Motion planning & control

Open source

Control interface built on top of franka_ros that allows controlling the franka robot arm in several joint and Cartesian space impedance control schemes for interactive, safe and reactive (mostly…

Open source

An RL framework for Franka Panda manipulation in MuJoCo.

Open source

Motion Planning around Obstacles with Convex Optimization by Marcucci et al, 2023

Open source

A convex MPC locomotion controller implemented in MuJoCo with Unitree Go2 quadruped

Research

Gaussian Process Motion Planner 2 implementation.

Open source

Gradient-Informed Path Smoothing for Wheeled Mobile Robots (GRIPS)

Open source

PyBullet Gymnasium environments for quadcopter control learning.

Research

Research code for simulation-aided policy tuning in black-box robot learning.

Open source

Hector Quadrotor with MoveIt! Motion Planning Framework

Open source

Browser-based simulator for hexapod robot geometry and motion.

Research

Human-in-the-loop robot-learning and shared-control experiments.

Research

Quadruped gait learning combining reinforcement learning and model predictive control.

Research

CPG and reinforcement-learning control for a swimming eel robot.

Research

Python package for symbolic robot-arm inverse kinematics.

Research

A Python wrapper for IKFast inverse kinematics on the UR5 arm.

Open source

A Numba-accelerated iLQR implementation with state and input constraints.

Research

Manipulator and mobile robot models for trajectory planning and actuator analysis.

Research

NVIDIA-accelerated packages for arm motion planning and control

Open source

UR10 manipulation learning experiments in Isaac Sim, including force-aware control.

Open source

Robot descriptions, messages and controllers for Jackal.

Open source

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…

Open source

Python toolkit for robot kinematics calculations.

Research

LangGraph VLA Agent orchestrates SmolVLA and LeRobot policies for multi-step manipulation.

Open source

Tools to compose, validate and compile URDF, XACRO and SRDF models.