Central repository for tools, tutorials, resources, and documentation for robotics simulation in Unity.

Robotics Toolbox for Python

A selection of state-of-the-art research materials on trajectory prediction

Robotics Toolbox for MATLAB

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.

An open-source 3D-printed quadrupedal robot. Intuitive gait generation through 12-DOF Bezier Curves. Full 6-axis body pose manipulation. Custom 3DOF Leg Inverse Kinematics Model accounting for offsets.

Quadcopter path planning using RRT* and minimum jerk trajectory generation

CellRank: dynamics from multi-view single-cell data

A complete end-to-end demonstration in which we collect training data in Unity and use that data to train a deep neural network to predict the pose of a cube. This model is then deployed in a simulated robotic pick-and-place task.

Cross-Platform, Multi-Use Motion Profiling and Trajectory Generation

High-Level Motion Library for Collaborative Robots

Sequential Convex Programming Toolbox for nonconvex trajectory optimization.

Optimal trajectory generation library given equality and inequality constraints (C++/Matlab)

A selection of state-of-the-art research materials on decision making and motion planning.

Single cell trajectory detection

Quadcopter Simulation and Control. Dynamics generated with PyDy.

[RA-L 2022] FISS: A Trajectory Planning Framework using Fast Iterative Search and Sampling Strategy for Autonomous Driving

Calculation of forward and inverse kinematics, Jacobian matrices, dynamic modeling, trajectory planning and geometric calibration for robotic manipulators

Gradient-Informed Path Smoothing for Wheeled Mobile Robots (GRIPS)

MATLAB implementation of UAV (unmanned aerial vehicle) control simulation, with RRT (rapidly exploring random tree) for path planning, B-Spline for trajectory generation and LP (linear programming) for trajectory optimization.