Pinned Repositories
A4_page_turning
alaris_hand
Open Source Robot Hand Design
Apriltag_python
restruct the apriltag using python
dlm
Haptics-for-Robots-Insight
non-planar-surface-contact
robotic-origami-planner
ROS_pick_from_a_box
This is a course project which is done in Fall Semester of 2017. Generally, it is a project that uses ROS to search a box inside workzone and pick an object inside the box and then place on top of another cube.
SCServo_arduino_lib
Arduino library for SCS TTL servo
ur10_dual_arm_description
dual ur10 moveit setup
ZachJiang's Repositories
ZachJiang/Haptics-for-Robots-Insight
ZachJiang/assistive-gym-fem
Assistive Gym, a physics-based simulation framework for physical human-robot interaction and robotic assistance.
ZachJiang/autodistill
Images to inference with no labeling (use foundation models to train supervised models).
ZachJiang/Codim-IPC
Source Codes for Codimensional Incremental Potential Contact (C-IPC)
ZachJiang/ddh_driver
Direct-Drive Hand Driver
ZachJiang/dedo
Dynamic Environments with Deformable Objects (DEDO)
ZachJiang/dejavu-audio
Audio fingerprinting and recognition in Python
ZachJiang/Depth-Anything
[CVPR 2024] Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data. Foundation Model for Monocular Depth Estimation
ZachJiang/DexterousHands
This is a library that provides dual dexterous hand manipulation tasks through Isaac Gym
ZachJiang/drake-ros
Experimental prototyping (for now)
ZachJiang/drqv2
DrQ-v2: Improved Data-Augmented Reinforcement Learning
ZachJiang/Flipbot
ZachJiang/high_speed_scooping
High-speed scooping with Direct-Drive Hand
ZachJiang/ibc
Official implementation of Implicit Behavioral Cloning, as described in our CoRL 2021 paper, see more at https://implicitbc.github.io/
ZachJiang/IPC
Incremental Potential Contact (IPC) is for robust and accurate time stepping of nonlinear elastodynamics. IPC guarantees intersection- and inversion-free trajectories regardless of materials, time-step sizes, velocities, or deformation severity.
ZachJiang/kilogram-annotation-task
Task website for collecting tangram annotations from MTurk.
ZachJiang/nvdiffrec
Official code for the CVPR 2022 (oral) paper "Extracting Triangular 3D Models, Materials, and Lighting From Images".
ZachJiang/OcclusionFusion
OcclusionFusion: realtime dynamic 3D reconstruction based on single-view RGB-D
ZachJiang/ocs2
Optimal Control for Switched Systems
ZachJiang/OS-ARM
ZachJiang/PCBS
Programming for Cognitive and Brain Sciences (code and lectures notes for the Cogmaster's PCBS course)
ZachJiang/pybullet-robot-envs
A Python package that collects robotic environments based on the PyBullet simulator, suitable to develop and test Reinforcement Learning algorithms on simulated grasping and manipulation applications.
ZachJiang/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.
ZachJiang/relaxed_ik_core
ZachJiang/softagent
Algorithms for deformable object manipulation benchmarked in SoftGym
ZachJiang/softgym
SoftGym is a set of benchmark environments for deformable object manipulation.
ZachJiang/somogym
A toolkit for developing and evaluating controllers and reinforcement learning algorithms for soft robots
ZachJiang/symforce
Fast symbolic computation, code generation, and nonlinear optimization for robotics
ZachJiang/tools-for-robotic-rl-icra2022
Tutorial: Tools for Robotic Reinforcement Learning, Hands-on RL for Robotics with EAGER and Stable-Baselines3
ZachJiang/wolf-setup
WoLF: Whole-body Locomotion Framework for quadruped robots