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pytorch_mppi
Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorchpytorch_kinematics
Robot kinematics implemented in pytorchsdf_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 tensorflowcdcpd
Library for Constrained Deformable Coherent Point Driftpytorch_volumetric
Volumetric structures such as voxels and SDFs implemented in pytorchvr_teleop
[ROS 1] Teleop control of dual arm robots using virtual reality devicesEfficient-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 estimationarc_utilities
C++ and Python utilities. ARC -> ARMhusky_stereo_nav
ROS package for navigation of Clearpath Husky using visual SLAM with a stereo camerakuka_iiwa_interface
Developmental controllers for the IIWA 7 robot, including a Catkinized version of the Kuka FRI SDKpytorch_collision_checker
PyTorch Collision Checkerprobabilistic_shape_completion
Code for Probabilistic Shape Completionarm_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 pytorchtampc
Trap aware model predictive controlfast_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 Vivevisual_servoing
position based visual servoing library with PnP pose estimationrobot_calibration
A ROS package that publishes position of a table in kinect camera frame.vr_ros2_bridge
Unity project and ROS 2 interface definitions for using the HTC Vivegpu_voxel_planning
Brad's library for PhD research on CHS, BTP, and other voxel-based planning approaches using ARMLabs Victor robotmab_ms
Bandit-based Model Selection for Deformable Object ManipulationCudaSift
Traversability-Based-Contact-Space-Planner
Traversability-based contact planner code releasemultihypothesis_segmentation_tracking
Public release of code for Manipulating Piles of Stuff voxel pipeline.stucco
Soft Tracking Using Contacts for Cluttered Objectsdeformable_manipulation_interface
ROS interface between a robot/simulator and planners for deformable object manipulation.mjregrasping_cpp
arm_segmentation
pytorch_rrt
Kinodynamic RRT implemented in pytorcharm_video_recorder
ROS node to record from a connected video device (webcam) and save to a fileuncertainty_planning_core
Framework for motion planning with uncertaintyplant_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"gpu_profiling
GPU Profiling Tools For The Labval_pbvs_pybullet
Pybullet simulation for visual servoing of a dual arm robot valSiamMask
deform_control
Project for deformable object controlkinect2_calibration_files
Calibration files for use with the iai_kinect2 ROS package.smmap
Simultaneous Modeling Manipulation And Planningunity_victor_teleop_headless
pr2_reachability_map_visualization
focused-adaptation-dynamics
Code accompanying Focused Adaptation of Dynamics Models for Deformable Object Manipulationmps_shape_completion
Neural network completion of partial shapes in a voxel gridpytorch_seed
RNG seeding and context management for pytorchdata-augmentation-for-manipulation
Code accompanying the RSS paper "Data Augmentation for Manipulation"arm_clouds
Simple module for convenient NumPy and PyTorch point cloud utilitieslightweight_vicon_bridge
Bridge between Vicon DataStream SDK and ROS. Designed specifically for reduced latency.husky_ark_armlab
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.Love Open Source and this site? Check out how you can help us