Repositories list

• jaxsim

  Public
  A differentiable physics engine and multibody dynamics library for control and robot learning.

  roboticssimulationad+ 17physicskinematicsdynamicsautomatic-differentiationphysics-enginejitode+ 10

  Python

  •

  BSD 3-Clause "New" or "Revised" License

  •10•76•7•9•Updated Oct 30, 2024Oct 30, 2024

• adam

  Public
  adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.

  pythonreinforcement-learningrobotics+ 10optimizationnumpyautomatic-differentiationmotion-planningpytorchurdfrigid-body-dynamics+ 3

  Python

  •

  BSD 3-Clause "New" or "Revised" License

  •20•131•6•4•Updated Oct 30, 2024Oct 30, 2024

• bipedal-locomotion-framework

  Public
  Suite of libraries for achieving bipedal locomotion on humanoid robots

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •38•152•66•8•Updated Oct 30, 2024Oct 30, 2024

• human-model-generator

  Public
  Python-based tool to generate anthropometric human whole-body models in a URDF format

  urdfurdf-modelshuman-modeling+ 4urdf-modelbiomechanics-analysisbiomechanical-analysishuman-biomechanics

  Python

  •

  BSD 3-Clause "New" or "Revised" License

  •2•10•0•0•Updated Oct 30, 2024Oct 30, 2024

• yarp-device-haptic-gloves

  Public
  Repository containing the implementation of yarp devices for various haptic gloves

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •0•3•0•0•Updated Oct 29, 2024Oct 29, 2024

• hippopt

  Public
  A Python-based Trajectory Optimization Framework

  Python

  •

  BSD 2-Clause "Simplified" License

  •1•15•1•0•Updated Oct 29, 2024Oct 29, 2024

• cmake-nightly-testing-runner

  Public
  Experimental GitHub Action-based runner for CMake Nightly Testing

  CMake

  •

  BSD 3-Clause "New" or "Revised" License

  •1•0•0•1•Updated Oct 27, 2024Oct 27, 2024

• yarp-device-openxrheadset

  Public
  C++

  •

  BSD 2-Clause "Simplified" License

  •2•2•3•1•Updated Oct 25, 2024Oct 25, 2024

• biomechanical-analysis-framework

  Public
  CMake

  •

  BSD 3-Clause "New" or "Revised" License

  •1•3•1•2•Updated Oct 25, 2024Oct 25, 2024

• robots-configuration

  Public
  Contains robots configuration files

  CMake

  •

  BSD 3-Clause "New" or "Revised" License

  •70•0•0•0•Updated Oct 24, 2024Oct 24, 2024

• paper_romualdi_viceconte_2024_humanoids_dnn-mpc-walking

  Public
  HTML

  •

  BSD 3-Clause "New" or "Revised" License

  •0•2•0•0•Updated Oct 24, 2024Oct 24, 2024

• mujoco-urdf-loader

  Public
  Python

  •

  BSD 3-Clause "New" or "Revised" License

  •0•7•2•0•Updated Oct 24, 2024Oct 24, 2024

• comodo

  Public
  Suite of parametrized controller with simulation environments for co-design of Humanoid Robots

  Python

  •

  BSD 3-Clause "New" or "Revised" License

  •4•15•7•7•Updated Oct 24, 2024Oct 24, 2024

• paper_vanteddu_2024_iros_cogenerative_cad

  Public
  MATLAB

  •

  BSD 3-Clause "New" or "Revised" License

  •0•3•0•0•Updated Oct 12, 2024Oct 12, 2024

• rod

  Public
  The ultimate Python tool for RObot Descriptions processing.

  parsersimulatorrobot+ 7simulationrosdescriptiongazebosdfurdfrobotics

  Python

  •

  BSD 3-Clause "New" or "Revised" License

  •3•14•3•1•Updated Oct 11, 2024Oct 11, 2024

• paper_sartore_rando_2024_humanoids_zero_order_gain_tuning

  Public
  Code associated with Humanoids 2024 paper

  Python

  •

  BSD 3-Clause "New" or "Revised" License

  •0•1•0•0•Updated Oct 10, 2024Oct 10, 2024

• yarp-device-keyboard-joypad

  Public
  Repository containing the implementation of a yarp device to use a keyboard as a joypad

  C++

  •

  BSD 2-Clause "Simplified" License

  •0•0•0•0•Updated Oct 7, 2024Oct 7, 2024

• casadi-matlab-bindings

  Public
  Repo to build the CasADi MATLAB bindings as a standalone project, against an already compiled CasADi library.

