open-quadruped
ruckig
open-quadruped | ruckig | |
---|---|---|
1 | 4 | |
338 | 590 | |
- | - | |
10.0 | 8.0 | |
almost 2 years ago | 13 days ago | |
C++ | C++ | |
GNU General Public License v3.0 or later | MIT License |
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For example, an activity of 9.0 indicates that a project is amongst the top 10% of the most actively developed projects that we are tracking.
open-quadruped
ruckig
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WebAssembly: Building GUI for C++ libraries with Embind
There is an open-source project which is of personal interest for me -- a robotic motion planning library which is called Ruckig. It is a relatively small C++17 tool which does one thing and does it well -- it plans kinematically-optimal multi-degrees-of-freedom trajectories for robotics controllers. Doesn't matter what it really means. It is a software library that is supposed to be a part of another software tools or libraries. It has Python bindings (of course), and can be used from a Jupyter notebook. Well, as I found recently, it now has WebAssembly bindings too to provide a simple web GUI.
- Ruckig: Motion Generation for Robots and Machines
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Path to joint trajectories
Ruckig: https://github.com/pantor/ruckig
What are some alternatives?
esp32-robot-dog-code - WIP: ESP32 powered robot dog, quadruped robot. This is just code, hardware in the other repositories
path_planner - Hybrid A* Path Planner for the KTH Research Concept Vehicle
spot_mini_mini - Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.
moveit2 - :robot: MoveIt for ROS 2
rex-gym - OpenAI Gym environments for an open-source quadruped robot (SpotMicro)
emsdk - Emscripten SDK
towr - A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
website - WebAssembly website
ToolboxR - Discrete Time C++ Modeling Library
symforce - Fast symbolic computation, code generation, and nonlinear optimization for robotics
AIKIDO - Artificial Intelligence for Kinematics, Dynamics, and Optimization
pinocchio - A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives