Alternatives and similar repositories for planning-through-contact

Users that are interested in planning-through-contact are comparing it to the libraries listed below

• pangtao22 / planning_through_contact
  ☆63Updated this week
• petrikvladimir / RoboMeshCat
  Set of utilities for visualizing robots in web-based visualizer MeshCat.
  ☆34Updated 11 months ago
• bheijden / bubblify
  Bubblify is an interactive tool for creating spherical approximations of robot geometries directly from Universal Robot Description Forma…
  ☆115Updated 4 months ago
• adubredu / KinodynamicFabrics.jl
  Julia implementation of the Kinodynamic Fabrics whole-body control framework
  ☆53Updated 2 years ago
• ubi-agni / mujoco_contact_surfaces
  Implementation of drake contact surfaces in MuJoCo.
  ☆33Updated 9 months ago
• pangtao22 / quasistatic_simulator
  ☆44Updated last week
• vincekurtz / drake_ddp
  Differential Dynamic Programming and Iterative LQR in Drake
  ☆76Updated last year
• jstmn / cppflow
  Open source implementation of "CppFlow: Generative Inverse Kinematics for Efficient and Robust Cartesian Path Planning" (ICRA 2024)
  ☆23Updated 2 months ago
• aykutonol / cito
  A Contact-Implicit Trajectory Optimization Package
  ☆53Updated 2 years ago
• asu-iris / Complementarity-Free-Dexterous-Manipulation
  State-of-the-art method for model-based dexterous manipulation
  ☆129Updated last year
• lvjonok / mujoco-actuators-types
  ☆22Updated 2 years ago
• based-robotics / mujoco-sysid
  System identification with MuJoCo
  ☆77Updated last year
• wernerpe / csdecomp
  CSDecomp implements GPU-accelerated collision checking for generating approximate convex decompositions of robot configuration space.
  ☆54Updated last month
• MarcToussaint / 22-SecMPC
  ☆21Updated 3 years ago
• anindex / mtp
  Implementation of Model Tensor Planning in JAX, TMLR 2025 & ICLR 2026.
  ☆25Updated 7 months ago
• AlpAydinoglu / coptimal
  Real-Time Multi-Contact Model Predictive Control via ADMM
  ☆50Updated last year
• CoMMALab / foam
  Convert URDF Geometry to Spheres
  ☆134Updated 3 months ago
• roahmlab / sparrows
  [RSS 2024] Code for Safe Planning for Articulated Robots Using Reachability-based Obstacle Avoidance With Spheres
  ☆28Updated last year
• ROAM-Lab-ND / generalized_rbda
  Library of rigid-body dynamics algorithms for systems with kinematic loops.
  ☆46Updated last week
• quimortiz / dynoRRT
  ☆41Updated 3 weeks ago
• jstmn / ikflow
  Open source implementation to the paper "IKFlow: Generating Diverse Inverse Kinematics Solutions"
  ☆86Updated 7 months ago
• eric-heiden / URDF2MJCF
  Convert URDF robot definitions to MuJoCo environments
  ☆56Updated 7 years ago
• JuJankowski / vp-sto
  Python implementation of VP-STO
  ☆48Updated last year
• utiasSTARS / generative-graphik
  Generative and Graphical Inverse Kinematics
  ☆30Updated last year
• stephane-caron / pink_bench
  A library of robot motions performed by inverse kinematics and model predictive control.
  ☆16Updated last month
• junhyeokahn / PyPnC
  Python Implementation of Planning and Control
  ☆60Updated last year
• agimus-project / winter-school-2023
  ☆21Updated last year
• CoMMALab / pRRTC
  GPU-Parallel RRT-Connect
  ☆52Updated 2 months ago
• conda-forge / pinocchio-feedstock
  A conda-smithy repository for pinocchio.
  ☆19Updated last week
• Danfoa / MorphoSymm
  Tools for exploiting Morphological Symmetries in robotics
  ☆99Updated last week