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]

LL4MA lab

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