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Starred repositories
Python inverse kinematics based on Pinocchio
Multi-Joint dynamics with Contact. A general purpose physics simulator.
Real-time Whole-body Motion Planning for Mobile Manipulators Using Environment-adaptive Search and Spatial-temporal Optimization (ICRA 2024)
An open source bipedal robot control framework, based on non-linear MPC and WBC, tailered for EC-hunter80-v01 bipedal robot.
A curated list of awesome NVIDIA Issac Gym frameworks, papers, software, and resources
Isaac Gym Reinforcement Learning Environments
NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls
Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695
Isaac Gym Environments for Legged Robots
Kernelized Movement Primitives (KMP)
Python/C++ library for Dynamical Movement Primitives and Black-Box Optimization
Smooth trajectory interpolation by polynomial methods.
Dynamical movement primitives (DMPs), probabilistic movement primitives (ProMPs), and spatially coupled bimanual DMPs for imitation learning.
PyRoboLearn: a Python framework for Robot Learning
Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation
Matplot++: A C++ Graphics Library for Data Visualization 📊🗾
Collection of various algorithms in mathematics, machine learning, computer science and physics implemented in C++ for educational purposes.