Repositories list

• base_experiments

  Public
  Shared experiments library code for many python based experiments

  Python

  •

  MIT License

  •0•0•0•0•Updated Apr 20, 2025Apr 20, 2025

• pytorch_volumetric

  Public
  Volumetric structures such as voxels and SDFs implemented in pytorch

  robotkinematicsvoxel+ 7pytorchsigned-distance-fieldsdfsigned-distance-functionsvoxelsvoxel-gridchamfer-distance

  Python

  •

  MIT License

  •10•147•3•0•Updated Apr 18, 2025Apr 18, 2025

• 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 Apr 17, 2025Apr 17, 2025

• pytorch_kinematics

  Public
  Robot kinematics implemented in pytorch

  kinematicsjacobiandifferentiable-programming+ 2roboticspytorch

  Python

  •

  MIT License

  •49•561•13•1•Updated Mar 20, 2025Mar 20, 2025

• MultiFingerTrajOpt

  Public
  Python

  •

  Apache License 2.0

  •0•1•0•0•Updated Mar 18, 2025Mar 18, 2025

• lucca

  Public
  HTML

  •0•0•0•0•Updated Mar 14, 2025Mar 14, 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 Feb 24, 2025Feb 24, 2025

• MFR_benchmark

  Public
  Multi-finger Reorientation benchmark featuring sensitive dexterous manipulation tasks

  Python

  •0•5•0•0•Updated Dec 12, 2024Dec 12, 2024

• pytorch_mppi

  Public
  Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch

  pytorchcontrolsmodel-predictive-control+ 2mppiapproximate-dynamics

  Python

  •

  MIT License

  •64•536•3•0•Updated Nov 14, 2024Nov 14, 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

• 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

  trackingroboticsperception+ 1pytorch

  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•10•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•11•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

  •609•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•26•1•0•Updated Jan 22, 2024Jan 22, 2024