Casadi Python Packages

pin

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

libpinocchio

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

csnlp

Nonlinear Progamming with CasADi

adam-robotics

adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.

mpcrl

Reinforcement Learning with Model Predictive Control

rumoca

Python interface for the Rumoca Modelica compiler

kineverse

Version 2.0 of Kineverse, a framework for modeling kinematics for robotic manipulation and control.

csnn

Neural Networks with CasADi

opentop

easy-peasy optimal flight trajectory

pin3-slam

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

cmeel-casadi

cmeel distribution for CasADi - a symbolic framework for numeric optimization

spatial-casadi

Spatial transformation library for CasADi Python.

openap-top

Trajectory OPtimizer based on OpenAP model

l4casadi

Use PyTorch Models with CasADi for data-driven optimization or learning-based optimal control. Supports Acados.

simulatetraj

a class to integrate ordinary differential equation

invariants-py

Calculate invariant trajectory representations from trajectory data and generate new trajectories from the invariants.

pin3x-jnrh2023

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

jaxadi

Transforms your CasADi functions into batchable JAX-compatible functions. By combining the power of CasADi with the flexibility of JAX, JAXADi enables the creation of efficient code that runs smoothly on CPUs, GPUs, and TPUs.