Thomas O'Brien's repositories
tinyrobotics
tinyrobotics - A lightweight, fast and versatile C++ library for robotics.
urdf-visualizer
A web based URDF visualizer using three.js
tom
Portfolio
CompassGait
Various implementations of controllers for compass gait biped
gitignore
A collection of useful .gitignore templates
humanoid-gym
Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695
mujoco
Multi-Joint dynamics with Contact. A general purpose physics simulator.
NUClear
The NUClear API
opencv
Open Source Computer Vision Library
openvino
OpenVINO™ is an open-source toolkit for optimizing and deploying AI inference
ORB_SLAM2
Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
ORB_SLAM3
ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
PassivityNLMPC
Implementation of Nonlinear MPC: A passivity-based approach
rbdl
RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics, the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix and is also able to compute forward dynamics with external contact constraints and collision impulses. Furthermore it has some basic support for forward and inverse kinematics.