GRAAL Lab.

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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 22 1

2. OceanSim OceanSim Public

   Forked from umfieldrobotics/OceanSim

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

   Python 3 1

3. 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

4. tpik tpik Public

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

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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