Discover epfl-lasa/Robot-kinematic Open Source project

Several controllers to move Ridgeback mobile-robot and UR5 robotic-arm.

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ridgeback_ur5_controller

A Machine learning toolbox containing algorithms for non-linear dimensionality reduction, clustering, classification and regression along with examples and tutorials which accompany the Master level "Advanced Machine Learning" and "Machine Learning Programming" courses taught at EPFL by Prof. Aude Billard

113

ML_toolbox

Set of exercises accompanying the ICRA 2019 Tutorial on Dynamical System based Learning from Demonstration: https://epfl-lasa.github.io/TutorialICRA2019.io/

icra19-lfd-tutorial-exercises

ROS KUKA robot control (simulation & physical)

kuka-lwr-ros

This package contains a dynamic obstacle avoidance algorithm for concave and convex obstacles as developped in [1].

dynamic_obstacle_avoidance_linear

This repository contains code and information for the computer exercises for the tutorial on Learning from Demonstration at ICRA 2016.

icra-lfd-tutorial

Online Change-point Detection Algorithm for Multi-Variate Data: Applications on Human/Robot Demonstrations.

changepoint-detection

callback wrapper for rosbag record

record_ros

A collection of library modules to facilitate the creation of full control loop algorithms, including state representation, motion planning, kinematics, dynamics and control.

control-libraries

[IROS 2022] A Solution to Adaptive Mobile Manipulator Throwing

mobile-throwing

RDS is a reactive controller for convex non-holonomic robots to avoid collisions with moving obstacles.

rds

The robot simulator and interface of LASA

robot-toolkit

Neural-JSDF

net-ft-ros

OptimalModulationDS

iam_dual_arm_control

This repository contains codes to generate coordinated motion and forces to control a robotic dual arm system (here two iiwa robots)

This package provide ros-nodified version of DS motion generators.

ds_motion_generator

Repository for crowd tracking and robot performance evaluation in experiments

crowdbot-evaluation-tools

C++ code for the obstacle avoidance

dynamic_obstacle_avoidance_cpp

Joint-Space-SCA

Simple library with a basic no-frills implementation of GPR using Eigen. Basic support for multidimensional outputs.

gaussian-process-regression

Code of the Hasler project between LASA and CNBI

IRL_DS_obstacle_avoidance

This package contains motion planning code for LPV-DS tasks from Nadia's CoRL (2018) paper using the DS-impedance controller for the KUKA LWR 4+ robot in simulation (gazebo) and real robot.

kuka-lpvds-tasks

task_adaptation

This package runs a simulation of the KUKA LWR robot in the LASA lab (EPFL) with the position/velocity-resolved control interface.

kuka-rviz-simulation

We let two agents approach each other, collide and generate contact impulses in the simulation engine Bullet (via pybullet).

human-robot-collider

Implementation of the Obstacle Avoidance algorithm in C++

obstacleAvoidance_Cpp

sliding-ds-control

LASA research repo for bimanual task planning.

bimanual-task-motion-planning

Cracks crowds using a 3d lidar.

crowd_tracker_lidar3d

A package implementing various controllers for first order DS tasks

passive-ds-control

This package is going to provide a controller for the ClearPath mobile robot to approach a load (carrying by the human) and support it and potentially take it from the human and move it around (to a desired location)

cpr_load_support

ROS package to detect and track pedestrians from planar laserscans of their legs.

fast-pedestrian-tracker

Object-Trajectory-Prediction

Source code for ICRA 2020 paper "A Dynamical System Approach for Adaptive Grasping, Navigation and Co-Manipulation with Humanoid Robots"

iCub-Assistant

Estimate the load share of an object supported by the robot (accounting for dynamics), using force/torque sensor data.

load-share-estimation

inverse-kinematics-examples

Coupled Dynamical Systems Execution for Position (master) - Orientation (slave) of end-effector encoded with Gaussian Mixture Models.

coupled-dynamical-systems

bimanual-dynamical-system

Virtual Object Dynamical System for Dual-Arm Coordination, controller and execution class.

franka-lightweight-interface

Repo with MATLAB and cpp code for encoding and switching between attractors and limit cycles via DS with bifurcation

SAHR_bifurcation

adaptive_polishing

A package implementing Savitzky-Golay smoothing and differentiation. May be useful to estimate e.g. velocity and acceleration from position measurements.

sg_differentiation

Learning motions from demonstrations and rewards with time-invariant dynamical systems based policies

