Repository
Open source
MuJoCo · google-deepmind
MuJoCo physics simulator for multijoint dynamics and contact.
Motion planning & controlTHE EMBODIED AI DIRECTORY
Motion planning & control
Find kinematics, dynamics, trajectory-generation and motion-planning tools.
Repository
Open source
Repository
Open source
dm_control · google-deepmind
MuJoCo-based physics simulation and reinforcement learning environments from Google DeepMind.
Motion planning & control
Repository
Open source
Pinocchio
Rigid-body kinematics and dynamics algorithms for robot models.
Motion planning & control
Repository
Open source
Crocoddyl
Optimal-control tools for robotic systems with multiple contacts.
Motion planning & control
Repository
Open source
rl baselines3 zoo · DLR-RM
Training, tuning and evaluation tools for Stable-Baselines3 reinforcement learning agents.
Motion planning & control
Repository
Open source
towr · ethz-adrl
C++ trajectory optimization library for legged robots.
Motion planning & control
Repository
Repository
Open source
BaselineWalkingController · isri-aist
Humanoid walking controller with various baseline methods
Motion planning & control
Repository
Open source
CentroidalControlCollection · isri-aist
Collection of centroidal control for legged robots
Motion planning & control
Repository
Open source
python motion planning · ai-winter
Python motion-planning examples for AGV and AMR systems.
Motion planning & control
Repository
Open source
ifopt · ethz-adrl
C++ interface to nonlinear programming solvers.
Motion planning & control
Repository
Open source
umi-on-legs · real-stanford
UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers
Motion planning & control
Repository
Open source
ocs2 · leggedrobotics
Optimal control toolbox for switched systems with robotics examples and ROS integration.
Motion planning & control
Repository
Open source
Ruckig
Online trajectory generation for controlled robotic motion.
Motion planning & control
Repository
Open source
dreamer · danijar
Dreamer implementation for learning control behaviors with latent world models.
Motion planning & control
Repository
Repository
Open source
dart · dartsim
Dynamic Animation and Robotics Toolkit for dynamics and simulation.
Motion planning & control
Repository
Open source
yourdfpy · clemense
A Python URDF parser with visualization support.
Motion planning & control
Repository
Open source
MorphoSymm · Danfoa
Tools for exploiting Morphological Symmetries in robotics
Motion planning & control
Repository
Repository
Open source
mvsim · MRPT
Vehicle and mobile-robot simulator with C++ and Python APIs.
Motion planning & control
Repository
Open source
tsid · stack-of-tasks
Task-space inverse dynamics library built on Pinocchio.
Motion planning & control
Repository
Open source
simbody · simbody
C++ multibody dynamics library for articulated mechanical and biomechanical systems.
Motion planning & control
Repository
Open source
GUMP · HorizonRobotics
Generative model for Unified Motion Planning tasks
Motion planning & controlSELECTION NOTES
Choosing motion planning & control
Check robot models, collision representations, timing and control interfaces. A feasible geometric path still needs dynamic and hardware-level validation before execution.
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