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.


Package Description Resources
in_depth_saliency Software to compute visual saliency from RGB-D images [ paper ] [ data ]

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 ]

Package Description Resources
ll4ma_robots_description URDF and mesh resources for robot and environment models. [ source ]

Package Description Resources
ll4ma_robots_gazebo Simulation of robots that we have in our lab using Gazebo. [ source ] [ wiki ]

Package Description Resources
robot_aruco_calibration Simple robot-camera calibration using ArUco Markers. [ source ]

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 ]

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]