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LASA Laboratory, EPFL (@epfl-lasa)

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iiwa_ros

ROS Meta-package for controlling KUKA IIWA

ridgeback_ur5_controller

Several controllers to move Ridgeback mobile-robot and UR5 robotic-arm.

ML_toolbox

A Machine learning toolbox containing algorithms for non-linear dimensionality reduction, clustering, classification and regression along with examples and tutorials which accompany the Master level "Advanced Machine Learning" and "Machine Learning Programming" courses taught at EPFL by Prof. Aude Billard

icra19-lfd-tutorial-exercises

Set of exercises accompanying the ICRA 2019 Tutorial on Dynamical System based Learning from Demonstration: https://epfl-lasa.github.io/TutorialICRA2019.io/

kuka-lwr-ros

ROS KUKA robot control (simulation & physical)

dynamic_obstacle_avoidance_linear

This package contains a dynamic obstacle avoidance algorithm for concave and convex obstacles as developped in [1].

icra-lfd-tutorial

This repository contains code and information for the computer exercises for the tutorial on Learning from Demonstration at ICRA 2016.

changepoint-detection

Online Change-point Detection Algorithm for Multi-Variate Data: Applications on Human/Robot Demonstrations.

Jupyter Notebook

record_ros

callback wrapper for rosbag record

control-libraries

A collection of library modules to facilitate the creation of full control loop algorithms, including state representation, motion planning, kinematics, dynamics and control.

mobile-throwing

[IROS 2022] A Solution to Adaptive Mobile Manipulator Throwing

rds

RDS is a reactive controller for convex non-holonomic robots to avoid collisions with moving obstacles.

robot-toolkit

The robot simulator and interface of LASA

Neural-JSDF

net-ft-ros

Force torque sensor

OptimalModulationDS

iam_dual_arm_control

This repository contains codes to generate coordinated motion and forces to control a robotic dual arm system (here two iiwa robots)

ds_motion_generator

This package provide ros-nodified version of DS motion generators.

crowdbot-evaluation-tools

Repository for crowd tracking and robot performance evaluation in experiments

Jupyter Notebook

dynamic_obstacle_avoidance_cpp

C++ code for the obstacle avoidance

Joint-Space-SCA

gaussian-process-regression

Simple library with a basic no-frills implementation of GPR using Eigen. Basic support for multidimensional outputs.

IRL_DS_obstacle_avoidance

Code of the Hasler project between LASA and CNBI

kuka-lpvds-tasks

This package contains motion planning code for LPV-DS tasks from Nadia's CoRL (2018) paper using the DS-impedance controller for the KUKA LWR 4+ robot in simulation (gazebo) and real robot.

task_adaptation

kuka-rviz-simulation

This package runs a simulation of the KUKA LWR robot in the LASA lab (EPFL) with the position/velocity-resolved control interface.

human-robot-collider

We let two agents approach each other, collide and generate contact impulses in the simulation engine Bullet (via pybullet).

obstacleAvoidance_Cpp

Implementation of the Obstacle Avoidance algorithm in C++

sliding-ds-control

Jupyter Notebook

bimanual-task-motion-planning

LASA research repo for bimanual task planning.

crowd_tracker_lidar3d

Cracks crowds using a 3d lidar.

Jupyter Notebook

passive-ds-control

A package implementing various controllers for first order DS tasks

cpr_load_support

This package is going to provide a controller for the ClearPath mobile robot to approach a load (carrying by the human) and support it and potentially take it from the human and move it around (to a desired location)

fast-pedestrian-tracker

ROS package to detect and track pedestrians from planar laserscans of their legs.

Object-Trajectory-Prediction

iCub-Assistant

Source code for ICRA 2020 paper "A Dynamical System Approach for Adaptive Grasping, Navigation and Co-Manipulation with Humanoid Robots"

load-share-estimation

Estimate the load share of an object supported by the robot (accounting for dynamics), using force/torque sensor data.

inverse-kinematics-examples

coupled-dynamical-systems

Coupled Dynamical Systems Execution for Position (master) - Orientation (slave) of end-effector encoded with Gaussian Mixture Models.

bimanual-dynamical-system

Virtual Object Dynamical System for Dual-Arm Coordination, controller and execution class.

franka-lightweight-interface

SAHR_bifurcation

Repo with MATLAB and cpp code for encoding and switching between attractors and limit cycles via DS with bifurcation

adaptive_polishing

sg_differentiation

A package implementing Savitzky-Golay smoothing and differentiation. May be useful to estimate e.g. velocity and acceleration from position measurements.

