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robot_admittance_controller
Admittance control law to generate desired motion of an end-effector (twist), given a desired or external wrench for a velocity-controlled robot.franka_interactive_controllers
Control interface built on top of franka_ros that allows controlling the franka robot arm in several joint and Cartesian space impedance control schemes for interactive, safe and reactive (mostly DS-based) motion planning and learning.ds-opt
Toolbox including several techniques for estimation of Globally Asymptotically Stable Dynamical Systems from demonstrations. It focuses on the Linear Parameter Varying formulation with "physically-consistent" GMM mixing function and different constraint variants, as proposed in [1].6D-RGBD-Odometry
Estimation of 6D (position/orientation) of Camera Pose using RGB-D Sensor.easy-kinesthetic-recording
A package with all scripts and commands needed to record joint and ee trajectories (and more) from mutliple robots for kinesthetic teaching.phys-gmm
Physically-consistent GMM fitting approach proposed by Figueroa, N. and Billard, A. (2018) "A Physically-Consistent Bayesian Non-Parametric Mixture Model for Dynamical System Learning". In Proceedings of the 2nd Conference on Robot Learning (CoRL).ICSC-HMM
Toolbox for IBP Coupled SPCM-CRP Hidden Markov Model. Also contains code for EM-based HMM learning and inference for Bayesian non-parametric HDP-HMM and IBP-HMM.SCA-Boundary-Learning
This repository contains the necessary libraries, scripts and instructions to learn a Dual-Arm Self-Collision Avoidance Boundary.auto-ds-learning
This package includes code to segment trajectories of a multi-step demonstrated task. The tasks considered are those that can be defined as a sequence of goal-oriented sub-tasks. In this work, each sub-task is characterized by a a Dynamical System (DS) Motion Policy and an attractor (representing the policy goal) found inside each Action Proposition (AP) region. Segmentation points are inferred tracking state changes in the pre-defined AP regions of the task.SVMGrad
Matlab/C++ library to evaluate SVM decision function and its derivatives.SPCM-CRP
Toolbox for spectral non-parametric clustering of SPD matices (covariance matrices and ellipsoids). Also contains code for EM-based GMM learning and inference for Bayesian non-parametric CRP-GMM.robotiq_ft300_sensor
Driver installation instructions, stand-alone ros node interface for the robotiq FT300 sensor and filter + tool calibration nodes.kuka_interface_packages
This repo includes packages needed to control the KUKA Robots with a modular interface. (i.e. as a seperate "KUKA" bridge mode)quatDS-lib
Matlab/C++ library to generate rotational motion with quaternion-DS.lagsDS-opt
Learning and Simulation of LAGS-DS (Locally Active Globally Stable) [1] for 2D and 3D tasks in MATLABlearning-ds-tutorial
GUI for learning DS from demonstrations using SEDS and LPV-DS approaches developed in LASA-EPFL.gmm_learning
My little toolbox for learning Gaussian Mixture Models with different inference methods in Matlab.old-ds-opt-py
Python version of the https://github.com/nbfigueroa/ds-opt package to generate, learn and execute nonlinear dynamical system motion generators with several formulations (lpvDS,nnODE,..).Smith-Decomposition
lagsDS-lib
This package provides a C++ library for evaluation of the Locally Active Globally Stable (LAGS) Dynamical System, proposed in [1].ds_impedance_control
This package provides DS-based impedance control for compliant control with DS motion generators.robot_kinematics_kdl
Robot kinematics (forward and inverse) library based on Kinematics and Dynamics Library (KDL), the robot's kinematic chain is parsed from the URDF file.sparseSVMLearning
Toolbox to learn sparse/efficient SVM for large data problems.robot_velocity_filters
Set of tools for online motion generators with linear DS for position/orientation of EE and joint motion.kinect-process-scene
"Robot-aware" scripts and methods to process table-top scenes with both Kinect v1 and v2.cover_letter_template
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