duburcqa/jiminy
Jiminy: a fast and portable Python/C++ simulator of poly-articulated robots with OpenAI Gym interface for reinforcement learning
This project helps robotics researchers and engineers efficiently simulate poly-articulated robots to develop and test control algorithms, especially using reinforcement learning. You can input a robot's design (e.g., a URDF file) and define its environment and control logic. The output is a realistic simulation of the robot's behavior, along with detailed logs and performance metrics, used to train and evaluate AI models for robot control.
285 stars. No commits in the last 6 months.
Use this if you need a fast, physically accurate, and flexible simulation environment for developing and training AI-powered control systems for complex robots.
Not ideal if you primarily need high-fidelity visual rendering for animation or user interaction, or if your simulation does not involve poly-articulated systems or machine learning.
Stars
285
Forks
30
Language
Jupyter Notebook
License
MIT
Category
Last pushed
Sep 05, 2025
Commits (30d)
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