Representing and Manipulating Deformable Linear Objects

trackdlo

[RA-L 2023, ICRA 2024] This repository contains the code used in our paper, "TrackDLO: Tracking Deformable Linear Objects Under Occlusion with Motion Coherence." This algorithm is useful for tracking the motion of DLOs, including wire and rope, under several categories of occlusion without physics simulation.

abb_dual_arm

ROS packages for motion planning and execution for two ABB IRB120 robotic manipulators

COCOpen-OpenCV

First-Prize winner in the Core Track of the 2022 OpenCV AI Competition

axbycz_calibration

C++ implementation of AXB = YCZ extrinsic camera calibration of dual-arm robot using probabilistic methods.

ariadne_plus

Implementation of "Ariadne+: Deep Learning-based Augmented Framework for the Instance Segmentation of Wires" to appear on IEEE Transactions on Industrial Informatics 2022

mmdetection-MS-RCNN

Library with implementation of various computer vision models. Primarily using it to experiment with Mask Scoring R-CNN

multi-dlo

simple-reachability

Calculate the workspace for a robot and visualize it in RVIZ

fastdlo

Implementation of the paper "FASTDLO: Fast Deformable Linear Objects Instance Segmentation", Robotics and Automation Letters & IROS 2022

moveit_tutorials

A sphinx-based centralized documentation repo for MoveIt

OpenSfM

Open source Structure-from-Motion pipeline

shape_control_DLO_2

Repository for the IEEE T-RO Paper "Global Model Learning for Large Deformation Control of Elastic Deformable Linear Objects: An Efficient and Adaptive Approach".

st_handeye_graph

General hand-eye calibration based on reprojection error minimization and pose graph optimization

.github

3DReconstruction_Playground

abb_robot_driver

The new ROS driver for ABB robots

apriltag_ros

A ROS wrapper of the AprilTag 3 visual fiducial detector

arc_utilities

C++ and Python utilities. ARC -> ARM

cdcpd

Library for Constrained Deformable Coherent Point Drift

charuco_detector

ROS package for detecting ChArUco patterns

depthai-ros

Official ROS Driver for DepthAI Sensors.

detectron2

Detectron2 is a platform for object detection, segmentation and other visual recognition tasks.

easy_handeye

Automated, hardware-independent Hand-Eye Calibration

easy_handeye_demo

Virtual demonstration of a hand-eye calibration with easy_handeye, no hardware required

Knot-DLO

Paper website

maskscoring_rcnn

Codes for paper "Mask Scoring R-CNN".

onrobot_2FG7_gripper_description

shape_control_DLO

Repo for ICRA 2022 paper "Shape control of Deformable Linear Objects with Offline and Online learning of Local Linear Deformation Models"

synthetic_data

Synthetic data generation using POV-Ray

tacto

Simulator of vision-based tactile sensors.