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@UM-ARM-Lab The Autonomous Robotic Manipulation Lab

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    149 repositories

    • pytorch_kinematics

      Public
      Robot kinematics implemented in pytorch
      kinematicsjacobiandifferentiable-programmingroboticspytorch
      Python
      •
      MIT License
      •43•484•12•1•Updated Jan 6, 2025Jan 6, 2025

    • arm_robots

      Public
      Packages for controlling our robots at a high-level, though simple to use ROS and Python interfaces.
      Python
      •1•7•7•2•Updated Jan 1, 2025Jan 1, 2025

    • MFR_benchmark

      Public
      Multi-finger Reorientation benchmark featuring sensitive dexterous manipulation tasks
      Python
      •0•3•0•0•Updated Dec 12, 2024Dec 12, 2024

    • pytorch_mppi

      Public
      Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch
      pytorchcontrolsmodel-predictive-controlmppiapproximate-dynamics
      Python
      •
      MIT License
      •63•490•3•0•Updated Nov 14, 2024Nov 14, 2024

    • pytorch_volumetric

      Public
      Volumetric structures such as voxels and SDFs implemented in pytorch
      robotkinematicsvoxelpytorchsigned-distance-fieldsdfsigned-distance-functionsvoxelsvoxel-gridchamfer-distance
      Python
      •
      MIT License
      •9•130•3•0•Updated Oct 29, 2024Oct 29, 2024

    • lucca

      Public
      HTML
      •0•0•0•0•Updated Oct 24, 2024Oct 24, 2024

    • kuka_iiwa_interface

      Public
      Developmental controllers for the IIWA 7 robot, including a Catkinized version of the Kuka FRI SDK
      C++
      •
      BSD 2-Clause "Simplified" License
      •4•7•26•0•Updated Sep 18, 2024Sep 18, 2024

    • stucco_experiments

      Public
      Experiments for STUCCO
      Python
      •
      MIT License
      •0•0•0•0•Updated Aug 28, 2024Aug 28, 2024

    • conq_python

      Public
      Python library and example scripts for Conq, our Boston Dynamics Spot
      Jupyter Notebook
      •
      MIT License
      •2•3•13•1•Updated Aug 26, 2024Aug 26, 2024

    • arm_utilities

      Public
      new arm utilities repo
      C++
      •0•1•0•0•Updated Aug 22, 2024Aug 22, 2024

    • base_experiments

      Public
      Shared experiments library code for many python based experiments
      Python
      •
      MIT License
      •0•0•0•0•Updated Aug 14, 2024Aug 14, 2024

    • chsel

      Public
      Constrained pose Hypothesis Set Elimination official code for pose estimation
      Python
      •
      MIT License
      •2•13•0•0•Updated Aug 14, 2024Aug 14, 2024

    • mjregrasping

      Public
      Code accompanying "The Grasp Loop Signature: A Topological Representation for Manipulation Planning with Ropes and Cables"
      Python
      •0•4•1•0•Updated Aug 2, 2024Aug 2, 2024

    • conq_ros

      Public
      ROS2 integration for Conq, our Boston Dynamics Spot Robot
      Python
      •
      Other
      •0•1•0•0•Updated Jul 25, 2024Jul 25, 2024

    • chsel_experiments

      Public
      Experiments for the CHSEL paper
      Python
      •
      MIT License
      •0•0•0•0•Updated Jul 13, 2024Jul 13, 2024

    • stucco

      Public
      Soft Tracking Using Contacts for Cluttered Objects
      trackingroboticsperceptionpytorch
      Python
      •
      MIT License
      •0•3•0•0•Updated Jun 13, 2024Jun 13, 2024

    • arm_pytorch_utilities

      Public
      Utilities for working with pytorch
      Python
      •
      MIT License
      •1•7•0•0•Updated Jun 7, 2024Jun 7, 2024

    • arc_utilities

      Public
      C++ and Python utilities. ARC -> ARM
      C++
      •
      BSD 2-Clause "Simplified" License
      •8•13•12•1•Updated May 20, 2024May 20, 2024

    • spot_sdk

      Public
      Python
      •
      Other
      •0•0•0•0•Updated Apr 15, 2024Apr 15, 2024

    • pytorch_icem

      Public
      Parallelized pytorch implementation of iCEM
      Python
      •
      MIT License
      •2•8•0•1•Updated Apr 9, 2024Apr 9, 2024

    • tampc

      Public
      Trap aware model predictive control
      Python
      •1•5•1•0•Updated Apr 1, 2024Apr 1, 2024

    • arm_zivid

      Public
      ROS 2 wrapper for the zivid
      Python
      •0•1•0•0•Updated Mar 27, 2024Mar 27, 2024

    • mjregrasping_cpp

      Public
      C++
      •0•2•0•0•Updated Mar 26, 2024Mar 26, 2024

    • vr_ros2_bridge

      Public
      Unity project and ROS 2 interface definitions for using the HTC Vive
      C#
      •0•9•0•0•Updated Mar 15, 2024Mar 15, 2024

    • arm_clouds

      Public
      Simple module for convenient NumPy and PyTorch point cloud utilities
      Python
      •
      MIT License
      •0•1•0•0•Updated Mar 12, 2024Mar 12, 2024

    • arm_photoneo

      Public
      python package for photoneo (ROS2 optional)
      Python
      •0•0•1•0•Updated Feb 14, 2024Feb 14, 2024

    • homotopy_mpc

      Public
      Python
      •0•0•0•0•Updated Feb 6, 2024Feb 6, 2024

    • moveit2

      Public
      🤖 MoveIt for ROS 2
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •558•1•0•0•Updated Jan 28, 2024Jan 28, 2024

    • vr_teleop

      Public archive
      [ROS 1] Teleop control of dual arm robots using virtual reality devices
      CMake
      •7•24•1•0•Updated Jan 22, 2024Jan 22, 2024

    • conq_hose_manipulation_dataset_builder

      Public
      RLDS dataset builder for Conq's hose manipulation dataset
      Python
      •132•0•0•0•Updated Jan 21, 2024Jan 21, 2024