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9 stars written in C++
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flexible-collision-library / fcl

Flexible Collision Library

C++ 1,683 450 Updated Feb 2, 2026

SarahWeiii / CoACD

[SIGGRAPH2022] Approximate Convex Decomposition for 3D Meshes with Collision-Aware Concavity and Tree Search

C++ 955 136 Updated Oct 24, 2025

orocos / orocos_kinematics_dynamics

Orocos Kinematics and Dynamics C++ library

C++ 866 442 Updated Feb 18, 2026

ffall007 / franka_analytical_ik

A fast analytical IK solver for Franka Emika Panda

C++ 99 19 Updated Mar 10, 2025

guyuehome / ros_advanced_tutorials

ROS进阶攻略系列视频课程

C++ 77 36 Updated Dec 1, 2020

juelg / frankik

Blazing fast, analytical Inverse Kinematics for Franka Emika Panda and FR3 robots. Lightweight Python bindings, no ROS required.

C++ 28 3 Updated Jan 1, 2026

epfl-lasa / Joint-Space-SCA

C++ 17 4 Updated May 24, 2021

elhussieny / iiwa_ik

Closed form solution for KUKA LWR iiwa manipulator.

C++ 11 7 Updated Mar 17, 2016

CoMMALab / frantik

Analytic IK for Franka

C++ 5 Updated Sep 4, 2025