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agility-cassie-doc

The official Agility Robotics Cassie documentation and software release repository.

ai4animation

Bringing Characters to Life with Computer Brains in Unity

anymal_b_simple_description

simplified robot description of the ANYmal B quadrupedal robot

anymal_science_robotics_supplementary

Supplementary materials for "Learning Agile and Dynamic Motor Skills for Legged Robots"

art_planner

Local Navigation Planner for Legged Robots

cassie_description

UDRF model of CASSIE robot

cassie_model

Repo containing the urdf and frost based models of Cassie

cassie_stateestimation

Code for various extended Kalman filter state estimation methods for Cassie.

cheetah-software

deep-learning-notes

Experiments with Deep Learning

delora

Self-supervised Deep LiDAR Odometry for Robotic Applications

extreme-parkour

Train your parkour robot in less than 20 hours.

foundationpose

RSL fork of "FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects"

free_gait

An Architecture for the Versatile Control of Legged Robots

icp_localization

This package provides localization in a pre-built map using ICP and odometry (or the IMU measurements).

iplanner

iPlanner: Imperative Path Planning. An end-to-end learning planning framework using a novel unsupervised imperative learning approach

isaaclab

Unified framework for robot learning built on NVIDIA Isaac Sim

l3e

Learning-based localizability estimation for robust LiDAR localization.

legged_gym

Isaac Gym Environments for Legged Robots

motor-optimization

FEMM and MATLAB based parameterized motor geometry simulation

pfnn

Phase-Functioned Neural Networks for Character Control

phasebetweener

Creating animation sequences between sparse key frames using motion phase features.

raisimgym

raisimlib

RAISIM, A PHYSICS ENGINE FOR ROBOTICS AND AI RESEARCH

simbenchmark

Physics engine benchmark for robotics applications: RaiSim vs Bullet vs ODE vs MuJoCo vs DartSim

smug_planner

terrain-generator

traversability_estimation

Traversability mapping for mobile rough terrain navigation

vgan

Code for image generation of Variational Discriminator Bottleneck: Improving Imitation Learning, Inverse RL, and GANs by Constraining Information Flow

viplanner

ViPlanner: Visual Semantic Imperative Learning for Local Navigation