stevenlsw / contactgen Star 79 Code Issues Pull requests ContactGen: Generative Contact Modeling for Grasp Generation (ICCV 2023) generative-model grasping mano contact-modeling hand-object-interaction hand-grasping generating-grasp iccv2023 Updated Oct 18, 2023 Python
asu-iris / comfree_warp Star 78 Code Issues Pull requests A GPU-Parallel analytical physics engine with mujoco API compatibility simulator robotics physics-engine humanoid robotics-simulation contact-modeling differentiable-simulations dexterous-manipulation Updated Mar 22, 2026 Python
aykutonol / cito Star 56 Code Issues Pull requests A Contact-Implicit Trajectory Optimization Package trajectory-optimization mujoco snopt contact-modeling Updated Sep 22, 2023 C++