lxsummer1

bullet3

Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

vision-based-robotic-grasping

Related papers and codes for vision-based robotic grasping

HybrIK

Official code of "HybrIK: A Hybrid Analytical-Neural Inverse Kinematics Solution for 3D Human Pose and Shape Estimation", CVPR 2021

OmniIsaacGymEnvs

Reinforcement Learning Environments for Omniverse Isaac Gym

chhRobotics_CPP

自动驾驶规划控制常用算法c++代码实现

humanplus

HumanPlus: Humanoid Shadowing and Imitation from Humans

awesome-robot-descriptions

A curated list of awesome robot descriptions (URDF, MJCF)

humanoid-bench

robot_descriptions.py

Access 90+ robot descriptions from the main Python robotics frameworks

Awesome-Embodied-AI

mimicgen_environments

This code corresponds to simulation environments used as part of the MimicGen project.

MimicPlay

"MimicPlay: Long-Horizon Imitation Learning by Watching Human Play" code repository

tsid

Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio

UHC

Official Implementation of the Universal Humanoid Controller in Mujoco. Supports Kinpoly (NeurIPS 2021) and EmbodiedPose (NeurIPS 2022).

humanoid-control

A humanoid bipedal walking control repo using NMPC and WBC, and simulation with mujoco. Contact: xuejl2001@mail.ustc.edu.cn

IntroductionToHumanoidRobotics

Matlab code for a Springer book "Introduction to Humanoid Robotics"

casadi_kin_dyn

Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.

TRILL

Official codebase for Teleoperation and Imitation Learning for Loco-manipulation (TRILL)

awesome-robot-visual-imitation-learning

A collection of papers, codes and talks of visual imitation learning/imitation learning from video for robotics.

KinodynamicFabrics.jl

Julia implementation of the Kinodynamic Fabrics whole-body control framework

RoTools

All-in-one ROS package for high-level robotic task scheduling, visual perception, path planning, simulation, and direct-/tele-manipulation control.

Toward-Human-Like-Grasp

Toward Human-Like Grasp: Dexterous Grasping via Semantic Representation of Object-Hand

Functionalgrasp

Functionalgrasp: Learning Functional Grasp for Robots via Semantic Hand-Object Representation (RA-L 2023)

DexFuncGrasp

DexFuncGrasp: A Robotic Dexterous Functional Grasp Dataset constructed from a Cost-Effective Real-Simulation Annotation System (AAAI2024)

Joint-Space-SCA

kuka-lpvds-tasks

This package contains motion planning code for LPV-DS tasks from Nadia's CoRL (2018) paper using the DS-impedance controller for the KUKA LWR 4+ robot in simulation (gazebo) and real robot.

IsaacGymEnvs_ICIRA

This repo is based on the nvidia's Repo IsaacGymEnvs and updated by me for ICIRA

Robot-Learning

Papers, codes, datasets, applications, tutorials.

awesome-humanoid

awesome paper with humanoid and Physics-based Character Animation. More focus on manipulation

legged_control_zidong

Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls