Suite of parametrized controller with simulation environments for co-design of Humanoid Robots

A Python-based Trajectory Optimization Framework

Humanoids 2022 Paper

A collection of high-quality models for the MuJoCo physics engine, curated by Google DeepMind.

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

adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.

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

Framework for developing OpenAI Gym robotics environments simulated with Ignition Gazebo