Drake
Model-based toolbox for robotics - multibody dynamics with contact simulation, mathematical programming and trajectory optimization; used in the MIT manipulation and underactuated courses.面向机器人的基于模型的工具箱：带接触的多体动力学仿真、数学规划与轨迹优化；MIT 操作与欠驱动课程即使用它。
Planning, Control & Safety规划、控制与安全Sim-to-Real & Simulators仿真与 Sim-to-Reallibraryoptimizationsimulationtrajectory-optimizationopen-source