Simulation platform for general-purpose robotics & embodied AI learning.
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Multi-Joint dynamics with Contact. A general purpose physics simulator.
A Python framework for GPU-accelerated simulation, robotics, and machine learning.
- differentiable-programming
- python
- gpu-acceleration
- nvidia
An open-source, GPU-accelerated physics simulation engine built upon NVIDIA Warp, specifically targeting roboticists and simulation researchers.
- physics-simulation
- robotics
- nvidia-warp
- newton-physics
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
- robotics
- dynamics
- analytical-derivatives
- kinematics
Massively parallel rigidbody physics simulation on accelerator hardware.
High-performance C++ library for multiphysics and multibody dynamics simulations
- simulation
- physics-simulation
- modeling
- robotics
10 differentiable physical simulators built with Taichi differentiable programming (DiffTaichi, ICLR 2020)
- differentiable-programming
- taichi
- simulation
- robotics
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
ProtoMotions is a GPU-accelerated simulation and learning framework for training physically simulated digital humans and humanoid robots.
- character-animation
- digital-human
- humanoid
- humanoid-robots
C++ implementation of Lie Groups using Eigen.
- c-plus-plus
- math
- robotics
- computer-vision
A fast and robust point cloud registration library
- point-clouds
- robotics
- optimization
- 3d-registration
A library for differentiable nonlinear optimization
- differentiable-optimization
- robotics
- embodied-ai
- nonlinear-least-squares
A small C++11 header-only library for Lie theory.
- lie-groups
- lie-theory
- cpp11
- header-only
The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
- optimal-control
- model-predictive-control
- ilqr
- ilqg
Fast symbolic computation, code generation, and nonlinear optimization for robotics
- robotics
- python
- cpp
- code-generation
A library for differentiable robotics on manifolds.
Gazebo database of SDF models. This is a predecessor to https://app.gazebosim.org
- gazebo
- simulation
- robot-simulation
- robotics
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
Schema and generated objects for biolink data model and upper ontology
- biolink
- monarchinitiative
- gene-ontology
- datamodel
TUM Roborace Team Software Stack - Vehicle Simulation
Safe Bayesian Optimization
- gaussian-processes
- optimization
- robotics
- reinforcement-learning