adamheins
Ph.D. candidate in robotics at the University of Toronto @utiasDSL. Researching nonprehensile mobile manipulation.
Toronto
Pinned Repositories
arc
A minimalist, graphical watchface for the Pebble smartwatch.
bootstrap-grid-extension-generator
Generates a css file that extends the functionality of bootstrap's built-in grid system.
CppADCodeGenEigenPy
CppADCodeGen with an easy Eigen interface and Python bindings.
ligatures
Ligature manipulation and inference.
multicell
Conway's Game of Life with a twist.
pyb_utils
Utilities for PyBullet, including collision detection, ghost (i.e. visual-only) objects, cameras, and more.
vim-highlight-match-under-cursor
Vim/neovim plugin to uniquely highlight the current match under the cursor.
xacrodoc
Compile xacro files to plain URDF or MJCF from Python or the command line (no ROS required).
force_push
[RA-L 2024] Quasistatic robotic planar pushing with single-point contact using force feedback.
upright
[RA-L 2023, 2025] Model predictive control and trajectory optimization for fast nonprehensile object transportation with a mobile manipulator.
adamheins's Repositories
adamheins/pyb_utils
Utilities for PyBullet, including collision detection, ghost (i.e. visual-only) objects, cameras, and more.
adamheins/xacrodoc
Compile xacro files to plain URDF or MJCF from Python or the command line (no ROS required).
adamheins/CppADCodeGenEigenPy
CppADCodeGen with an easy Eigen interface and Python bindings.
adamheins/vim-highlight-match-under-cursor
Vim/neovim plugin to uniquely highlight the current match under the cursor.
adamheins/t
Another take on a safe rm.
adamheins/CppADCodeGenEigenPy-dynamics-example
An example showing how to use CppADCodeGenEigenPy to automatically differentiate rigid body dynamics.
adamheins/shadows
Small 2D games with computer-controlled opponents trained using reinforcement learning.
adamheins/simple-mpc
Simple Python demos of model predictive control.
adamheins/.vim
My ~/.vim directory.
adamheins/dotfiles
A collection of my configuration files.
adamheins/mmmwe
Minimal mobile manipulator waiter example.
adamheins/wishart-confidence-intervals
Algorithms to compute the probability that a Wishart-distributed matrix lies within an interval.
adamheins/xcp
Cut, copy, and paste files from the command line.
adamheins/adamheins
adamheins/bullet3
Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.
adamheins/git.adamheins.com
A simple git hosting utility.
adamheins/hpipm
High-performance interior-point-method QP and QCQP solvers
adamheins/pdfcombine
A simple command line tool for splitting, merging, and rotating PDF files.
adamheins/perls2
PErception and Robotic Learning System v2
adamheins/planning-playground
Examples of planning algorithms.
adamheins/qpsolvers
Quadratic programming solvers in Python with a unified API
adamheins/rob301_demos
Basic ROS demo code.
adamheins/rob301_lab_startercode
This is the starter code for ROB301 labs
adamheins/s
Source files from anywhere.
adamheins/saber
Relieve stress by swinging around a saber.
adamheins/spatialmath-python
Create, manipulate and convert representations of position and orientation in 2D or 3D using Python
adamheins/Universal_Robots_ROS_Driver
Universal Robots ROS driver supporting CB3 and e-Series
adamheins/vicon_bridge
This is a driver providing data from VICON motion capture systems. It is based on the vicon_mocap package from the starmac stacks. Additionally, it can handle multiple subjects / segments and allows to calibrate an origin of the vehicle(s) as this is somehow tedious with the VICON Tracker.
adamheins/vim-simple-status
A simple status line for terminal vim.
adamheins/xacro
Xacro is an XML macro language. With xacro, you can construct shorter and more readable XML files by using macros that expand to larger XML expressions.