Discover UM-ARM-Lab/arm_pytorch_utilities Open Source project

Robot kinematics implemented in pytorch

423

pytorch_kinematics

Builds 2D signed distance fields from images, 3D signed distance fields from pointclouds, 3D signed distance fields from Octomap, provides a lightweight signed distance field library, message types for signed distance fields, and tools to compress signed distance fields for transport.

233

sdf_tools

A python class that calculates chamfer distance between point clouds using tensorflow

187

Chamfer-Distance-API

Library for Constrained Deformable Coherent Point Drift

cdcpd

Volumetric structures such as voxels and SDFs implemented in pytorch

pytorch_volumetric

[ROS 1] Teleop control of dual arm robots using virtual reality devices

vr_teleop

CMake

Efficient-Eng-2-LTL

The associated repo for paper "Data-Efficient Learning of Natural Language to Linear Temporal Logic Translators for Robot Task Specification"

Constrained pose Hypothesis Set Elimination official code for pose estimation

chsel

C++ and Python utilities. ARC -> ARM

arc_utilities

ROS package for navigation of Clearpath Husky using visual SLAM with a stereo camera

husky_stereo_nav

Developmental controllers for the IIWA 7 robot, including a Catkinized version of the Kuka FRI SDK

kuka_iiwa_interface

PyTorch Collision Checker

pytorch_collision_checker

Code for Probabilistic Shape Completion

probabilistic_shape_completion

Packages for controlling our robots at a high-level, though simple to use ROS and Python interfaces.

arm_robots

Trap aware model predictive control

tampc

Fast kinematic simulator used for motion planning and control with uncertainty projects.

fast_kinematic_simulator

merge_pointclouds

Unity project for teleoperation of ARM-lab's "Victor" robot using an HTC Vive

unity_victor_teleop

visual_servoing

position based visual servoing library with PnP pose estimation

A ROS package that publishes position of a table in kinect camera frame.

robot_calibration

SE(2), SE(3), Baxter, and UR5 examples for using uncertainty_planning_core

uncertainty_planning_examples

Unity project and ROS 2 interface definitions for using the HTC Vive

vr_ros2_bridge

gpu_voxel_planning

Brad's library for PhD research on CHS, BTP, and other voxel-based planning approaches using ARMLabs Victor robot

Bandit-based Model Selection for Deformable Object Manipulation

mab_ms

Traversability-based contact planner code release

CudaSift

Cuda

Traversability-Based-Contact-Space-Planner

Public release of code for Manipulating Piles of Stuff voxel pipeline.

multihypothesis_segmentation_tracking

Soft Tracking Using Contacts for Cluttered Objects

stucco

ROS interface between a robot/simulator and planners for deformable object manipulation.

deformable_manipulation_interface

mjregrasping_cpp

arm_segmentation

Kinodynamic RRT implemented in pytorch

pytorch_rrt

ROS node to record from a connected video device (webcam) and save to a file

arm_video_recorder

Framework for motion planning with uncertainty

uncertainty_planning_core

This repository contains code related to the motion planning around plants project.

plant_motion_planning

Code accompanying "The Grasp Loop Signature: A Topological Representation for Manipulation Planning with Ropes and Cables"

mjregrasping

Code accompanying the paper "Learning Where to Trust Unreliable Models in an Unstructured World for Deformable Object Manipulation"

unreliable-deform-manipulation

GPU Profiling Tools For The Lab

gpu_profiling

Pybullet simulation for visual servoing of a dual arm robot val

val_pbvs_pybullet

SiamMask

Project for deformable object control

deform_control

Calibration files for use with the iai_kinect2 ROS package.

kinect2_calibration_files

CMake

smmap

Simultaneous Modeling Manipulation And Planning

unity_victor_teleop_headless

pr2_reachability_map_visualization

Code accompanying Focused Adaptation of Dynamics Models for Deformable Object Manipulation

focused-adaptation-dynamics

Neural network completion of partial shapes in a voxel grid

mps_shape_completion

RNG seeding and context management for pytorch

pytorch_seed

Code accompanying the RSS paper "Data Augmentation for Manipulation"

data-augmentation-for-manipulation

Simple module for convenient NumPy and PyTorch point cloud utilities

arm_clouds

Bridge between Vicon DataStream SDK and ROS. Designed specifically for reduced latency.

lightweight_vicon_bridge

A Python ROS package to provide additional functionality for the Clearpath Autonomous Research Kit. This project was conducted for the University of Michigan's ARM Lab.

husky_ark_armlab