Rohan P. Singh

LearningHumanoidWalking. Training a humanoid robot for locomotion using Reinforcement Learning

mujoco-python-viewer. Simple renderer for use with MuJoCo (>=2.1.2) Python Bindings.

mc_mujoco. MuJoCo interface for mc-rtc

encoder-odometry. Pose calculation using wheel encoder data,

RapidPoseLabels. [ICRA2021] Code for "Rapid Pose Label Generation through Sparse Representation of Unknown Objects"

grasp-fsm-sample-controller. mc-rtc FSM controller to demonstrate biped walking and object grasping

ObjectKeypointTrainer. [SII2020] Training and validation code for keypoint detection using Stacked-Hourglass networks

dyn-param-search. C++

legged_gym. Isaac Gym Environments for Legged Robots

jvrc_mj_description. JVRC model files for MuJoCo

mc_reacher_policy. mc-rtc controller for 3D reacher task using learned (RL) policy.

two-wheel-balance. Arduino code for a two-wheeled self balancing robot: employs a PID controller to achieve stable balance.

Quadruped-PyMPC. A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax).

pca-point-cloud. 3D point cloud-rotation of bounding box using principal component analysis.

mc_rtc. mc_rtc is an interface for simulated and real robotic systems suitable for real-time control