vincekurtz / drake_ddp
Differential Dynamic Programming and Iterative LQR in Drake
☆46Updated 3 months ago
Related projects: ⓘ
- ☆41Updated last year
- A Contact-Implicit Trajectory Optimization Package☆38Updated 11 months ago
- Robotics class☆56Updated last month
- ☆41Updated last year
- an intuitive optimization tool tailored to robotics, based on CasADi☆71Updated this week
- System identification with MuJoCo☆31Updated this week
- ☆30Updated last year
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆45Updated last year
- Low-Complexity Inverse Kinematics☆49Updated last month
- Library of rigid-body dynamics algorithms for systems with kinematic loops.☆23Updated this week
- A collection of MPC walking scripts with various models☆18Updated 2 months ago
- Utilities for using mujoco and pinocchio☆12Updated 2 years ago
- Implementation of numerical solvers used in the Machines in Motion Laboratory☆39Updated last week
- ☆14Updated 9 months ago
- Real-Time Multi-Contact Model Predictive Control via ADMM☆35Updated 7 months ago
- Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.☆86Updated 4 months ago
- The Simple Simulator: Simulation Made Simple☆71Updated 3 months ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆50Updated 2 months ago
- Python Implementation of Planning and Control☆45Updated 6 months ago
- Optimization fabrics for behavior design☆53Updated 3 weeks ago
- Fast contact-implicit model predictive control for robotic systems that make and break contact with their environments.☆102Updated last year
- ☆16Updated 10 months ago
- Kino-dynamic optimization algorithm for multiped robots☆39Updated 2 years ago
- ☆43Updated 2 years ago
- Demo scripts to quickly start with Crocoddyl☆18Updated 2 months ago
- ☆30Updated last year
- MuJoCo interface for mc-rtc☆77Updated 3 weeks ago
- ☆39Updated 2 years ago
- ICRA 2022 paper☆28Updated 3 weeks ago
- Differentiable QP solver in JAX☆59Updated this week