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GPU-optimized version of the MuJoCo physics simulator, designed for NVIDIA hardware.
SIA - C++/Python library for model-based stochastic estimation and optimal control
Realtime Interprocess Communication and Orchestration for Robotics & AI
Compile xacro files to URDF or MJCF from Python or the command line (no ROS required).
Claude Code is an agentic coding tool that lives in your terminal, understands your codebase, and helps you code faster by executing routine tasks, explaining complex code, and handling git workflo…
Numerical Inverse Kinematics solver based on JAX + MJX
ACDC4Robot: Automated Conversion of Description Conventions for Robots from Design to Learning
library for nonlinear optimization, wrapping many algorithms for global and local, constrained or unconstrained, optimization
Lets Code IK (Inverse Kinematics) from Scratch
A CLI for processing composite Wavefront OBJ files for use in MuJoCo.
Wrappers and other utilities for ROS2
[SIGGRAPH2022] Approximate Convex Decomposition for 3D Meshes with Collision-Aware Concavity and Tree Search
An open-source library for GPU-accelerated robot learning and sim-to-real transfer.
A generative world for general-purpose robotics & embodied AI learning.
Re-implementation of pi0 vision-language-action (VLA) model from Physical Intelligence
Access 100+ robot descriptions from the main Python robotics frameworks
Quadratic programming solvers in Python with a unified API
Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". DIAL-MPC is a novel sampling-based MPC framework for legged …
Libraries, tools and tasks created and used at DeepMind Robotics.
SAPIEN Manipulation Skill Framework, an open source GPU parallelized robotics simulator and benchmark, led by Hillbot, Inc.
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
NVIDIA-accelerated packages for arm motion planning and control