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@GRAAL-Lab

GRAAL Lab.

Genoa Robotics and Automation Laboratory, located within DIBRIS at the University of Genoa.

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  1. IsaacSim_Underwater IsaacSim_Underwater Public

    IsaacSim Underwater is a GPU-accelerated underwater robotics simulation in NVIDIA Isaac Sim 5.1.

    Python 14

  2. rml rml Public

    Robotics Mathematical Library, providing classes to define kinematical chains and algorithms for direct and inverse kinematics, Newton-Euler forces and more.

    C++ 2

  3. tpik tpik Public

    A Task-Priority Inverse Kinematics library for implementing reactive and non-reactive task hierarchies, and managing complex actions with transitions.

    C++ 2

  4. OceanSim OceanSim Public

    Forked from umfieldrobotics/OceanSim

    [IROS 2025] OceanSim: A GPU-Accelerated Underwater Robot Perception Simulation Framework

    Python 1 1

  5. ctrl_toolbox ctrl_toolbox Public

    A collection of reusable control-oriented building blocks under the `ctb` namespace such as: Digital PID, Virtual Frames and Extended Kalman Filtering.

    C++ 1

  6. ikcl ikcl Public

    Inverse Kinematics Control Library built with modularity in mind for single-arm, dual-arm, fixed or mobile-base robots.

    C++ 1

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