Software that integrates various imitation learning methods and benchmark task environments to provide baselines for robot manipulation

Controller for retargeting the motion from human to humanoid robot

ROS-based utilities for motion capture

ROS-based visualization library for robot arrays

Humanoid loco-manipulation controller

ROS-based MuJoCo utilities

Plugin to simulate tactile sensors in MuJoCo

Humanoid multi-contact motion controller

Trajectory functions for robot control

Force control functions for robot control

MuJoCo interface for mc-rtc

ROS-based Choreonoid utilities

Inverse kinematics with 3D human model SMPL

Humanoid footstep planner based on baseline methods with graph search

Model predictive control based on data-driven model

Humanoid walking controller with various baseline methods

Collection of centroidal control for legged robots

Unified C++ interface for quadratic programming solvers

Non-linear model predictive control (NMPC) library

Differentiable reachability map

mc_rtc is an interface for simulated and real robotic systems suitable for real-time control