for creating smooth cubic splines

Dynamic model identification of the DVRK

A system identification framework for robots.

GitHub Actions for C++ Libraries

Matplot++: A C++ Graphics Library for Data Visualization 📊🗾

Fast Convex Model Predictive Control (MPC) using SCOCP and ROS2

Sequential convexified optimal control problem (scocp) solver in python

Sequential convexified optimal control problem (scocp) solver in python

Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control

ROS2 Humble CDDP-MPC package without any addtional installation

Motion planning toolkit featuring ESDF mapping, A* path planning, and L-BFGS trajectory optimization integrated with SplineTrajectory library.

Robot Operation code for the LIS lab

SguanFOC为有/无传感器的PMSM电机提供强大的磁场定向控制解决方案。库内集成了基于SVPWM的多种控制模式，支持位置环、速度环、电流环的单环/串级控制...同时针对嵌入式平台优化了数学运算，并提供高度可配置的PID和LADRC等控制器，满足从简单调速到高性能伺服的各类应用需求。

A Minimalist, Batteries-included Repository for Advancing World Model Science.

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Time-Optimal Path Following with Bounded Acceleration and Velocity

Optimizing Dynamic Programming-Based Algorithms

Vibe Coding 从入门到精通教程｜AI 结对编程工作流｜Prompt、Skill、Workflow、上下文管理、codex实战指南

A simple C++ finite state machine library

🔁 AMP-RSL-RL: Adversarial Motion Priors for robotic RL (PPO + motion imitation)

Convert URDF Geometry to Spheres

Convert URDF Geometry to Spheres

Package for generic cartesian control of floating base robots. It includes a ROS-based front end, as well as a programmatic API that can be used inside a real-time loop.

Quadratic program based Inverse kinematic solver for mutli-robotic arms with respect to the kinematic and self-collision avoidance constraints

Very fast motion planning for articulated robot, through a bit of premature-optimization (C++ core with Python bindings) *less than 1ms for moderate problems

Saturation in the Null Space (SNS) Inverse Kinematic Library