Pinned Repositories
adam
adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.
awesome-urdf
A curated list of Unified Robot Description Format (URDF) libraries, tools and resources.
bipedal-locomotion-framework
Suite of libraries for achieving bipedal locomotion on humanoid robots
ironcub-mk1-software
In this repository we share software for dynamics simulations of the jet-powered humanoid iRonCub-Mk1.
jaxsim
A differentiable physics engine and multibody dynamics library for control and robot learning.
lie-group-controllers
Header-only C++ library containing controllers designed for Lie Groups.
liecasadi
Rigid transform using Lie groups and Dual Quaternions, written in CasADi!
matio-cpp
A C++ wrapper of the matio library, with memory ownership handling, to read and write .mat files.
matlab-whole-body-simulator
A robot simulator running on simulink
robot-log-visualizer
Visualizer to display the data logged with YarpRobotLoggerDevice
Artificial and Mechanical Intelligence 's Repositories
ami-iit/crocoddyl
Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
ami-iit/GLFont
Text-rendering library written in C++ for OpenGL 3.3, using FreeType 2.
ami-iit/mvnx-to-urdf
Repository for creating URDF models for human subjects
ami-iit/icub-models
Official URDF and SDF models of the iCub humanoid robot.
ami-iit/urdf-modifiers
ami-iit/openmct
A web based mission control framework.
ami-iit/yarp-openvr-trackers
This repo contains an application to stream VIVE trackers pose in yarp using OpenVR
ami-iit/dynamical-planner
ami-iit/paper_romualdi_2022_icra_centroidal-mpc-walking
ICRA 2022 paper
ami-iit/visit_struct
A miniature library for struct-field reflection in C++
ami-iit/paper_latella_2021_thms_overhead-exoskeleton-torque
Analysis of the human whole-body kinematics and dynamics during the execution of a typical overhead task to quantify the assistive support given by the exoskeleton.
ami-iit/romualdi-2021-ral-soft_terrain_walking
ami-iit/openvr
OpenVR SDK
ami-iit/cmakip
CLI tool for one-line installation of C++/CMake projects.
ami-iit/kindyn-vio
Development on hold.
ami-iit/paper_viceconte_2021_ral_adherent
ami-iit/training-conda-robotics
A repo containing training material related to the use of Conda in robotics context.
ami-iit/robotology-superbuild-this-is-not-the-repo-you-should-download-you-should-use-the-robotology-one
CMake/YCM-based superbuild to simplify the build process of robotology projects.
ami-iit/paper_tirupachuri-2021-access-estimation_payload_stresses
Improving the quality of work for human beings is receiving a lot of attention from multiple research communities. This paper focuses on the open problem of estimating the interaction wrench experienced at the human extremities (such as hands), where the feasibility of direct sensor measurements is not practical.
ami-iit/gazebo-scenario-plugins
Ignition Gazebo plugins implemented with ScenarI/O
ami-iit/shinobi-robotics-research
Files and documentation on how to use the Shinobi Open-Source Video Management Software for Robotics Research.
ami-iit/SenseGlove-API
Sense Glove API for C++ and C# development
ami-iit/scs-cmake-buildsystem
A CMake buildsystem for compiling scs library
ami-iit/Symplectic-ODENet
ami-iit/whole-body-controllers
Simulink-based whole body controllers for humanoid robots.
ami-iit/ify-dependencies-vcpkg
Pre-compiled vcpkg root with Windows and macOS binary dependencies of the ify project
ami-iit/serial
Cross-platform, Serial Port library written in C++
ami-iit/parallel-DDP
Code supporting the WAFR paper "A Performance Analysis of Differential Dynamic Programming on a GPU," and the ICRA workshop follow on work deploying the algorithm onto robot hardware.
ami-iit/github-labels
The repo contains the all the GitHub issue labels we use within our organisation
ami-iit/iit-force-shoes
Documents, files and script related to the IIT's Force Shoes.