Discover personalrobotics/chimera Open Source project

Artificial Intelligence for Kinematics, Dynamics, and Optimization

444

aikido

Python utilities used by the Personal Robotics Laboratory.

214

prpy

ROS wrapper for the Apriltags visual fiducial tracker

apriltags

PostScript

or_ompl

OpenRAVE bindings for OMPL motion planning algorithms.

kinfu_ros is a version of kinfu_remake for generic ROS depth cameras

kinfu_ros

more accurate apriltag detection using the depth sensor

apriltags_rgbd_node

Mirror of the Approximate POMDP Planning (APPL) C++ toolkit for POMDP planning.

appl

OpenRAVE plugin for loading URDF and SRDF files.

or_urdf

Python Library for using Task Space Regions

tsr

OpenRAVE plugin that implements the CHOMP trajectory optimizer.

or_cdchomp

🎯 🐍 Python bindings for the Dynamic Animation and Robotics Toolkit

dartpy

LRA-star

Lazy Receding Horizon A*

A Corpus of Natural Language Instructions for Collaborative Manipulation

collaborative_manipulation_corpus

Code release and project site for "CCIL: Continuity-based Data Augmentation for Corrective Imitation Learning"

CCIL

Server application for Kinect for Windows v2

k2_bridge

openvr_ros_bridge

Publish from openvr/windows to ROS over rosbridge

Terra

boost_numpy_eigen

🐍 Python bindings for conversion between numpy and Eigen objects

LEGO : Leveraging Experience with Graph Oracles

lego

Jupyter Notebook

gazetracking

Eye gaze tracking using Pupil Labs head-mounted tracker.

C++ library for simulating and running ADA based on DART and AIKIDO

libada

OpenRAVE data used by the Personal Robotics Lab at CMU.

pr_assets

linemod

Lazily Evaluated Marginal Utility Roadmaps

lemur

A simple python behavior tree library based on coroutines

pr_behavior_tree

An OpenRAVE Plugin for Parabolic Smoothing

or_parabolicsmoother

URDF and SRDF descriptions of HERB.

herb_description

Breaking out chisel ROS messages into their own package to be used remotely

chisel_msgs

OpenRAVE viewer plugin that publishes the environment to RViz as InteractiveMarkers.

or_rviz

wstool .rosinstall files for various projects or setups

pr-rosinstalls

gls

Generalized Lazy Search

Python library for interacting with HERB.

herbpy

Fork of the Constrained Manipulation Planning Suite (CoMPS) by Dmitry Berenson

comps

Robot-assisted feeding demos and projects for the ADA robot

moped

ada_feeding

Research code repository that implements anytime geometric motion planning on large dense roadmaps with densification strategies and searching via the POMP algorithm.

batching_pomp

Examples of connecting ROS to web technologies

web-interface-examples

ros_control controller plugins developed by the Personal Robotics Lab at CMU

pr_ros_controllers

Experiments with touch in 2D using openframeworks

TouchFilter2D

Record ROS JointState messages and index them by time.

joint_state_recorder

rewd_controllers

master

Public Docker images used in PRL codebase

docker-public-images

Makefile

stargazer

ROS driver for the Hagisonic StarGazer

OpenRAVE bindings for the Flexible Collision Checking Library (FCL).

or_fcl

Python library for interacting with Barrett WAM arm in OpenRAVE.

wampy

A utility for rendering OpenRAVE kinbodies offscreen to get properties like depth, occlusion, color, etc.

offscreen_render

bayesian_policy_optimization

libhuman

OpenRAVE plugin to expose TrajOpt code as an OpenRAVE planner

or_trajopt

A collection of simple opinionated plotting tools for generating high-quality plots for scientific papers.

PRLPlot

ada_assistance_policy

Benchmarks to measure OpenRAVE's performance.

benchmarks

BibTeX entries of publications

pubs

TeX

owd

OpenWAM ROS driver for controlling the Barrett WAM and BarrettHand.

A driver for the depthsense325 adapted specifically for ADA. Based on a driver from IPA.

softkinetic_driver

ROS2 Hardware Interface and Description for the ADA Robot

ada_ros2

Filters the point cloud data from the kinect sensor

pointcloud_filter

uvc_engine_pupil

food_detector

ROS node for a Kinect 2 via a TCP server.

k2_client

Barrett WAM Client Library and Examples

btclient

ada_teleoperation

Messages for the simtrack tracking package.

simtrack_msgs

URDF and SRDF descriptions of ADA

ada_description

Shell

face_detection

Repository for detecting facial features and head pose

🍺 Homebrew tap for Personal Robotics Laboratory software

homebrew-tap

Ruby

ada_mouth

Generative adversarial network that predicts the position and shape of continuous food after pushing action.

pytorch_pix2food

Jupyter Notebook

or_plugin

Utility library for creating OpenRAVE plugins.

Software for ADA, the Assistive Dextrous Arm developed by the Personal Robotics Lab at CMU.

ada

Python and C++ libraries for commanding ros_control

ros_control_client

Linear contextual bandit based on SPANet

conban_spanet

Web interface for the robot-assisted feeding system

feeding_web_interface

JavaScript

ork_renderer

A set of scripts for a meal serving scenario using Ada.

ada_meal_scenario

Reads and manages the Force/Torque sensor of the Forque

forque_sensor_hardware

Utilities for building OpenRAVE plugins in a Catkin workspace.

openrave_catkin

Wrapper to read from a mouse (e.g. bluetooth mouse) and publish ros messages

mouse_as_joystick

or_octomap is a collision checker and sensor system plugin for OpenRAVE, intended to allow OpenRAVE meshes to be collision checked against octrees.

or_octomap