A set of libraries for physical simulation of complex mechanisms with parts, constraints, contacts and collisions. The Chrono::Engine C++ API can be used to simulate robots, mechanisms, vehicles and complex devices.
A C++ library that contains some essential rigid body dynamics library such as the Articulated Body Algorithm (ABA) for forward dynamics, Newton-Euler Algorithm for inverse dynamics and the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix.
The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control. It covers spatial vector algebra, multibody systems, hardware abstraction, path planning, collision detection, and visualization.
Master Motor Map (MMM) is a conceptual framework for perception, visualization, reproduction, and recognition of human motion in order to decouple motion capture data from further post-processing tasks, such as execution on a real humanoid robot. Employing MMM makes it easy to map motions between
... [More] different kinematics independently and uniformly as well as to analyze certain dynamic aspects of the considered motion.
This package (MMMCore) contains data structures and kinematic models (e.g. Data I/O, MMM Model, C3D Import) which are required for MMMTools. [Less]
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