Hardware Acceleration for Robotics's repositories
RBDReference
A Python reference implementation of rigid body dynamics algorithms
URDFParser
A simple parser libaray for URDF Files. That returns a robot object which can be used to access links, joints, transformation matrices, etc.
GRiDBenchmarks
Provides the benchmark experiments for the paper "GRiD: GPU Accelerated Rigid Body Dynamics with Analytical Gradients"
GRiDCodeGenerator
A optimized CUDA C++ code generation engine for rigid body dynamics algorithms and their analytical gradients.
roboshape-codegen
FPGA hardware code generator for computing the analytical gradient of forward dynamics.
rbd-accelerator-harness
Build+simulation harness for RoboShape code generator.