ami-iit / jaxsim
A differentiable physics engine and multibody dynamics library for control and robot learning.
☆83Updated this week
Related projects ⓘ
Alternatives and complementary repositories for jaxsim
- adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.☆142Updated this week
- Python interface to Dojo☆64Updated last year
- A GPU accelerated library for computing rigid body dynamics with analytical gradients☆96Updated last year
- Differentiable QP solver in JAX☆72Updated last month
- Sampling-based model predictive control on GPU with JAX/MJX☆59Updated this week
- The Simple Simulator: Simulation Made Simple☆83Updated 5 months ago
- Transforms your CasADi functions into batchable JAX-compatible functions. By combining the power of CasADi with the flexibility of JAX, J…☆116Updated last month
- Low-Complexity Inverse Kinematics☆51Updated 3 months ago
- Tools for exploiting Morphological Symmetries in robotics☆48Updated 2 months ago
- State-of-the-art method for model-based dexterous manipulation☆78Updated 3 months ago
- ☆18Updated this week
- Benchmarking contact models and solvers from robotics simulators.☆18Updated 4 months ago
- ☆33Updated this week
- Unified contact simulaton and collision detection☆42Updated last year
- ☆189Updated 2 months ago
- System identification with MuJoCo☆38Updated 3 weeks ago
- Learning Optimal Policies Through Contact in Differentiable Simulation☆85Updated 6 months ago
- Learning to Walk from Three Minutes of Real-World Data with Semi-structured Dynamics Models☆17Updated last month
- Pytorch Implementation of TinyMPC☆58Updated 10 months ago
- Python bindings for open source MuJoCo☆35Updated 2 years ago
- Implementation of numerical solvers used in the Machines in Motion Laboratory☆40Updated 2 months ago
- Code for R:SS 2021 paper RMP2: A Structured Composable Policy Class for Robot Learning.☆34Updated 3 years ago
- Library of rigid-body dynamics algorithms for systems with kinematic loops.☆27Updated last month
- Guidelines and notes about useful tools to analyze and optimize code☆33Updated 2 months ago
- Differentiable collision detection for capsules in JAX.☆35Updated 11 months ago
- Learning Discontinuous Contact Dynamics with Smooth, Implicit Representations☆44Updated 2 years ago
- Differential Dynamic Programming and Iterative LQR in Drake☆61Updated 5 months ago
- MuJoCo interface for mc-rtc☆85Updated 2 weeks ago
- High performance simulation for robotic tasks with granular materials☆29Updated 5 months ago
- A library for solving inverse kinematics with graphical models and distance geometry.☆114Updated 6 months ago