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1. earthwrite_word_ros2 earthwrite_word_ros2 Public

   UR5e word-writing robot: ROS 2 Humble control + MuJoCo simulation. Same code runs in sim and on the real arm.

   Python

2. ur10_pick_place_simulation ur10_pick_place_simulation Public

   UR10 pick-and-place simulation using MoveIt 2 on ROS 2 Humble - parameterised 9-stage sequence, virtual gripper, runs on mock hardware, URSim, or a real robot.

   C++

3. vision-drone-sorter vision-drone-sorter Public

   Autonomous drone that sees colored cubes and sorts them - Unity simulation driven by real-time OpenCV computer vision. Closed-loop perception to actuation over TCP.

   C# 2

4. cassie-rl cassie-rl Public

   🦿 Agility Cassie learns to walk & run — trained with MuJoCo Playground (MJX + Brax PPO) on a GPU, driven from your keyboard on a CPU with plain MuJoCo + NumPy.

   Jupyter Notebook

5. quadbot-rl-env quadbot-rl-env Public

   A 12-DoF quadruped built from scratch, its Gymnasium environment, and the PPO policy that taught it to walk. MuJoCo + Stable-Baselines3.

   Python

6. sawyer_rethink_moveit2_pick_place sawyer_rethink_moveit2_pick_place Public

   ROS 2 Humble + MoveIt 2 pick and place for the Rethink Robotics Sawyer: collision-aware planning, top-down grasping, straight-line approach/retreat, fully parameterised.

   C++