JHU Laboratory for Computational Sensing and Robotics's repositories
handeye_calib_camodocal
Easy to use and accurate hand eye calibration which has been working reliably for years (2016-present) with kinect, kinectv2, rgbd cameras, optical trackers, and several robots including the ur5 and kuka iiwa.
good_robot
"Good Robot! Now Watch This!": Repurposing Reinforcement Learning for Task-to-Task Transfer; and “Good Robot!”: Efficient Reinforcement Learning for Multi-Step Visual Tasks with Sim to Real Transfer
costar_plan
Integrating learning and task planning for robots with Keras, including simulation, real robot, and multiple dataset support.
sp_segmenter
Superpixel-based semantic segmentation, with object pose estimation and tracking. Provided as a ROS package.
lcsr_controllers
Orocos/ROS-based controllers and state estimators for generic hardware interfaces.
barrett_model
Barrett WAM & BHand-280 CAD and modular URDFs with inertial properties.
rtt_gazebo
Gazebo plugins for running Orocos RTT components in the gazebo process.
costar_stack
Integrated ROS capabilities for planning, predicate inference, gripper control, and perception for use with the KUKA LBR IIWA and Universal Robots.
costar_objects
CoSTAR Project key object models, gazebo kinect simulation and object definitions
lcsr_assembly
Simple assembly primitives and simulation.
lcsr_tf_tools
This package contains a bunch of utilities that have been created in the aim to fill some usability gaps in TF.
object_on_table_segmenter
Segment out objects that are appearing on a table for data collection purposes or for robot manipulation from a pointcloud. ROS package.
ObjRecRANSAC
RANSAC variant for 3D object recognition in occluded scenes.
orocos_barrett
Packages for using the Barrett WAM Robot / BHand with Orocos-based Controllers.
lcsr_barrett
LCSR Barrett configuration and scripts
costar_instructor
User interface for behavior tree based authoring of robot task plans.
lcsr_camera_models
URDF, Gazebo, and optical models for various monocular and stereo cameras.
lcsr_image_tools
ROS packages for various kinds of image pipelines
orocos_barrett_components
Orocos/RTT components for interfacing with Barret WAM and BHand hardware supported by libbarrett.
rtt_ros_control
[WIP] A set of Orocos RTT components for loading ros_control-based controllers into a real-time Orocos process.
barrett_moveit
MoveIt! configuration and tools for the Barrett WAM Robot
human_model
ROS kinematic models of the human body
lcsr_telemanip
ROS packages for telemanipulation
rviz_virtual_shadow
Make real objects occlude virtual objects in RViz.