OpenManip

Tech Stack:

C++, Pinocchio, MuJoCo

Goal:

Create hardware agnostic framework for robot manipulation with simulation to real hardware workflow.

What I did:

• •Built C++ framework using Pinocchio for dynamics computation
• •Integrated MuJoCo for physics simulation
• •Created hardware abstraction layer for motion planning

What was achieved:

Motion planning code works in simulation and deploys to real hardware without modification. Enables rapid prototyping and validation.