  CMake

  •

  MIT License

  •1•1•1•0•Updated Oct 1, 2024Oct 1, 2024

• paper_sorrentino_2024_humanoids_friction_estimation

  Public
  Python

  •0•0•0•0•Updated Sep 30, 2024Sep 30, 2024

• paper_paolino_2024_nature_learning-aerodynamics-control

  Public
  MATLAB

  •

  BSD 3-Clause "New" or "Revised" License

  •0•0•0•0•Updated Sep 30, 2024Sep 30, 2024

• robot-log-visualizer

  Public
  Visualizer to display the data logged with YarpRobotLoggerDevice

  visualizationvisualization-toolspython+ 2robotrobotics

  Python

  •

  BSD 3-Clause "New" or "Revised" License

  •4•23•12•2•Updated Sep 26, 2024Sep 26, 2024

• ironcub-mk1-software

  Public
  In this repository we share software for dynamics simulations of the jet-powered humanoid iRonCub-Mk1.

  matlabgazebosimulink+ 3gazebo-pluginurdf-modelsironcub

  MATLAB

  •

  BSD 3-Clause "New" or "Revised" License

  •2•11•0•0•Updated Sep 23, 2024Sep 23, 2024

• paper_elobaid_2024_stable-centroidal-mpc

  Public
  BSD 3-Clause "New" or "Revised" License

  •2•15•0•0•Updated Sep 9, 2024Sep 9, 2024

• paper_bergonti_2024_icra_codesign-morphing-drones

  Public
  Supplementary Material "Co-Design Optimisation of Morphing Topology and Control of Winged Drones" published in IEEE 2024 International Conference on Robotics and Automation (ICRA)

  roboticsevolutionary-algorithmstrajectory-optimization+ 3multiobjective-optimizationcodesignaerial-robotics

  Python

  •

  BSD 3-Clause "New" or "Revised" License

  •1•13•0•0•Updated Sep 5, 2024Sep 5, 2024

• paper_bergonti_2022_tro_kinematics-control-morphingcovers

  Public
  Supplementary Material "Modeling and Control of Morphing Covers for the Adaptive Morphology of Humanoid Robots" published in IEEE Transactions on Robotics 2022

  controlroboticsoptimization+ 3matlabgenetic-algorithmparallel-robot

  MATLAB

  •

  BSD 3-Clause "New" or "Revised" License

  •1•10•0•0•Updated Sep 4, 2024Sep 4, 2024

• paper_romualdi_2022_icra_centroidal-mpc-walking

  Public
  ICRA 2022 paper

  simulationoptimizationrobotics

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •5•29•0•0•Updated Aug 30, 2024Aug 30, 2024

• dynamical-planner

  Public
  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •0•5•0•0•Updated Aug 26, 2024Aug 26, 2024

• romualdi-2021-ral-soft_terrain_walking

  Public
  ralicraicra2021

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •5•8•0•0•Updated Aug 21, 2024Aug 21, 2024

• paper_hui-paolino_2022_icra_aerodynamic-modeling-control

  Public
  BSD 3-Clause "New" or "Revised" License

  •0•1•0•0•Updated Aug 20, 2024Aug 20, 2024

• gazebo-scenario-plugins

  Public
  Ignition Gazebo plugins implemented with ScenarI/O

  roboticssimulationplugins+ 4gazeboscenariogym-ignitionignition-gazebo

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •1•9•0•0•Updated Aug 20, 2024Aug 20, 2024