Intelligent Systems Research Institute, AIST
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RoboManipBaselines
RoboManipBaselines PublicA software framework integrating various imitation learning methods and benchmark environments for robotic manipulation
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BaselineWalkingController
BaselineWalkingController PublicHumanoid walking controller with various baseline methods
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CentroidalControlCollection
CentroidalControlCollection PublicCollection of centroidal control for legged robots
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QpSolverCollection
QpSolverCollection PublicUnified C++ interface for quadratic programming solvers
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MujocoTactileSensorPlugin
MujocoTactileSensorPlugin PublicPlugin to simulate tactile sensors in MuJoCo
Repositories
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- g1_isaac_description Public
Isaac Sim models and mc_isaac descriptions for Unitree G1 humanoid robots.
- mc_nn_SafeCBFTorquePolicyContract Public
Run RL torque policies safely in mc_rtc with CBF-QP constraint enforcement and reusable mc_nn integration.
- revo2_mj_description Public
- ros2_control_driver Public
A robot_interface driver plugin that bridges mc_rtc to any robot already running under a standard ros2_control
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