{"id":28753263,"url":"https://github.com/google-deepmind/dm_robotics","last_synced_at":"2025-06-17T00:39:22.073Z","repository":{"id":56728042,"uuid":"371717994","full_name":"google-deepmind/dm_robotics","owner":"google-deepmind","description":"Libraries, tools and tasks created and used at DeepMind Robotics.","archived":false,"fork":false,"pushed_at":"2024-12-09T14:43:04.000Z","size":96123,"stargazers_count":371,"open_issues_count":5,"forks_count":42,"subscribers_count":21,"default_branch":"main","last_synced_at":"2025-05-23T07:48:11.281Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/google-deepmind.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":"CONTRIBUTING.md","funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":"CITATION.cff","codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2021-05-28T13:57:55.000Z","updated_at":"2025-05-13T00:04:19.000Z","dependencies_parsed_at":"2024-12-09T15:39:15.150Z","dependency_job_id":null,"html_url":"https://github.com/google-deepmind/dm_robotics","commit_stats":null,"previous_names":["google-deepmind/dm_robotics","deepmind/dm_robotics"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/google-deepmind/dm_robotics","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/google-deepmind%2Fdm_robotics","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/google-deepmind%2Fdm_robotics/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/google-deepmind%2Fdm_robotics/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/google-deepmind%2Fdm_robotics/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/google-deepmind","download_url":"https://codeload.github.com/google-deepmind/dm_robotics/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/google-deepmind%2Fdm_robotics/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":260268635,"owners_count":22983601,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2025-06-17T00:39:21.172Z","updated_at":"2025-06-17T00:39:22.033Z","avatar_url":"https://github.com/google-deepmind.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# `dm_robotics`: Libraries, tools, and tasks created and used for Robotics research at DeepMind.\n\n## Package overview\n| Package | Summary |\n| ---- | ---- |\n| [Transformations](py/transformations/README.md) | Rigid body transformations |\n| [Geometry](py/geometry/README.md) | Scene and Robot geometry primitives |\n| [Vision](py/vision/README.md) | Visual blob detection and tracking |\n| [AgentFlow](py/agentflow/README.md) | Reinforcement Learning agent composition library |\n| [Manipulation](py/manipulation/README.md) | \"RGB\" object meshes for manipulation tasks |\n| [MoMa](py/moma/README.md) | Manipulation environment definition library, for simulated and real robots |\n| [Controllers](cpp/controllers/README.md) | QP-optimization based cartesian controller |\n| [Controller Bindings](cpp/controllers_py/README.md) | Python bindings for the controller |\n| [Least Squares QP](cpp/least_squares_qp/README.md) | QP task definition and solver |\n\n\n## Installation\nThese libraries are distributed on PyPI, the packages are:\n\n*  `dm_robotics-transformations`\n*  `dm_robotics-geometry`\n*  `dm_robotics-vision`\n*  `dm_robotics-agentflow`\n*  `dm_robotics-manipulation`\n*  `dm_robotics-moma`\n*  `dm_robotics-controllers`\n\nPython versions 3.8, 3.9 and 3.10 are supported.\n\n## Dependencies\n`MoMa`, `Manipulation` and `Controllers` depend on MuJoCo, the other packages do not.\nSee the individual packages for more information on their dependencies.\n\n## Building\n\nTo build and test the libraries, run `build.sh`.  This script assumes:\n\n*  [`dm_control`](https://github.com/deepmind/dm_control) is installed.\n*  cmake version \u003e= 3.20.2 is installed.\n*  Python 3.8, 3.9 or 3.10 and system headers are installed.\n*  GCC version 9 or later is installed.\n*  numpy is installed.\n\nThe Python libraries are tested with `tox`, the C++ code is built and tested\nwith `cmake`.\n\nTox's `distshare` mechanism is used to share the built source distribution\npackages between the packages.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fgoogle-deepmind%2Fdm_robotics","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fgoogle-deepmind%2Fdm_robotics","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fgoogle-deepmind%2Fdm_robotics/lists"}