Coding
I enjoy coding in my spare time, and I have developed a number of general-purpose robotics libraries over the years. I generally prototype in Python and code in C++ for performance-sensitive applications like robot control, but I'm a huge fan of Rust and Haskell.
- spatial-dyn
- A fast, lightweight robot dynamics library for C++/Python optimized for controlling robots using Operational Space control. It uses Featherstone's efficient spatial dynamics algorithms, and features a highly stable variational integrator based on discrete dynamics. It was used to teach Topics in Advanced Robotic Manipulation (CS326).
- redis-gl
- A modern web-based visualizer for SpatialDyn. It allows users to interact with and apply forces to the robot with the cursor, while providing a real-time monitor of system variables for debugging. Parts of it have been used for visualizing SO(3) representations, manipulator Jacobians, velocity/force duality, and inertia matrices in Introduction to Robotics (CS223a).
- ctrl-utils
- A header-only library of utilities useful for robot control, including an asynchronous message-passing framework based on Redis (like ROS, but runs on any OS). This is what we use to control all the robots and integrate all the perception sensors in the lab.
- symbolic
- A C++/Python library for symbolic planning using the standard PDDL specification.
- franka-panda
- A driver for running Operational Space control on the Franka Emika Panda with basic friction compensation.
- dbot-redis
- A Redis wrapper for the Dynamic Bayesian Object Tracker (DBOT), which can visually track objects from 3D point cloud data.