DexaiRobotics / drake-torch
Example demonstrating pytorch c++ integration with drake
☆17Updated 6 months ago
Related projects: ⓘ
- This library computes a Contact Wrench Cone using polyhedral presentation.☆12Updated 4 years ago
- CppADCodeGen with an easy Eigen interface and Python bindings.☆15Updated 2 years ago
- ☆9Updated 2 weeks ago
- Model predictive control in Python based on quadratic programming☆31Updated 3 weeks ago
- ☆24Updated 4 years ago
- Generic whole body control library with QP: inverse dynamics and kinematics☆17Updated last year
- Low-Complexity Inverse Kinematics☆49Updated last month
- Programmatically compile xacro files (no ROS required).☆27Updated 4 months ago
- Code supporting the WAFR paper "A Performance Analysis of Differential Dynamic Programming on a GPU," and the ICRA workshop follow on wor…☆38Updated last year
- ☆14Updated 9 months ago
- Code supporting the RAL paper "Accelerating Robot Dynamics Gradients on a CPU, GPU, and FPGA"☆20Updated 3 years ago
- A collection of tutorials for robotoc, efficient optimal control solvers for robotic systems.☆16Updated last year
- QP Benchmarks for the ProxQP Solver against OSQP, GUROBI, MOSEK, quadprog and qpOASES☆20Updated last year
- Community-built test set to benchmark QP solvers☆13Updated last week
- ☆16Updated last year
- Extend Differential Dynamic Programming (DDP) to be applicable to hybrid systems of fixed sequence and timings. Examples including an app…☆9Updated last year
- ☆14Updated 3 weeks ago
- Real-Time Multi-Contact Model Predictive Control via ADMM☆35Updated 7 months ago
- ☆14Updated 2 years ago
- A primal-dual augmented Lagrangian solver for nonlinear programming on manifolds.☆57Updated this week
- Time-optimal parabolic trajectory interpolation with velocity, acceleration, and minimum-switchtime constraints☆10Updated 7 years ago
- A Python-based Trajectory Optimization Framework☆15Updated this week
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆44Updated this week
- ☆13Updated 3 years ago
- An efficient task-space capacity calculation package for robotics and biomechanics☆26Updated last year
- A dedicated solver for the capture problem initially presented in S. Caron, B. Mallein "Balance control using both ZMP and COM height var…☆12Updated 4 years ago
- This a c++ implementation of a Time Invariant Linear Model Predictive Controller (LMPC) done in C++14 with python bindings☆35Updated last year
- Guidelines and notes about useful tools to analyze and optimize code☆33Updated 2 weeks ago
- A conda-smithy repository for pinocchio.☆12Updated 3 weeks ago
- Benchmarking contact models and solvers from robotics simulators.☆15Updated 2 months ago