Software
All of our software is hosted on our bitbucket page, including code from our published papers, any infrastructure code needed to interact with the robots we use in our lab, and much more. Here we provide high-level descriptions of our packages and links to wiki pages that offer more details on each package.
Robot Perception
| Package | Description | Resources |
|---|---|---|
| in_depth_saliency | Software to compute visual saliency from RGB-D images | [ paper ] [ data ] |
Robot Control, Dynamics, and Kinematics
| Package | Description | Resources |
|---|---|---|
| ll4ma_kdl | Kinematic and dynamics wrapper for KDL with helper functions. | [ source ] |
| ll4ma_robot_control | Controllers for real and simulated robots. | [ source ] |
| ll4ma_robot_interface | Abstraction layer for communicating with various real and simulated robots. | [ source ] |
Robot Infrastructure
| Package | Description | Resources |
|---|---|---|
| ll4ma_robots_description | URDF and mesh resources for robot and environment models. | [ source ] |
Simulation
| Package | Description | Resources |
|---|---|---|
| ll4ma_robots_gazebo | Simulation of robots that we have in our lab using Gazebo. | [ source ] [ wiki ] |
Calibration
| Package | Description | Resources |
|---|---|---|
| robot_aruco_calibration | Simple robot-camera calibration using ArUco Markers. | [ source ] |
Data Collection
| Package | Description | Resources |
|---|---|---|
| rlbench_data_collection | Utilities for collecting data from the RLBench framework. | [ source ] |
Hardware Drivers
| Package | Description | Resources |
|---|---|---|
| optoforce_etherdaq | Fork of optoforce_etherdaq with additional ROS services. | [ source ] |
| phantom_omni | Fork of phantom_omni adapted with our URDF model. | [ source ] |
Research Code
Grasp Planning
| Package | Description | Resources |
|---|---|---|
| grasp_inference | Planning Multi-Fingered Grasps as Probabilistic Inference in a Learned Deep Network. ISRR 2017. | [ paper ] [ project page] |
In-hand Manipulation
| Package | Description | Resources |
|---|---|---|
| in_grasp | Relaxed-Rigidity Constraints: In-Grasp Manipulation using Purely Kinematic Trajectory Optimization, RSS 2017 | [ paper ] [ project page] |