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1. floating-KinDyn floating-KinDyn Public

   [ICRA 2026] This repository contains code for the paper "Uncertainty-Aware Adaptive Dynamics For Underwater Vehicle–Manipulator Robots"

   Python 5 2

2. diff_uv diff_uv Public

   A differentiable underwater vehicle dynamics.

   Python 20 5

3. uvms-simulator uvms-simulator Public

   This repository features a ros2_control simulator for the BlueROV Heavy with an attached Reach Alpha 5 manipulator with sensors

   C++ 34 7

4. casadi-on-gpu casadi-on-gpu Public

   turn CasADi function into GPU ready kernels so large batches of function evaluations can run in parallel at high speed [𝐏𝐲𝐭𝐨𝐫𝐜𝐡 & 𝐂𝐮𝐩𝐲 𝐜𝐨𝐦𝐩𝐚𝐭𝐢𝐛𝐥𝐞]

   Python 58 3

5. optimal-control-software-repository optimal-control-software-repository Public

   A curated collection of tools and software packages for optimization and control

   40

6. gbionics/liecasadi gbionics/liecasadi Public

   Rigid transform using Lie groups and Dual Quaternions, written in CasADi!

   Python 88 9