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1. floating-KinDynfloating-KinDynPublic

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

   Python 6 2

2. diff_uvdiff_uvPublic

   A differentiable underwater vehicle dynamics.

   Python 23 4

3. uvms-simulatoruvms-simulatorPublic

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

   C++ 35 8

4. casadi-on-gpucasadi-on-gpuPublic

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

   Python 62 3

5. optimal-control-software-repositoryoptimal-control-software-repositoryPublic

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

   40

6. gbionics/liecasadigbionics/liecasadiPublic

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

   Python 90 8