Software

Software

ADAM

Automatic Differentiation for rigid body dynamics AlgorithMs.

Bipedal Locomotion Framework

Suite of C++/Python libraries for achieving bipedal locomotion on humanoid robots.

Gazebo-scenario-plugins

Ignition Gazebo plugins implemented with ScenarI/O.

gym-ignition

Framework for developing reinforcement learning robotics environments simulated with Ignition Gazebo.

iDynTree

C++/MATLAB/Python multibody dynamics library designed for free floating robots.

Lie-group controllers

Header-only C++ libraries containing controllers designed for Lie Groups.

matio-cpp

A C++ library for reading and writing .mat files.

MAPest

Maximum A Posteriori estimation for human kinematics and dynamics.

MATLAB Whole-Body Simulator

MATLAB/Simulink block for simulation of humanoid robots with contacts.

Unicycle Footstep Planner

A C++ library for generating walking trajectories adopting the unicycle model.

Wearables

Data collection framework for human wearable sensors.