OpTaS: An optimization-based task specification library for trajectory optimization and model predictive control.
☆138Nov 1, 2025Updated 4 months ago
Alternatives and similar repositories for optas
Users that are interested in optas are comparing it to the libraries listed below
Sorting:
- Model Predictive Path Integral Control using isaacgym for rollouts, gpu-accelerated☆333Aug 17, 2025Updated 7 months ago
- Model predictive control in Python based on quadratic programming☆50Nov 18, 2025Updated 4 months ago
- For TAMP experiments using Drake☆13Jun 4, 2024Updated last year
- ☆335Updated this week
- A Contact-Implicit Trajectory Optimization Package☆54Sep 22, 2023Updated 2 years ago
- C++ library for optimization-based control of redundant robots☆79Mar 2, 2026Updated 2 weeks ago
- Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential D…☆1,180Updated this week
- Code for the paper "Trust the PRoC3S: Solving Long-Horizon Robotics Problems with LLMs and Constraint Satisfaction" presented at CoRL 202…☆31Nov 18, 2024Updated last year
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆170May 17, 2025Updated 10 months ago
- [RA-L 2023, 2025] Model predictive control and trajectory optimization for fast nonprehensile object transportation with a mobile manipul…☆130Jan 9, 2026Updated 2 months ago
- Robot kinematics implemented in pytorch☆768Updated this week
- Stochastic Tensor Optimization for Robot Motion - A GPU Robot Motion Toolkit☆237Jul 23, 2025Updated 7 months ago
- [ARCHIVED] Development continues at https://github.com/Simple-Robotics/aligator. [Old description] A primal-dual augmented Lagrangian sol…☆68Sep 26, 2025Updated 5 months ago
- SIMD-Accelerated Sampling-based Motion Planning☆365Updated this week
- Object-Centric TAMP in Dynamic Environments☆30Apr 13, 2022Updated 3 years ago
- ☆15Feb 26, 2019Updated 7 years ago
- Efficient optimal control solvers for robotic systems.☆309Dec 22, 2022Updated 3 years ago
- CUDA Accelerated Robot Library☆1,396Mar 2, 2026Updated 2 weeks ago
- Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch☆681Updated this week
- Convert URDF Geometry to Spheres☆143Oct 3, 2025Updated 5 months ago
- Adaptive Robotics Dynamics Library☆11Dec 7, 2020Updated 5 years ago
- ☆26Nov 10, 2024Updated last year
- Rigid transform using Lie groups and Dual Quaternions, written in CasADi!☆88Jul 15, 2025Updated 8 months ago
- Python inverse kinematics using Pinocchio and QP solvers☆704Mar 11, 2026Updated last week
- An Optimization-based Motion and Grasp Planner☆137Nov 26, 2022Updated 3 years ago
- Repository for the paper "Robotic In-Hand Manipulation for Large-Range Precise Object Movement: The RGMC Champion Solution"☆24Jun 14, 2025Updated 9 months ago
- A versatile and efficient C++ library for real-time constrained trajectory optimization☆283Mar 12, 2026Updated last week
- Code for "Perceptive Model Predictive Control for Continuous Mobile Manipulation"☆225Dec 30, 2021Updated 4 years ago
- ☆13May 25, 2023Updated 2 years ago
- adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.☆212Updated this week
- ☆14Jun 8, 2023Updated 2 years ago
- The Simple Simulator: Simulation Made Simple☆218Jan 7, 2026Updated 2 months ago
- cuTAMP: Differentiable GPU-Parallelized Task and Motion Planning☆94Jul 27, 2025Updated 7 months ago
- An optimizing IK solver based on the Lie group of rigid transforms SE(3)☆61Sep 8, 2025Updated 6 months ago
- Robotic Python - Robotic Control Interface & Manipulation Planning Library☆136Updated this week
- Transforms your CasADi functions into batchable JAX-compatible functions. By combining the power of CasADi with the flexibility of JAX, J…☆178Feb 23, 2025Updated last year
- A support library for bindings between Eigen in C++ and Python, based on nanobind☆19Updated this week
- Fatrop is a nonlinear optimal control problem solver that aims to be fast, support a broad class of optimal control problems and achieve …☆264Mar 4, 2026Updated 2 weeks ago
- Concurrent exact nearest neighbor searching in robotics-relevant spaces, including Euclidean, SO(3), SE(3) and weighted combinations ther…☆61Sep 28, 2023Updated 2 years ago