We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enables real-time, contact-rich locomotion and manipulation using …

A collection of robotics simulation environments for reinforcement learning

Mujoco environment to test GUFIC formulation

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

A robust, production-ready rigid body simulation framework utilizing MuJoCo for visualization with custom impulse-based collision and friction physics.

This project is based on a Kinova robotic arm URDF converted to an MJCF format for MuJoCo simulation. It integrates Pinocchio for dynamic computations and develops demos for kinematics, trajectory …

Real-time behaviour synthesis with MuJoCo, using Predictive Control

A MARL method for motion planning of free-floating space robot.

Whole-Body Dynamics Control Software Package for Humanoid Robots