The Autonomous Robotic Manipulation Lab
The Autonomous Robotic Manipulation Lab studies motion planning, manipulation, and human-robot collaboration.
University of Michigan
Pinned Repositories
arm_pytorch_utilities
Utilities for working with pytorch
cdcpd
Library for Constrained Deformable Coherent Point Drift
Chamfer-Distance-API
A python class that calculates chamfer distance between point clouds using tensorflow
Efficient-Eng-2-LTL
The associated repo for paper "Data-Efficient Learning of Natural Language to Linear Temporal Logic Translators for Robot Task Specification"
pytorch_kinematics
Robot kinematics implemented in pytorch
pytorch_mppi
Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch
pytorch_volumetric
Volumetric structures such as voxels and SDFs implemented in pytorch
rviz_voxelgrid_visuals
Pluggin and utils for viewing voxelgrids in RViz
sdf_tools
Builds 2D signed distance fields from images, 3D signed distance fields from pointclouds, 3D signed distance fields from Octomap, provides a lightweight signed distance field library, message types for signed distance fields, and tools to compress signed distance fields for transport.
vr_teleop
[ROS 1] Teleop control of dual arm robots using virtual reality devices
The Autonomous Robotic Manipulation Lab's Repositories
UM-ARM-Lab/pytorch_kinematics
Robot kinematics implemented in pytorch
UM-ARM-Lab/pytorch_mppi
Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch
UM-ARM-Lab/pytorch_volumetric
Volumetric structures such as voxels and SDFs implemented in pytorch
UM-ARM-Lab/vr_teleop
[ROS 1] Teleop control of dual arm robots using virtual reality devices
UM-ARM-Lab/arc_utilities
C++ and Python utilities. ARC -> ARM
UM-ARM-Lab/chsel
Constrained pose Hypothesis Set Elimination official code for pose estimation
UM-ARM-Lab/vr_ros2_bridge
Unity project and ROS 2 interface definitions for using the HTC Vive
UM-ARM-Lab/arm_robots
Packages for controlling our robots at a high-level, though simple to use ROS and Python interfaces.
UM-ARM-Lab/pytorch_icem
Parallelized pytorch implementation of iCEM
UM-ARM-Lab/arm_pytorch_utilities
Utilities for working with pytorch
UM-ARM-Lab/kuka_iiwa_interface
Developmental controllers for the IIWA 7 robot, including a Catkinized version of the Kuka FRI SDK
UM-ARM-Lab/tampc
Trap aware model predictive control
UM-ARM-Lab/MFR_benchmark
Multi-finger Reorientation benchmark featuring sensitive dexterous manipulation tasks
UM-ARM-Lab/mjregrasping
Code accompanying "The Grasp Loop Signature: A Topological Representation for Manipulation Planning with Ropes and Cables"
UM-ARM-Lab/conq_python
Python library and example scripts for Conq, our Boston Dynamics Spot
UM-ARM-Lab/stucco
Soft Tracking Using Contacts for Cluttered Objects
UM-ARM-Lab/mjregrasping_cpp
UM-ARM-Lab/arm_clouds
Simple module for convenient NumPy and PyTorch point cloud utilities
UM-ARM-Lab/arm_utilities
new arm utilities repo
UM-ARM-Lab/arm_zivid
ROS 2 wrapper for the zivid
UM-ARM-Lab/conq_ros
ROS2 integration for Conq, our Boston Dynamics Spot Robot
UM-ARM-Lab/moveit2
:robot: MoveIt for ROS 2
UM-ARM-Lab/arm_photoneo
python package for photoneo (ROS2 optional)
UM-ARM-Lab/base_experiments
Shared experiments library code for many python based experiments
UM-ARM-Lab/chsel_experiments
Experiments for the CHSEL paper
UM-ARM-Lab/conq_hose_manipulation_dataset_builder
RLDS dataset builder for Conq's hose manipulation dataset
UM-ARM-Lab/homotopy_mpc
UM-ARM-Lab/lucca
UM-ARM-Lab/spot_sdk
UM-ARM-Lab/stucco_experiments
Experiments for STUCCO