PI2_GMM

Learning motions from demonstrations and rewards with time-invariant dynamical systems based policies

robot_controllers

This repo contains "low" and "high" level controllers for control

RSS2018Tutorial

A set of exercises related to the tutorial given in RSS2018

object-impedance-control

Object-level impedance control

biped-walking-controller

Reactive omnidirectional walking controller for biped humanoid robot iCub

wiki

Best practices, conventions, manuals and instructions for researchers at the LASA

wheel_chair_model

Gazebo model of wheelchair

JT-DS-Learning

Augmented Joint-space Task-oriented Dynamical Systems

kuka-lagsds-tasks

This package contains motion planning code for LAGS-DS tasks from Nadia's IJRR (2019) paper using the DS-impedance controller for the KUKA LWR 4+ robot in simulation (gazebo) and real robot.

wheelchair-ds-motion

DS-based motion planning for the quickie-salsa wheelchair simulated in Gazebo.

MLDemos

MLDemos software

sahr_benchmark

Code for "Benchmark for Bimanual Robotic Manipulation of Semi-deformable Objects"

kuka-lwr-ros-examples

Examples for the kuka-lwr-ros package

gazebo_set_joint_position_plugin

Gazebo model plugin to set joints position on a robot (useful when replaying a rosbag for instance)

demo-voice-control

Super simple python script that uses pocketsphinx for voice control with ROS for easy kineshetic teaching. Demo script is for recording demonstrations and open/close gripper.

ICub_Optimization

icub-ds-walking

DS-based motion planning for the iCub using the reactive omnidirectional walking controller and DS learned from demonstrations.

surgeon_recording

icub-sdfast

iCub files for SDFast library. Can generate the dynamic model of the iCub to solve the dynamics equation of motion.

docker_images

Docker images used at LASA

sahr_spring_assembly_dataset

The 7-dof human upper limb kinematic model. Including both arms and hands. Mainly used for kinematics analysis and motion visualization.

ds_based_contact_tasks

modulo

Modulo is an extension layer to ROS2 that adds interoperability support for epfl-lasa/control-libraries and provides a modular framework for application composition through custom component classes in both C++ and Python.

navioc

Navigation by Inverse Optimal Control

foot_surgical_robot

Icub_Gazebo

optitrack-lasa

Library for reading Motion Capture Data.

robot-voice-control

Control robots using your voice.

locally-modulated-ds

Implementation of LMDS ("Incremental Motion Learning with Locally Modulated Dynamical Systems" ,Kronander, Khansari and Billard, Robotics and Autonomous Systems, 2015)

force_based_ds_modulation

A-SVM

Source Codes for Augmented-Support Vector Machine

throwing_motion_gen_ros

This package contains ds based motion generator for throwing task. The algorithm generate motion such that the robot end-effector will pass through the release position with the desired release velocity

robokind_r25_ros_wrapper

ROS Java Wrapper for the R25 humanoid robot

mathlib

MathLib is a Math library developed at LASA library at EPFL.

ds_admittance_control

This package provides Dynamical System-based Admittance control for compliant human-robot interaction

grasp-data-capture

fast-gmm

robot-kinematics

ensemble_ioc

A module implementing ensemble inverse optimal control and relevant examples

FalconRos

Mid-level control of Falcon (Novit haptic device) through ROS interface

lwr_robot

Model of the Kuka LWR 4 robot for gazebo/rviz. Star

rospyconsole

A python interpreter to communicate with a rosnode and create a console through ros topics.

docker_setup

This repository contains examples and scripts to help build docker images

Task_Allocation

JT-DS-lib

C++ libarary for executing JT-DS

mouse_perturbation_robot

crash-tests-service-robots

Service Robots Crash Testing with Pedestrians: Child and Adult Dummies

Robot-kinematic

This will be an equivalent of https://github.com/epfl-lasa/robot-kinematics in Python!

lift_help_predictor

SAHR_database

Data recording from the SAHR project.

hitting_sim

Dynamical Systems and Controllers used in hitting experiments

fri-library-ros

The KUKA FRI library and a nice wrapper for it. We use these in lwr_interface

dataset_unscrewing_experiment

Summary of experimental data of the unscrewing experiment, for the purpose of studying the effects of task condition on the human hand pose selection strategy in bimanaul fine manipulation tasks.

TutorialICRA2019.io

This tutorial will introduce students the techniques which are used to program robots through human demonstration. You can find the webpage in the following link:

stable_lds

Estimate a stable linear dynamical system from data

GetLinkWorldPose

Gazebo Plugin to get any 6D frame of a robot link and write it to a yarp-port, used with iCub.