Minimal, clean, single-file implementations of common robotics controllers in MuJoCo.

Orocos Kinematics and Dynamics C++ library

Learning Robot Geometry as Distance Fields: Applications to Whole-body Manipulation

PairwiseNet: Pairwise Collision Distance Learning for High-dof Robot Systems

Configuration Space Distance Fields for Manipulation Planning

Official Implementation for “Implicit Articulated Robot Morphology Modeling with Configuration Space Neural Signed Distance Functions” (ICRA 2025)

A curated list of awesome robot descriptions (URDF, MJCF)

This project simulates a UR5 robotic arm with a Robotiq 85 gripper, performing autonomous object grasping and placement tasks in the PyBullet environment.

A custom PyBullet environment for UR5 pick-and-place task. Trained using the SAC algorithm from Stable-Baselines3 for continuous control and robotic manipulation.

robot arm simulate

Code for Compositional Diffusion-Based Continuous Constraint Solvers (CoRL 23)

Python robot's kinematics library

Library for collision detection between two convex shapes

Flexible Collision Library

Python binding of FCL library

Robotics Toolbox for MATLAB

A Deep Reinforcement Learning environment for simulating a UR5 robotic arm performing a peg-in-hole insertion task using visual feedback. Built with PyBullet and Gymnasium, it supports eye-in-hand …

[SIGGRAPH2022] Approximate Convex Decomposition for 3D Meshes with Collision-Aware Concavity and Tree Search

A large-scale benchmark and learning environment.

Isaac Gym Reinforcement Learning Environments

A gym environment designed for free-floating space robot control based on the MuJoCo platform.

robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

Quick backbone of Diffusion Policy on Robot Arm by PyBullet

These tutorials cover a variety of common robotics tasks and controllers, providing a comprehensive introduction to using Mujoco for robotics simulation. Each tutorial is designed to be self-contai…

A collection of high-quality models for the MuJoCo physics engine, curated by Google DeepMind.

ROS integration for the KUKA LBR IIWA R800/R820 (7/14 Kg).

PyTorch implementations of deep reinforcement learning algorithms and environments