Humanoids Python Packages

tsid

Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio

host-pytorch

Implementation of Humanoid Standing Up, from the paper "Learning Humanoid Standing-up Control across Diverse Postures" out of Shanghai, in Pytorch

yarp-middleware

YARP - Yet Another Robot Platform

wbc-mjlab

One policy. Any motion. Train universal whole-body tracking in mjlab—swap clips, not checkpoints.

libtsid

Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio

safemotions

Learning Collision-free and Torque-limited Robot Trajectories based on Alternative Safe Behaviors.