Useful GitHub Repositories

Mujoco Repositories

1. MJLab: Isaac Lab-style environment design using GPU-accelerated MuJoCo Warp.

2. MUJOCO MPC: A MuJoCo framework for real-time model predictive control.

3. MuJoCo-Playground: A collection of GPU-ready robot learning environments built on MJX.

Control of quadruped robots

1. motion_imitation: Useful for Quadruped robot simulation in Pybullet using SRB (single-rigid body) model (by Erwin Couman, creator of Pybullet)

2. walk-these-ways: Learning-based locomotion controller in Issac-gym simulator, with different gaits and height changes

3. HIMLoco: Learning-based locomotion controller for rough terrain navigation using hybrid internal models

4. robot_lab: RL Extension Library for Robots, Based on IsaacLab. [IsaacLabAPI Doc]

Controls for Humanoids and Biped robots

1. VI_discretized_TO: Code for the Backflips of biped and quadruped robots using Traj_Opt using Variational Integration

Mechanical Design

1. COMPAct: A computational design optimization and automated CAD generation for 3D-printed actuators for legged robots

2. Manim-Gearbox A gearbox visualizer tool build on Manim

Others

1. loco-3d/crocoddyl: Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

2. Pinocchio: Efficient and Versatile Rigid Body Dynamics Algorithms