gite.lirmm.fr / rpc 138 Dépôts
The group of projects that are part of the Robot Packages Collection (RPC) framework. They provide a set of algorithms and drivers useful for developping robotics applications.
rpc/robots/libfranka
Rewrite of libfranka, the driver library for FRANKA Emika panda robots
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rpc/rpc-framework
framework project used to generate the static site of the Robot Packages Collection framework.
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rpc/utils/data-juggler
Log, plot and replay your real-time data
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rpc/control/kinematic-tree-modeling
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rpc/math/coco
coco (Convex Optimization for Control) allows you to write convex optimization problems for robot control in a simple but performant way
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rpc/math/coco-ktm
coco adapters for ktm
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rpc/math/coco-phyq
coco adapters for physical-quantities types
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rpc/utils/urdf-tools
Libraries and applications to parse and generate URDF files, in both XML and YAML formats
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rpc/math/physical-quantities
Provides common scalar and spatial physical quantities types as well as unit conversion facilities
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rpc/control/impedance-controllers
A set of impedance controllers (standard & QP based)
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rpc/math/ellipsoid-fit
Ellipsoid fitting in C++ using Eigen. Widely inspired by https://www.mathworks.com/matlabcentral/fileexchange/24693-ellipsoid-fit
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rpc/optimization/wrappers/ipopt
Wrapper for the Ipopt project: https://coin-or.github.io/Ipopt/
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rpc/sensors/imu/vectornav-imus
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rpc/navigation/top-traj
Time-Optimal path following with bounded acceleration and velocity
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rpc/control/toppra-extensions
Provide some extensions to the toppra library
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rpc/rpc-interfaces
A set of C++ interfaces to standardize common robotics components: device drivers, algorithms, state machines, etc
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rpc/math/wrappers/eigen
Wrapper for the eigen library
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rpc/robots/shadow-hand-udp-interface
A UDP communication interface to put inplace a communication between a controller PC running ROS and the shadow hands PC.
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rpc/sensors/ati-force-sensor-driver
driver for ATI force sensors (connected on Comedi compatible acquisition card)
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rpc/control/mpo700-controller
Library implementing low level controller for the mpo700.
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rpc/control/rereflexxes
ReReflexxes is a rewrite of the Reflexxes online trajectory generator for a modern C++ API
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rpc/sensors/delsys-trignos-driver
delsys trigno EMG drivers
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rpc/signal-processing/signal-processing
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rpc/vision/wrappers/vtk
Wrapper for the visualization toolkit (VTK)
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rpc/control/wrappers/toppra
Wrapper for toppra, a library for computing the time-optimal path parametrization for robots subject to kinematic and dynamic constraints
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rpc/optimization/wrappers/qp-oases
PID Wrapper for qpOASES solver, an open-source C++ implementation of the recently proposed online active set strategy
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rpc/math/wrappers/hpp-fcl
Wrapper for hpp-fcl, an extension of the Flexible Collision Library
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rpc/math/wrappers/qhull
Wrapper for Qhull library: convex hull computation, Delaunay triangulation, Voronoi diagram, halfspace intersection about a point, furthest-site Delaunay triangulation, and furthest-site Voronoi diagram
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rpc/robots/neobotix-mpo700-udp-interface
UDP driver used to communicate between a host PC and the embedded PC of the MPO700.
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rpc/vision/interoperability/vision-vtk
Interoperability layer for VTK implemented using the vision-types pattern.
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rpc/vision/interoperability/vision-pcl
Interoperability layer for PCL implemented using the vision-types pattern.
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rpc/vision/wrappers/pcl
Wrapper for Point Cloud Library (PCL), a library for processing point clouds
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rpc/vision/interoperability/vision-itk
Interoperability layer for itk implemented using the vision-types pattern.
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rpc/vision/interoperability/vision-opencv
Interoperability between standard vision types and opencv
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rpc/vision/vision-types
A library that defines standard types for vision and base mechanisms for interoperability between various third party projects.
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rpc/vision/wrappers/itk
National Library of Medicine Insight Segmentation and Registration Toolkit : an open-source, cross-platform system that provides developers with an extensive suite of software tools for image analysis.
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rpc/utils/wrappers/mujoco
Multi-Joint dynamics with Contact. A general purpose physics simulator.
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rpc/utils/eigen-fmt
Provides a custom formatter to be used with the {fmt} library
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rpc/robots/api-driver-fri
Reimplementation of FRI library, interface with KUKA LWR4+
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rpc/utils/environment/ros2_build
Environment to allow creating ROS2 packages from PID packages
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rpc/other-drivers/delsys-trigno-emg-driver
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rpc/sensors/api-ati-daq
Wrapper for the ATI DAQ Library
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rpc/math/eigen-extensions
Provide some extensions to the Eigen 3 library
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rpc/control/payload-identification
Payload parameters and force sensor offsets estimation
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rpc/optimization/wrappers/eigen-quadprog
Wrapper for the eigen-quadprog library. eigen-quadprog allows to use the quadprog QP solver with the Eigen3 library.
