CRISP's repositories
allegro_hand_kdl
A ROS package for controlling Allegro Hand using KDL library
teleoperation_ur5_allegro_leap
Package for the teleoperation of UR5+Allegro Robot composite
CRISP_teleoperated_fruit_picking_dataset
Dataset containing the demonstration data collected with a teleoperation system.
slip_detection_dataset_2021
Tactile data collected in the wild, during autonomous robotic pick-and-place tasks.
bopt_grasp_quality
Bayesian Optimisation based Grasp Quality Estimation from Hand Pose
cilia_sensor_fruit_dataset_2020
Texture data of strawberries and apples, measured with a tactile sensor inspired in the ciliary biological structure
ur5_allegro_moveit
Moveit package for a UR5 arm mounted with an Allegro hand
xela-server-ros
ROS module for XELA Sensor Server
ARQ_common_packages
Repository containing the robot and description packages that we are using at Advanced Robotics @ Queen Mary University of London
arq_ur5_ezgripper_moveit_config
Moveit configuration package for the UR5 + EZGripper robot that we have at Advanced Robotic @ Queen Mary University of london
arq_ur5_moveit_config
Plain MoveIt! configuration package for the UR5
basic_grasping_algorithm
A very basic algorithm that generates a grasp based on an input point cloud. The purpose of this algorithm is NOT to be performant, as it is used to demonstrate how to design an autonomous task with GRIP
haptic_glove_ros
Repository containing the code to communicate with the haptic-glove
Pointnet2_PyTorch
PyTorch implementation of Pointnet2/Pointnet++
server_template
Template package to easily wrap your code inside a ROS action or service server
arduino_magnetic_sensor
Magnetic Sensor Server for tactile data acquisition (using rosserial)
franka_ros
ROS integration for Franka Emika research robots
optoforce_publisher
For publishing optoforce omd sensor readings as ROS messages
panda_moveit_config
The Panda robot is the flagship MoveIt! integration robot
stratified_statistical_analysis
Contains a R script easing the interpretation of ordinal logistic regression with and without proportional odds assumption
uskin_ros_publisher
ROS nodes to publish and visualize data being retrieved by the uSkin sensor.