plancherb1 / fast-rbd-gradients
Code supporting the RAL paper "Accelerating Robot Dynamics Gradients on a CPU, GPU, and FPGA"
☆20Updated 3 years ago
Related projects ⓘ
Alternatives and complementary repositories for fast-rbd-gradients
- 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
- ☆25Updated 4 years ago
- Low-Complexity Inverse Kinematics☆51Updated 2 months ago
- Guidelines and notes about useful tools to analyze and optimize code☆33Updated 2 months ago
- This library computes a Contact Wrench Cone using polyhedral presentation.☆12Updated 5 years ago
- Library of rigid-body dynamics algorithms for systems with kinematic loops.☆27Updated 3 weeks ago
- Implementation of numerical solvers used in the Machines in Motion Laboratory☆40Updated last month
- Benchmarking contact models and solvers from robotics simulators.☆18Updated 3 months ago
- ☆23Updated 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
- A Contact-Implicit Trajectory Optimization Package☆40Updated last year
- ☆9Updated this week
- CppADCodeGen with an easy Eigen interface and Python bindings.☆15Updated 2 years ago
- ☆13Updated 2 years ago
- Model predictive control in Python based on quadratic programming☆32Updated 2 months ago
- An efficient task-space capacity calculation package for robotics and biomechanics☆26Updated last year
- ☆42Updated last year
- Real-Time Multi-Contact Model Predictive Control via ADMM☆35Updated 8 months ago
- Generic whole body control library with QP: inverse dynamics and kinematics☆18Updated last year
- ☆30Updated last year
- A primal-dual augmented Lagrangian solver for nonlinear programming on manifolds.☆59Updated this week
- ☆16Updated last year
- Learning Drake from the perspective of a robotics beginner.☆41Updated 6 months ago
- A dedicated solver for the capture problem initially presented in S. Caron, B. Mallein "Balance control using both ZMP and COM height var…☆12Updated 5 years ago
- Differentiable Collision Avoidance☆19Updated 2 years ago
- QP Benchmarks for the ProxQP Solver against OSQP, GUROBI, MOSEK, quadprog and qpOASES☆20Updated last year
- Programmatically compile xacro files to URDF (no ROS required).☆30Updated last month
- ☆14Updated 2 years ago
- ☆20Updated last month
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆47Updated last year