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rpc/optimization/wrappers/eigen-qld
Using the QLD QP solver with the Eigen3 library.
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rpc/control/wrappers/rbdyn
Wrapper for the RDByn library. RBDyn provides a set of classes and functions to model the dynamics of rigid body systems
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rpc/sensors/syntouch-sensors
Library to process data from syntouch sensors used at LIRMM.
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rpc/robots/shadow-hand
High level description and interface for the Shadow Hands
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rpc/signal-processing/gram-savitzky-golay
C++ Implementation of Savitzky-Golay filtering based on Gram polynomials
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rpc/control/linear-controllers
A set of linear controllers (e.g. PID)
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rpc/robots/panda-robot
driver for panda robot
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rpc/sensors/wrappers/libfreenect2
Wrapper for the libfreenect2 library: a driver for the Microsoft kinect2 RGBD camera
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rpc/utils/wrappers/ros2
Wrapper (system only) for using ros2 packages in PID
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rpc/vision/wrappers/openpose
Wrapper for the open pose project (https://github.com/CMU-Perceptual-Computing-Lab/openpose): skeleton extraction for image streams.
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rpc/utils/wrappers/urdfdom
Wrapper for urdfdom and urdfdom_headers project, provided by ROS but independent from ROS.
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rpc/utils/wrappers/assimp
Wrapper for the Open Asset Importer Library, a library used to manage various 3D models.
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rpc/utils/wrappers/nematode
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rpc/robots/api-driver-ur
Non-ROS and improved version of ur_modern_driver (https://github.com/ThomasTimm/ur_modern_driver) plus an easy to use wrapper
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rpc/optimization/wrappers/osqp
OSQP solver
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rpc/utils/wrappers/ros
Wrapper for ROS libraries (system configuration only)
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rpc/robots/neobotix-mpo700
ROS free low level driver and remote interfaces for the Neobotix MPO700
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rpc/control/underwater-robot-dynamics
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rpc/math/wrappers/space-vec-alg
Wrapper for the SpaceVecAlg library, an implementation of spatial vector algebra with the Eigen3 linear algebra library
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rpc/optimization/wrappers/osqp-eigen
Eigen wrapper for OSQP library
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rpc/navigation/amcl
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rpc/sensors/kinect1-driver
Package providing function to interface Kinect V1
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rpc/utils/panda-payload-identification
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rpc/ai/wrappers/caffe
Wrapper for the Caffe project, a framework for coding deep learning programs.
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rpc/signal-processing/dsp-filters
PID wrapper for https://github.com/vinniefalco/DSPFilters
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rpc/sensors/wrappers/libvectornav
SDK for the VectorNav VN-100, VN-110, VN-200, VN-210, VN-300, VN-310 sensors
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rpc/control/wrappers/pinocchio
Wrapper for the pinocchio library, A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives.
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rpc/utils/wrappers/urdfdom-headers
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rpc/math/wrappers/sch-core
Wrapper for the sch-core library, providing implementation and computation algorithms for the convex hulls
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rpc/vision/other/rob-vision/yolov5_deepsort_pytorch
Companion project for https://gite.lirmm.fr/rkcl/rkcl-bazar-fruit
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rpc/utils/ati-force-sensor-logger
Ready to use data logger, and optional real time plotter, for ATI force sensors
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rpc/sensors/fogale-smartskin
UDP interface for the Fogale Smart Skin sensors
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rpc/ai/wrappers/pytorch
wrapper for pytorch
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rpc/optimization/wrappers/ecos
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rpc/optimization/wrappers/epigraph
PID wrapper for the Epigraph library, a C++ interface to formulate and solve linear, quadratic and second order cone problems
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rpc/control/val3-trajectory-interpreter
Basic interpreter for Cartesian and joint trajectories written in Staubli Val3
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rpc/other-drivers/rpc-openvr
RPC-style wrapper for OpenVR
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rpc/control/wrappers/urdfdomcpp
A non-ROS version of urdfdom, the official URDF parser
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rpc/math/wrappers/cppadcodegen
Wrapper for the CppADCodeGen project: https://github.com/joaoleal/CppADCodeGen
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rpc/math/wrappers/cppad
Wrapper for cppad, a library for Automatic Differentiation, automatic creation of an algorithm that computes derivative values from an algorithm that computes function values
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rpc/utils/wrappers/irrlicht
Wrapper for Irrlicht , a free open source 3D engine
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rpc/optimization/wrappers/tvm
Wrapper for the tvm library, a framework for writing and solving optimization problem for robotic control
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rpc/other-drivers/wrappers/openvr
OpenVR is an API and runtime that allows access to VR hardware from multiple vendors without requiring that applications have specific knowledge of the hardware they are targeting
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rpc/vision/algorithms/pcl-tools
Various algorithms for 3D vision based on PCL
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