PI2_GMM

This repo contains "low" and "high" level controllers for control

robot_controllers

A set of exercises related to the tutorial given in RSS2018

RSS2018Tutorial

object-impedance-control

Object-level impedance control

Reactive omnidirectional walking controller for biped humanoid robot iCub

biped-walking-controller

Best practices, conventions, manuals and instructions for researchers at the LASA

wiki

wheel_chair_model

Gazebo model of wheelchair

Augmented Joint-space Task-oriented Dynamical Systems

JT-DS-Learning

TeX

kuka-lagsds-tasks

This package contains motion planning code for LAGS-DS tasks from Nadia's IJRR (2019) paper using the DS-impedance controller for the KUKA LWR 4+ robot in simulation (gazebo) and real robot.

DS-based motion planning for the quickie-salsa wheelchair simulated in Gazebo.

wheelchair-ds-motion

MLDemos

MLDemos software

Code for "Benchmark for Bimanual Robotic Manipulation of Semi-deformable Objects"

sahr_benchmark

Examples for the kuka-lwr-ros package

kuka-lwr-ros-examples

Gazebo model plugin to set joints position on a robot (useful when replaying a rosbag for instance)

gazebo_set_joint_position_plugin

Super simple python script that uses pocketsphinx for voice control with ROS for easy kineshetic teaching. Demo script is for recording demonstrations and open/close gripper.

demo-voice-control

DS-based motion planning for the iCub using the reactive omnidirectional walking controller and DS learned from demonstrations.

ICub_Optimization

icub-ds-walking

surgeon_recording

iCub files for SDFast library. Can generate the dynamic model of the iCub to solve the dynamics equation of motion.

icub-sdfast

docker_images

Docker images used at LASA

The 7-dof human upper limb kinematic model. Including both arms and hands. Mainly used for kinematics analysis and motion visualization.

sahr_spring_assembly_dataset

ds_based_contact_tasks

Modulo is an extension layer to ROS2 that adds interoperability support for epfl-lasa/control-libraries and provides a modular framework for application composition through custom component classes in both C++ and Python.

modulo

Navigation by Inverse Optimal Control

navioc

foot_surgical_robot

Icub_Gazebo

Library for reading Motion Capture Data.

optitrack-lasa

Control robots using your voice.

robot-voice-control

Implementation of LMDS ("Incremental Motion Learning with Locally Modulated Dynamical Systems" ,Kronander, Khansari and Billard, Robotics and Autonomous Systems, 2015)

locally-modulated-ds

force_based_ds_modulation

Source Codes for Augmented-Support Vector Machine

A-SVM

This package contains ds based motion generator for throwing task. The algorithm generate motion such that the robot end-effector will pass through the release position with the desired release velocity

throwing_motion_gen_ros

ROS Java Wrapper for the R25 humanoid robot

robokind_r25_ros_wrapper

Java

mathlib

MathLib is a Math library developed at LASA library at EPFL.

This package provides Dynamical System-based Admittance control for compliant human-robot interaction

ds_admittance_control

grasp-data-capture

fast-gmm

robot-kinematics

ensemble_ioc

A module implementing ensemble inverse optimal control and relevant examples

Mid-level control of Falcon (Novit haptic device) through ROS interface

FalconRos

Model of the Kuka LWR 4 robot for gazebo/rviz. Star

lwr_robot

CMake

rospyconsole

A python interpreter to communicate with a rosnode and create a console through ros topics.

This repository contains examples and scripts to help build docker images

docker_setup

Shell

Task_Allocation

C++ libarary for executing JT-DS

JT-DS-lib

mouse_perturbation_robot

Service Robots Crash Testing with Pedestrians: Child and Adult Dummies

crash-tests-service-robots

lift_help_predictor

Data recording from the SAHR project.

SAHR_database

Dynamical Systems and Controllers used in hitting experiments

hitting_sim

The KUKA FRI library and a nice wrapper for it. We use these in lwr_interface

fri-library-ros

Summary of experimental data of the unscrewing experiment, for the purpose of studying the effects of task condition on the human hand pose selection strategy in bimanaul fine manipulation tasks.

dataset_unscrewing_experiment

This tutorial will introduce students the techniques which are used to program robots through human demonstration. You can find the webpage in the following link:

TutorialICRA2019.io

CSS

stable_lds

Estimate a stable linear dynamical system from data

Gazebo Plugin to get any 6D frame of a robot link and write it to a yarp-port, used with iCub.

GetLinkWorldPose

100

simulator-backend