erwincoumans

tiny-differentiable-simulator

Tiny Differentiable Simulator is a header-only C++ and CUDA physics library for reinforcement learning and robotics with zero dependencies.

motion_imitation

Code accompanying the paper "Learning Agile Robotic Locomotion Skills by Imitating Animals"

egl_example

Creating an EGL + OpenGL context using glad, dynamically loading the libraries, for headless rendering in the cloud (for example using Ubuntu 16.04 without X11)

warp_cpp

Examples calling Warp precompiled (cached) kernels directly from C++ (without Python)

OmniIsaacGymEnvs

Reinforcement Learning Environments for Omniverse Isaac Gym

kit-extension-template-cpp

Omniverse Kit C++ Extension Template

IsaacGymEnvs

Isaac Gym Reinforcement Learning Environments

diffmimic

[ICLR2023] DiffMimic: Efficient Motion Mimicking with Differentiable Physics

IsaacLab

Unified framework for robot learning built on NVIDIA Isaac Sim

loco-mujoco

Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.

parkour

[CoRL 2023] Robot Parkour Learning

rl_games

RL implementations

touchsensor

urdfpy

Python parser for URDFs

drake

A planning, control, and analysis toolbox for nonlinear dynamical systems. More info at

edbr

Elias Daler's Bikeshed Renderer (Vulkan renderer/game engine)

madrona

madrona_mjx

madrona_warp_prototype

mjcf-importer-extension

Omniverse MJCF Importer Extension

mujoco

Multi-Joint dynamics with Contact. A general purpose physics simulator.

openmoonray

PEEL

Physics Engine Evaluation Lab

redis

Redis is an in-memory database that persists on disk. The data model is key-value, but many different kind of values are supported: Strings, Lists, Sets, Sorted Sets, Hashes, Streams, HyperLogLogs, Bitmaps.

unitree_sdk2

Unitree robot sdk version 2. https://support.unitree.com/home/zh/developer

urdf-importer-extension

Omniverse URDF Importer

valkey

A new project to resume development on the formerly open-source Redis project. We're calling it Valkey, like a Valkyrie.

VIMA

Official Algorithm Implementation of ICML'23 Paper "VIMA: General Robot Manipulation with Multimodal Prompts"

VIMABench

Official Task Suite Implementation of ICML'23 Paper "VIMA: General Robot Manipulation with Multimodal Prompts"

warp

A Python framework for high performance GPU simulation and graphics