Robot simulation

Open source

A lightweight robotics RL framework built on Genesis with IsaacLab-aligned APIs, enabling fast task development and easy migration from existing IsaacLab environments.

Open source

Generating Robotic Simulation Tasks via Large Language Models

Research

GRADE: Generating Animated Dynamic Environments for Robotics Research

Research

Webots Simulation of Wheeled Bipedal Robot Using Model Based LQR (from an undergraduate graduation project)

Research

Platform for General Robot Intelligence Development

Open source

An archived toolkit for RL experiments with ROS 2 and Gazebo.

Open source

Framework for developing OpenAI Gym robotics environments simulated with Ignition Gazebo

Research

Mujoco Gym environment for the control of quadruped robots

Open source

Reproducible reinforcement-learning experiments in Gazebo.

Research

Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC

Open source

URDF models of humans created to perform human robot interaction experiments.

Open source

A human-vehicle simulation platform for autonomous-system and interaction experiments.

Research

An indoor robot-system simulation and navigation project using ROS.

Open source

Integration of Motoman CSDA10f dual arm robot with ROS, Moveit and Gazebo, with aims of creating a robotics developing platform for Invite GmbH, pre-configured to be simple to use and learn.

Open source

An independent extension based on IsaacLab. It provides support for Robot Manipulation tasks (Robot Arm and Dextrous Hand).

Open source

A differentiable physics engine and multibody dynamics library for control and robot learning.

Open source

Python/C++ articulated-robot simulator with Gym interfaces for reinforcement learning.

Open source

C++ rigid-body physics and collision detection library.

Open source

Codebase for Kinova Gen3 training in Isaac Lab, sim2real transfer and ROS deployment.

Research

Framework for building parallel multiphysics simulation software.

Open source

RL training library for humanoid locomotion and manipulation. Built on top of MuJoCo and JAX.

Research

Legged Robot Isaaclab Extention

Open source

A Genesis–LeRobot bridge for running, recording and evaluating robot policies.

Open source

Perceptive Learning for Legged Robots in IsaacLab. | LocoTouch: Learning Dynamic Quadrupedal Transport with Tactile Sensing (CoRL'25)