jackstarred's repositories
asymmetric_manipulation
Code for implementing and experimenting with cooperative manipulation controllers. Includes a controller based on a novel extended relative Jacobian formulation.
aubo_robot
Developed for aubo robot (http://www.aubo-robotics.cn/)
cartesian_controllers
Eine Sammlung an Reglern für das ROS-Control Framework in Form eines ROS Packages.
control-toolbox
The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
distal-teaching-ik
Distal teacher learning as a solution to inverse kinematics for rigid-body mechanisms
franka_ros
ROS integration for Franka Emika research robots
frankx
High-Level Motion Library for the Franka Panda Robot
iiwa-kinematics
Kinematic analysis of KUKA LBR iiwa 7DOF manipulator
KST-Kuka-Sunrise-Toolbox
A ToolBox for controlling KUKA iiwa robot from matlab:
kuka-lagsds-tasks
This package contains motion planning code for LAGS-DS tasks from Nadia's IJRR (2019) paper using the DS-impedance controller for the KUKA LWR 4+ robot in simulation (gazebo) and real robot.
lagrangian_nns
Lagrangian Neural Networks
lipm_walking_controller
Walking controller based on linear inverted pendulum tracking
Marlin
Optimized firmware for RepRap 3D printers based on the Arduino platform.
ml-agents
Unity Machine Learning Agents Toolkit
opw_kinematics
Closed form IK for parallel base, spherical wrist industrial manipulators
pinocchio
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
rbdl
RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics, the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix and is also able to compute forward dynamics with external contact constraints and collision impulses. Furthermore it has some basic support for forward and inverse kinematics.
realtime_utilities
Helping function for realtime thread
ros_ethercat
Replace pr2_ethercat main loop with one based on ros_control
rosdyn_examples
Examples of rosdyn usage
rviz_vive_plugin
rviz plugin for HTC Vive
SoftCon
Author's implementation of SoftCon: Simulation and Control of Soft-Bodied Animals with Biomimetic Actuators (SIGGRAPH Asia 2019 Technical Paper)
solidworks_urdf_exporter
SolidWorks to URDF Exporter
splines-lib
Library of cubic spline utilities
StanfordDoggoProject
Stanford Doggo is an open source quadruped robot that jumps, flips, and trots!
ur5_ROS-Gazebo
Universal Robot (UR5) Pick and Place Simulation in ROS-Gazebo with a USB Cam and Vacuum Grippers
vrviz
Virtual Realitity Visualization for ROS using OpenVR