Discover ADVRHumanoids/ComplianceRos Open Source project

Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.

casadi_kin_dyn

ROS End-Effector package: provides a ROS-based set of standard interfaces to command robotics end-effectors in an agnostic fashion

ROSEndEffector

XBotControl framework: XBotCore + OpenSoT + CartesI/O

XBotControl

MatLogger2

Library for logging of numeric data to HDF5 MAT-files, which is RT-safe and multithreaded.

CartesianInterface

Package for generic cartesian control of floating base robots. It includes a ROS-based front end, as well as a programmatic API that can be used inside a real-time loop.

A ROS2 package aimed to automatically compute robot impedance based on task execution.

RobotImpedanceModulation

IROS 2018 Software Tutorial on XBotControl

tutorial_iros2018

Repository for the compliant humanoid robot COMAN from the Italian Institute of Technology.

iit-coman-ros-pkg

Shell

centauro-simulator

CENTAURO model for simulation

Examples and tutorials on the new XBot2 framework -- WIP

xbot2_examples

ROS2 interface for the Arduino Nicla Vision board

nicla_vision_ros2

Hybrid Walking Pattern Generator for bipedal robots, merging the Virtual Constraints and the Preview Control theories

limit_cycle_walking

point_cloud2_filters

ROS package to broadcast inertial robot params and visualize them in RVIZ

robot_inertia_publisher

ROS package containing modular's simulation scripts and launch files

concert_description

world_generator

A ROS package for the Arduino Nicla Vision board

nicla_vision_ros

Minimal python-based clone & build tool with dependencies

forest

Package containg CartesI/O addons relared with the Centauro robot

centauro_cartesio

Packages such as UI tools and loggers for robot monitoring

robot_monitoring

Model for IIT's Dagana gripper

iit-dagana-ros-pkg

This package is based on OrebroUniversity/yumi: https://github.com/OrebroUniversity/yumi

abb-yumi-ros-pkg

Shell

MallocFinder

Wrapper for GCC's malloc hooks that aim to simplify/abstract their usage for debugging purposes.

Inter Process Communication Mechanism, Real / Non-Real Time, OS Xenomai

RT-NRT_IPC_Xenomai

Horizon_old

A tiny set of python functions to simplify optimal control in CASADI

Dynamic GUI for ROS End-Effector project

rosee_gui

ProximityBasedDynamicCollisionAvoidance

The repository contains basic file for PCD processing

PCL_Perception

IterativeLQR/DDP code written in python

ilqr

base_estimation

The purpose of this library is to have a wrapper around the KDL::Trajectories in order to simplify the usage and the interface.

trajectory_utils

iit-centauro-ros-pkg

Casadi based walking code

casannis_walking

XBotCore-interfaces

XBotCore interfaces.

XBot Graphical User Interface for XBot powered robots

XBotGUI

An interface between eigen3 and lapack implementing a real-time safe svd decomposition

RealtimeSvd

A locomotion framework for the Centauro robot

DrivingFramework

Master Thesis on "Planning techniques for the Gap Crossing Task" in collaboration with Francesco Roscia e Matteo Sodano, from La Sapienza

gap_crossing

compliant_stabilizer

UDP communication between TOM exoskeleton and CENTAURO robot

TomCentauroUDP

Next-gen robot and model interfaces for XBot2

xbot2_interface

This package implements an orocos component for communicating with the COMAN through the Robolli library. The component is used to serve status/command data. You can compile it for linux or xenomai targets if you want 1Khz hard-realtime ccontrol. – README.md

rtt_coman

Test library for the EtherCAT master non-RT/RT API

ZMQ-Protobuf_EtherCAT

trajectory_generator

gazebo_tf_pub

Shared ADVR config files and models

ADVR_shared

Non-linear optimization centroidal dynamics with superellipsoid constraint

contacts_opt

Debris Removal Task for the WALK-MAN final demo

DebrisRemovalTask

Andrea Patrizi's work on controlling our awesome leg

awesome_leg

Work Package Repository for XBotBlock

XBotBlock_WP

MATLAB

PbDlib-LIG

ROS_CartesianSpaceExample

Plugins to extend CartesIO 2.0 to acceleration level control

cartesio_acceleration_support

The ROS End-Effector package but for ROS2

ROSEndEffector2

RobotInterfaceOROCOS

wb_mpc_centauro

modularbots_fraunhofer

mpcqp_walking

GUI tools for the CartesI/O framework

cartesio_gui

UDP_Teleoperation

Python script that generates EtherCAT Network Information (ENI) XML files from a set of templates, for use with Simulink real-time

EtherCAT_XML_generator

FhI PINO documentation and examples

pino_fhi

Collection of Gazebo worlds useful for simulations

iit-gazebo-worlds-pkg

Module for whole body cartesian control with keyboard input based on OpenSot

WholeBodyKeyboardCtrl

Package providing a simple, RT safe, logging utility. It supports both console logging and logging of data to a .mat file.

XBotLogger

A minimal process launching automation tool based on YAML and TMUX

concert_launcher

A cluster of controllers for the robot Concert using Horizon

concert_horizon

RT Plugin example for the XBotDays@IIT Workshop (27-28th June 2017)

XBotDaysWorkshop

Package for whole body sampling based planning

cartesio_planning