Very fast motion planning for articulated robot, through a bit of premature-optimization (C++ core with Python bindings) *less than 1ms for moderate problems

A library for automating rigid-origami crease pattern generation and folding simulation.

This repository provides open-hardware design data for an anthropomimetic foot joint structure and experimental apparatus.

A Python API for building Onshape models

MyoChallenge environments and tasks in mjlab framework

Interface of myosuite with https://github.com/mujocolab/mjlab

URDF model of the GARMI robot

[arXiv 2026] LadderMan: Learning Humanoid Perceptive Ladder Climbing

Infrastructure for solid modeling

A deep reinforcement learning approach for the control of ultrasonic motor (USM) by integarting the Soft-Actor-Critic (SAC) algorithm and the control Lyapunov function (CLF).

This is a repository for reinforcement learning implementation for Unitree robots, based on Mujoco.

A simple commandline utility to generate grid-based signed distance field (level set) generator from triangle meshes, using code from Robert Bridson's website.

A Matlab/Simulink Toolbox for dynamic modeling of tendon-driven system (robotic or musculoskeletal hand)

3D soft-bodied earthworm inspired robot modeled in the Mujoco physics engine.

AI-powered agents for automating 3D content workflows using Vision-Language Models (VLMs). Content Agents analyze 3D assets and automate material assignment, physics property classification, and te…

A joints calibration routine for quadrupeds and manipulators to facilitate sim-to-real transfer from isaaclab and mujoco to real robots

A high-fidelity, open-source robotics simulator integrating Unreal Engine's photorealistic rendering with MuJoCo's precision physics.

Humanoid Virtual Athletics Challenge

A 3D Pipe Screen Saver (Windows 95) built using Electron.js, Three.js, and React, powered by the Electron Vite build tool. This dynamic desktop application generates mesmerizing, evolving 3D pipe s…

Legacy ROS 2/Gazebo and Geant4 radiation-visualization prototype; superseded by radiation-simulation-runtime.

An extension to render cadquery objects in JupyterLab via pythreejs

This project uses CadQuery and cq_gears to generate 3D models of spherical gear and monopole gear.

ROS2 control package for Mujoco simulation physics simulator, including plugins for various sensors, RGB-D cameras, and lidar.

A CUDA-accelerated cloth simulation engine based on Extended Position Based Dynamics (XPBD).