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control-toolbox

The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control

ctgen

Code generation for coordinate transformation matrices

dsl-desired-transforms

dsl-kinematics

expressiongraph

This library provides expression trees for representation of geometric expressions and automatic differentiation of these expressions. This enables to write down geometric expressions at the position level, and automatically compute Jacobians and higher order derivatives efficiently and without loss of precision. The library is built upon the KDL library and uses the same geometric primitives.

hanzi-svg-generator

Generate SVG images of Chinese characters, based on the data from the "Make me a hanzi" project

iit_rbd

C++ facilities related to Rigid Body Dynamics and Spatial Vectors. This library is required to compile the C++ code generated by RobCoGen.

ilk-generator

Generator of language-independent kinematics/dynamics solver models, for articulated robots

jsim-inverse

Octave implementation of the algorithm to compute the inverse of the joint-space inertia matrix. Originally created as attachment of an ICRA2020 submission

kdl_parser

kdl_parser and kdl_parser_py provide tools to construct a KDL tree from an XML robot representation in URDF.

kgprim

Symbolic placeholders for kinematics/geometric primitives

lua-template-engine

A templating engine written in pure Lua

meshcat

Remotely-controllable 3D viewer, built on top of three.js

microblx

microblx: real-time, embedded, reflective function blocks.

pdoc

API Documentation for Python Projects

robot-model-tools

A set of python facilities to work with articulated robot models

ublx-ur5_sim

Tentative microblx-based simulator of the UR5 robot