Alphonsus Adu-Bredu's repositories
KinodynamicFabrics.jl
Julia implementation of the Kinodynamic Fabrics whole-body control framework
DigitRobot.jl
URDF and Meshes for the Agility Robotics Digit Robot
Fabrics.jl
Julia implementation of Geometric Fabrics
godsacstar
GTSAM backend for Efficient PoseNet++
PyBullet.jl
A light-weight Julia wrapper for the awesome PyBullet Physics Simulator
digitinterface
Python package for interacting with the Agility Robotics Digit v3 default controller interface.
HumanoidSim.jl
A Julia package for physics simulation of the Digit humanoid robot
DigitVisualizer.jl
Julia Package for visualizing the Digit Humanoid Robot and exploring its kinematics
kin_dyn_code_generation
Generating closed-form kinematics and dynamics Julia code from URDFs using Pinocchio and CasADi
Beziers.jl
Lightweight Julia implementation of Bezier curves
DifferentiableCollisions.jl
Differentiable collision detection for polytopes, capsules, cylinders, cones, spheres, and polygons.
DigitInterface.jl
A fast, low-latency Julia package for directly interfacing with the Digit Robot and its accessories.
Dynamatics.jl
Julia package for code-generating stand-alone Julia robot kinematics and dynamics functions.
Solvers.jl
Pedagogical Julia implementations of Quadratic and Nonlinear Program solvers.
Underactuated.jl
Julia implementation of select controllers for a variety of underactuated systems. This package is meant to be purely pedagogical and not performant.
mpcinterface
C++ package for re-formulating convex MPC problems into canonical QP form
BoogieFabrics.jl
Robot dancing with Kinodynamic Fabrics
PickleRick.jl
Julia package for simulation and controls of a 10-link planar humanoid with pinned feet.
Potentials.jl
Reviving the glories of Artificial Potential Fields for fast, reactive motion control.
RigidBodyDynamics.jl
Julia implementation of various rigid body dynamics and kinematics algorithms
RTNeural
Real-time neural network inferencing