Simulation platform for general-purpose robotics & embodied AI learning.
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Multi-Joint dynamics with Contact. A general purpose physics simulator.
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
- robotics
- dynamics
- analytical-derivatives
- kinematics
Bayesian optimization in PyTorch
High-performance C++ library for multiphysics and multibody dynamics simulations
High-performance C++ multibody dynamics/physics library for simulating articulated biomechanical and mechanical systems like vehicles, robots, and the human skeleton.
- multibody-dynamics
- physics-engine
- physics-simulation
- robotics
The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
- optimal-control
- model-predictive-control
- ilqr
- ilqg
Gazebo database of SDF models. This is a predecessor to https://app.gazebosim.org
- gazebo
- simulation
- robot-simulation
- robotics
Fast NumPy array functions written in C
- c
- python
- numpy
- fast
Open-source cross-platform symbolic algebra library for C# and F#. Can be used for both production and research purposes.
- csharp
- algebra
- integration
- latex
RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics, the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix and is also able to compute forward dynamics with external contact constraints and collision impulses. Furthermore it has some basic support for forward and inverse kinematics.
- articulated-body-algorithm
- inverse-dynamics
- forward-dynamics
- multi-body-dynamics
Add built-in support for quaternions to numpy
Nonconvex embedded optimization: code generation for fast real-time optimization + ROS support
- embedded-optimization
- nonconvex
- model-predictive-control
- rust-library
Safe Bayesian Optimization
- gaussian-processes
- optimization
- robotics
- reinforcement-learning
2D triangulation library. Allows translating lines and polygons (both based on points) to the language of GPUs.
- triangulation
- computational-geometry
- golang
Multidimensional array similar to NumPy and NArray
- matrix
- linear-algebra
- colt
- ruby
An ordinary differential equation solving library in golang.
- ode
- solving-library
- multivariate
- differential-equations