Research Code & Datasets
Some of my research involves robots interacting with objects in the real world. I have collected RGB-D, robot state and other sensing available during robot execution for future use. I have made these datasets available along with quick implementations(mostly python) of the main contributions of associated research article. Reach out to me if you are looking for something specific from my research that’s not available here and I will share them with you.
| Benchmarking In-Hand Manipulation | Code | Dataset | Article |
| Force Estimation for BioTac | Code | Dataset | Article |
| In-Grasp Manipulation with Relaxed-Rigidity | Code | Dataset | Article |
Robot System Code
I have also developed system level code(mostly C++) for robots ranging from low-level controllers to setting up finite state machines, primarily in ROS. Some of my primary contributions have been in the below packages,
| Description | Package URL |
|---|---|
| Allegro Hand Driver + Inv. Dynamics controllers | allegro_driver |
| KUKA LBR4 OROCOS Real-time controllers | lwr_hardware |
| Robot Kinematics + Dynamics Wrapper | ll4ma_kdl |
| Robot Motion Optimization Tools | ll4ma_opt_utils |
| Polygon Mesh Collision+SDF Wrapper | ll4ma_collision_wrapper |
| Arm motion planning via trajectory optimization | ll4ma_planner |