ROS2-Control implementations for Quadruped robots

Fast and simple implementation of RL algorithms, designed to run fully on GPU.

C library for reading and writing YAML.

Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695

This repository provide a tool to convert robot urdf file to mjcf.

Deep RL for MPC control of Quadruped Robot Locomotion

ros-control interface and basic controllers for quadruped robot

强化学习中文教程（蘑菇书🍄），在线阅读地址：https://datawhalechina.github.io/easy-rl/

Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.

Driver for Motorcomm YT6801

Robotics class, 2022 edition

Whole body Inverse Kinematics based on Pinocchio and qpmad

ViPlanner: Visual Semantic Imperative Learning for Local Navigation

Attitude and Heading Reference Systems in Python

An open source bipedal robot control framework, based on non-linear MPC and WBC, tailered for EC-hunter80-v01 bipedal robot.

Learning-based locomotion control from OpenRobotLab, including Hybrid Internal Model & H-Infinity Locomotion Control

Isaac Gym Environments for Legged Robots

人人都能用英语

Globally Safe Model-free Exploration of Dynamical Systems

NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls

Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC

An open source implementation of MIT Cheetah 3 controllers

Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.

An optimization-based multi-sensor state estimator

ROS 2 driver package for Boston Dynamics' Spot

Basic linear algebra subroutines for embedded optimization