Baseline controller family
I am developing open-source humanoid controllers based on the robot control framework mc_rtc. All of the following controllers are implemented in a unified architecture and enable general baseline motions of humanoids.
BaselineWalkingController
Humanoid walking controller with various baseline methods.
LocomanipController
Humanoid loco-manipulation controller.
MultiContactController
Humanoid multi-contact motion controller.
HumanRetargetingController
Controller for retargeting the motion from human to humanoid robot.
Baseline planner
BaselineFootstepPlanner
Humanoid footstep planner based on baseline methods with graph search.
Baseline for robot learning
RoboManipBaselines
Software that integrates various imitation learning methods and benchmark task environments to provide baselines for robot manipulation.
General-purpose controller
NMPC
Non-linear model predictive control (NMPC) library.
Simulation utilities
MujocoRosUtils
ROS-based MuJoCo utilities.
MujocoTactileSensorPlugin
Plugin to simulate tactile sensors in MuJoCo.
CnoidRosUtils
ROS-based Choreonoid utilities.
Visualization utilities
RobotArrayVisualization
ROS-based visualization library for robot arrays.
MocapRosUtils
ROS-based utilities for motion capture.
