A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

fast distance and ray intersection queries

nosnoc is an open source software package for NOnSmooth Numerical Optimal Control.

A C++ header-only Eigen-based Library for Lie group operations

C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver

The best OSS video generation models

OUTDATED Team website -- use private willowsierra/willow_webpage

A multi core friendly rigid body physics and collision detection library. Written in C++. Suitable for games and VR applications. Used by Horizon Forbidden West.

A collection of MPC walking scripts with various models

This project aggregate scripts and files to work on multiple Simple-Robotics project at once

Import your robot in blender and animate it!

Low-Complexity Inverse Kinematics

Benchmarking contact models and solvers from robotics simulators.

A curated list of awesome robot descriptions (URDF, MJCF)

Original reference implementation of "3D Gaussian Splatting for Real-Time Radiance Field Rendering"

The Simple Simulator: Simulation Made Simple

Educational Python library for manipulator motion planning

ROS 2 enabled 2D mobile robot simulator for behavior prototyping.

Visualize streams of multimodal data. Free, fast, easy to use, and simple to integrate. Built in Rust.

Vuer is a 3D visualization tool for robotics and VR applications.

Frame profiler

A primal-dual augmented Lagrangian solver for nonlinear programming on manifolds.

Implementation of numerical solvers used in the Machines in Motion Laboratory