adubredu/kinematics_playground

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Created about 3 years ago
Updated over 2 years ago

adubredu/kinematics_playground

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Forward and Inverse Kinematics for Digit Robot

KinodynamicFabrics.jl

Julia implementation of the Kinodynamic Fabrics whole-body control framework

godsacstar

GTSAM backend for Efficient PoseNet++

DigitRobot.jl

URDF and Meshes for the Agility Robotics Digit Robot

Fabrics.jl

Julia implementation of Geometric Fabrics

MuJoCo.jl

A light-weight Julia wrapper for the MuJoCo Physics simulator

pybullet_kitchen

A Pybullet simulation of a simple kitchen environment with articulated drawers

Jupyter Notebook

PyBullet.jl

A light-weight Julia wrapper for the awesome PyBullet Physics Simulator

contact_sim.jl

2D Contact physics simulation by solving Linear Complementarity Problems.

HPD.jl

Parser for the Hybrid PDDL Description language

gtpmip.jl

Optimal Constrained Task Planning as Mixed Integer Programming

Jink.jl

Julia package for differential, multi-task inverse kinematics

digit_sim

Pybullet simulation package for Digit robot

DigitVisualizer.jl

Julia Package for visualizing the Digit Humanoid Robot and exploring its kinematics

DigitLLComms.jl

Julia package for sending low-level commands and receiving low-level observations for Agility Robotics's Digit Robot.

kfp_v2

Kitchen For Progress is a Pybullet-based simulated kitchen for multi-modal planning.

HybridFunnelGraphs.jl

Julia Package for generating Hybrid Funnel Graphs

miplanner.jl

Optimal Constrained Task Planning as Mixed Integer Programming

westbrick.jl

Warehouse package rearrangement simulator

digitinterface

Python package for interacting with the Agility Robotics Digit v3 default controller interface.

CudaPOMDPs.jl

uncertainty

Grocery packing under various levels of uncertainty

kin_dyn_code_generation

Generating closed-form kinematics and dynamics Julia code from URDFs using Pinocchio and CasADi

HumanoidSim.jl

A Julia package for physics simulation of the Digit humanoid robot

object_picker_ws

Workspace for the Object Picker module

pub_keyboard_input

Jupyter Notebook

lipm.jl

Bipedal Walking with Linear Inverted Pendulum Model

ui_ws

Repository for user_interface for goal pose selection for Marco robot

t265.jl

Julia package for interfacing with the Intel Realsense T265 Tracking camera

DigitControl.jl

Standing and Walking controllers for Digit Robot

google_streetview_project

attribute_score_prediction

Jupyter Notebook

julia_optimization_garage

Experimenting with julia optimization libraries here

digit_ws

ROS workspace for Digit's manipulation and locomotion

autodiff_tutorials.jl

Just me trying to get familiar with all the Automatic Differentiation goodies that Julia so kindly provides

teleop_simple

dyn_project

Beziers.jl

Lightweight Julia implementation of Bezier curves

kfp

Repository for the kitchen_for_progress simulation environment

mutex.jl

Planning graph and mutex generator

DigitInterface.jl

A fast, low-latency Julia package for directly interfacing with the Digit Robot and its accessories.

Solvers.jl

Pedagogical Julia implementations of Quadratic and Nonlinear Program solvers.

Dynamatics.jl

Julia package for code-generating stand-alone Julia robot kinematics and dynamics functions.

arm_client_ws

filters.jl

Julia implementation of the various kinds of Bayesian Filters

adubredu.github.io

QPJuMPControl.jl

Quadratic-programming-based robot controllers. (Re-write of @tkoolen's QPControl but with JuMP instead of Parametron)

Underactuated.jl

Julia implementation of select controllers for a variety of underactuated systems. This package is meant to be purely pedagogical and not performant.

HybridALTRO

Contains my efforts at extending ALTRO to solve Trajectory Optimization problems for hybrid dynamical systems like walking robots.