The Autonomous Robotic Manipulation Lab

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1. sdf_toolssdf_toolsPublic

   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…

   C++ 249 40

2. pytorch_mppipytorch_mppiPublic

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

   Python 746 74

3. pytorch_kinematicspytorch_kinematicsPublic

   Robot kinematics implemented in pytorch

   Python 817 70

4. pytorch_volumetricpytorch_volumetricPublic

   Volumetric structures such as voxels and SDFs implemented in pytorch

   Python 251 17

5. arm_pytorch_utilitiesarm_pytorch_utilitiesPublic

   Utilities for working with pytorch

   Python 8 1

6. cdcpdcdcpdPublic

   Library for Constrained Deformable Coherent Point Drift

   C++ 34 16