gite.lirmm.fr / yuquan
yuquan/geometricrobotics
This is a C++ implementation of the geometric robotics approach following the series of research starting from the book: Murray, Richard M., Zexiang Li, and S. Shankar Sastry. A mathematical introduction to robotic manipulation. CRC press, 1994. and Featherstone, Roy. "Spatial vector algebra." In Rigid body dynamics algorithms, pp. 7-38. Springer, Boston, MA, 2008.
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yuquan/dualarmboxgrabbingcontroller
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yuquan/pandapushwallcontroller
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yuquan/RobotInterface
Interfacing different robot implementations. We start from `mc_dart` and `mc_rtc`.
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yuquan/roboticsutils
Miscellaneous utils that are commonly used in multiple projects.
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yuquan/fidynamics
Frictional-impact dynamics model.
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yuquan/ip_constraints
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