A GPU accelerated library for computing rigid body dynamics with analytical gradients
☆123Apr 17, 2023Updated 2 years ago
Alternatives and similar repositories for GRiD
Users that are interested in GRiD are comparing it to the libraries listed below
Sorting:
- A Python reference implementation of rigid body dynamics algorithms☆18Jul 17, 2023Updated 2 years ago
- Code supporting the RAL paper "Accelerating Robot Dynamics Gradients on a CPU, GPU, and FPGA"☆23Sep 14, 2021Updated 4 years ago
- A differentiable simulator for robotic systems.☆31Jun 14, 2022Updated 3 years ago
- Rigid body dynamics simulation using maximal coordinates.☆26Feb 13, 2023Updated 3 years ago
- Code supporting the WAFR paper "A Performance Analysis of Differential Dynamic Programming on a GPU," and the ICRA workshop follow on wor…☆49Sep 12, 2023Updated 2 years ago
- RBDL - Rigid Body Dynamics Library☆12Jul 27, 2022Updated 3 years ago
- Library of rigid-body dynamics algorithms for systems with kinematic loops.☆50Jan 30, 2026Updated last month
- A differentiable physics engine for robotics☆370Sep 23, 2024Updated last year
- Efficient optimal control solvers for robotic systems.☆309Dec 22, 2022Updated 3 years ago
- Community-built test set to benchmark QP solvers☆15May 7, 2025Updated 9 months ago
- Fast contact-implicit model predictive control for robotic systems that make and break contact with their environments.☆160Dec 14, 2022Updated 3 years ago
- adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.☆212Feb 24, 2026Updated last week
- an intuitive optimization tool tailored to robotics, based on CasADi☆81Feb 12, 2026Updated 2 weeks ago
- Frictional Contact Library of problems☆17Dec 1, 2025Updated 3 months ago
- Autogenic differentiation☆51May 31, 2022Updated 3 years ago
- ☆46May 14, 2022Updated 3 years ago
- ☆28Feb 18, 2020Updated 6 years ago
- Code for the paper "Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas"☆19Mar 3, 2021Updated 5 years ago
- ☆326Jan 14, 2026Updated last month
- CppADCodeGen with an easy Eigen interface and Python bindings.☆15May 23, 2022Updated 3 years ago
- A differentiable physics engine and multibody dynamics library for control and robot learning.☆179Updated this week
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆72Dec 12, 2024Updated last year
- We are implementing differentiable models of robot manipulators, which allows us to learn typically assumed to be known models of robots …☆261Mar 22, 2023Updated 2 years ago
- Set of utilities for visualizing robots in web-based visualizer MeshCat.☆35Jan 29, 2025Updated last year
- TROPIC: TRajectory OPtimization In CasADi☆56May 16, 2021Updated 4 years ago
- A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control☆140Nov 18, 2025Updated 3 months ago
- A simple parser libaray for URDF Files. That returns a robot object which can be used to access links, joints, transformation matrices, e…☆15Jan 19, 2022Updated 4 years ago
- Python bindings for CppAD and CppADCodeGen using Boost.Python☆24Jan 12, 2026Updated last month
- GPU-Accelerated Trajectory Optimization☆34Feb 26, 2026Updated last week
- Real-Time Multi-Contact Model Predictive Control via ADMM☆50Feb 18, 2024Updated 2 years ago
- Efficient Differentiable Simulation of Articulated Bodies (ICML2021)☆104Dec 17, 2021Updated 4 years ago
- iDynFor☆15Mar 14, 2024Updated last year
- ☆117Jan 2, 2023Updated 3 years ago
- ☆15May 20, 2022Updated 3 years ago
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆73Feb 29, 2024Updated 2 years ago
- Built with simplicity in mind, Sunset is a python robotics framework inspired by ROS.☆11Feb 13, 2024Updated 2 years ago
- Header-only C++ library containing controllers designed for Lie Groups.☆75Oct 13, 2025Updated 4 months ago
- Learning Discontinuous Contact Dynamics with Smooth, Implicit Representations☆51Apr 30, 2022Updated 3 years ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆146Sep 9, 2025Updated 5 months ago