UM-ARM-Lab/husky_ark_armlab

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MIT License
Created over 3 years ago
Updated over 3 years ago

UM-ARM-Lab/husky_ark_armlab

UM-ARM-Lab

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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.

pytorch_mppi

Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch

pytorch_kinematics

Robot kinematics implemented in pytorch

sdf_tools

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.

Chamfer-Distance-API

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

cdcpd

Library for Constrained Deformable Coherent Point Drift

pytorch_volumetric

Volumetric structures such as voxels and SDFs implemented in pytorch

vr_teleop

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

Efficient-Eng-2-LTL

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

chsel

Constrained pose Hypothesis Set Elimination official code for pose estimation

arc_utilities

C++ and Python utilities. ARC -> ARM

husky_stereo_nav

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

kuka_iiwa_interface

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

pytorch_collision_checker

PyTorch Collision Checker

probabilistic_shape_completion

Code for Probabilistic Shape Completion

arm_robots

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

arm_pytorch_utilities

Utilities for working with pytorch

tampc

Trap aware model predictive control

fast_kinematic_simulator

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

merge_pointclouds

unity_victor_teleop

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

visual_servoing

position based visual servoing library with PnP pose estimation

robot_calibration

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

uncertainty_planning_examples

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

vr_ros2_bridge

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

gpu_voxel_planning

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

mab_ms

Bandit-based Model Selection for Deformable Object Manipulation

CudaSift

Traversability-Based-Contact-Space-Planner

Traversability-based contact planner code release

multihypothesis_segmentation_tracking

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

Jupyter Notebook

stucco

Soft Tracking Using Contacts for Cluttered Objects

deformable_manipulation_interface

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

mjregrasping_cpp

arm_segmentation

pytorch_rrt

Kinodynamic RRT implemented in pytorch

arm_video_recorder

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

uncertainty_planning_core

Framework for motion planning with uncertainty

plant_motion_planning

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

mjregrasping

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

unreliable-deform-manipulation

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

Jupyter Notebook

gpu_profiling

GPU Profiling Tools For The Lab

val_pbvs_pybullet

Pybullet simulation for visual servoing of a dual arm robot val

SiamMask

deform_control

Project for deformable object control

kinect2_calibration_files

Calibration files for use with the iai_kinect2 ROS package.

smmap

Simultaneous Modeling Manipulation And Planning

unity_victor_teleop_headless

pr2_reachability_map_visualization

focused-adaptation-dynamics

Code accompanying Focused Adaptation of Dynamics Models for Deformable Object Manipulation

Jupyter Notebook

mps_shape_completion

Neural network completion of partial shapes in a voxel grid

pytorch_seed

RNG seeding and context management for pytorch

data-augmentation-for-manipulation

Code accompanying the RSS paper "Data Augmentation for Manipulation"

Jupyter Notebook

arm_clouds

Simple module for convenient NumPy and PyTorch point cloud utilities

lightweight_vicon_bridge

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