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

rumoca

a rust-native Modelica compiler for fast, composable, scientific computing

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

opentop

easy-peasy optimal flight trajectory

hermess

HERMESS: Hybrid EMT/RMS Modern Electric power System Simulator. Time-domain simulation of nonlinear DAE power system models (synchronous machines, grid-forming/following converters, dynamic lines, small-signal analysis). ETH Zurich, GPL-3.0-or-later.

csnn

Neural Networks with CasADi

pin3-slam

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

kineverse

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

l4casadi

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

cmeel-casadi

cmeel distribution for CasADi - a symbolic framework for numeric optimization

openap-top

easy-peasy optimal flight trajectory

spatial-casadi

Spatial transformation library for CasADi Python.

invariants-py

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

jaxility

Open-source compiler from JAX-trained robotics to Arm-based silicon, with signed attestation manifests.

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.