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14 results
Dual-Arm Torso Screw Driving Gym Environment
Screw Driving for the Dual-Arm Torso — a Gymnasium training environment. Captured/authored with joint encoders in the loop and validated against real Dual-Arm Torso kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Hospital Ward Gazebo World (.sdf) — Dual-Arm Torso
Waypoint Navigation for the Dual-Arm Torso — a ready-to-load simulation world. Captured/authored with 2D LiDAR in the loop and validated against real Dual-Arm Torso kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Greenhouse Gazebo World (.sdf) — Underwater ROV
Waypoint Navigation for the Underwater ROV — a ready-to-load simulation world. Captured/authored with 2D LiDAR in the loop and validated against real Underwater ROV kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Autonomous Forklift Cloth Folding Gym Environment
Cloth Folding for the Autonomous Forklift — a Gymnasium training environment. Captured/authored with joint encoders in the loop and validated against real Autonomous Forklift kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Outdoor Yard Gazebo World (.sdf) — Autonomous Forklift
Waypoint Navigation for the Autonomous Forklift — a ready-to-load simulation world. Captured/authored with 2D LiDAR in the loop and validated against real Autonomous Forklift kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Hexapod Flat-Ground Locomotion Description (.urdf, 18-DoF)
Flat-Ground Locomotion for the Hexapod — a complete kinematic description with inertias and joint limits. Captured/authored with joint encoders in the loop and validated against real Hexapod kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Quadruped Drawer Manipulation Description (.xacro, 12-DoF)
Drawer Manipulation for the Quadruped — a complete kinematic description with inertias and joint limits. Captured/authored with joint encoders in the loop and validated against real Quadruped kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Hexapod Object Stacking Gym Environment
Object Stacking for the Hexapod — a Gymnasium training environment. Captured/authored with joint encoders in the loop and validated against real Hexapod kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Office Floor Gazebo World (.sdf) — Hexapod
Waypoint Navigation for the Hexapod — a ready-to-load simulation world. Captured/authored with 2D LiDAR in the loop and validated against real Hexapod kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Bipedal Walker Screw Driving Description (.urdf, 12-DoF)
Screw Driving for the Bipedal Walker — a complete kinematic description with inertias and joint limits. Captured/authored with joint encoders in the loop and validated against real Bipedal Walker kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Humanoid Pick-and-Place Gym Environment
Pick-and-Place for the Humanoid — a Gymnasium training environment. Captured/authored with joint encoders in the loop and validated against real Humanoid kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Warehouse Gazebo World (.sdf) — Humanoid
Waypoint Navigation for the Humanoid — a ready-to-load simulation world. Captured/authored with 2D LiDAR in the loop and validated against real Humanoid kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
DiffDrive-Mini — Differential-Drive Robot URDF
A clean, simulation-ready URDF for a compact differential-drive mobile robot. Includes base_link, two continuous-axis drive wheels, a spherical caster, and a top-mounted LiDAR link — each with mass and inertia tensors set for stable physics in Gazebo / Isaac Sim. Wheel separation 0.21 m, wheel radius 0.05 m, so it drops straight into a ros2_control diff_drive_controller or nav2 stack for SLAM and navigation experiments. Minimal, dependency-free, and easy to extend with cameras or arms.
DiffDrive-Mini — Differential-Drive Robot URDF
A clean, simulation-ready URDF for a compact differential-drive mobile robot. Includes base_link, two continuous-axis drive wheels, a spherical caster, and a top-mounted LiDAR link — each with mass and inertia tensors set for stable physics in Gazebo / Isaac Sim. Wheel separation 0.21 m, wheel radius 0.05 m, so it drops straight into a ros2_control diff_drive_controller or nav2 stack for SLAM and navigation experiments. Minimal, dependency-free, and easy to extend with cameras or arms.