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@RMDLO Representing and Manipulating Deformable Linear Objects

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    25 repositories

    • .github

      Public
      0•0•0•0•Updated Aug 25, 2025Aug 25, 2025

    • trackdlo

      Public
      [RA-L 2023, ICRA 2024, ICRA RMDO 2024] This repository contains the code used in our paper, "TrackDLO: Tracking Deformable Linear Objects Under Occlusion with Motion Coherence." This algorithm is useful for tracking the motion of DLOs, including wire and rope, under several categories of occlusion without physics simulation.
      computer-visionroboticsindustrial-automationmanipulationropewiresocclusiontracking-algorithmcablesdeformable-object
      C++
      •
      MIT License
      •12•43•0•0•Updated Aug 25, 2025Aug 25, 2025

    • COCOpen-OpenCV

      Public
      First-Prize winner in the Core Track of the 2022 OpenCV AI Competition
      opencvcomputer-visiondeep-learningazuredatasetazure-storagedataset-labelingmicrosoft-cocodataset-augmentationdetectron2
      Python
      •
      MIT License
      •1•6•0•0•Updated Jul 22, 2025Jul 22, 2025

    • abb_dual_arm

      Public
      This repository contains ROS packages and helper functions for planning and executing paths with two ABB IRB120 robotic manipulators.
      roboticsrosmoveitindustrial-automationmanipulationabbnoeticindustrial-robotics
      C++
      •
      MIT License
      •2•20•0•0•Updated Jul 22, 2025Jul 22, 2025

    • multidlo

      Public
      [ICRA RMDO 2023] This repository contains the code used in our paper, "MultiDLO: Simultaneous Shape Tracking of Multiple Deformable Linear Objects with Global-Local Topology Preservation." This vision-only algorithm is useful for tracking multiple DLOs, including wire and rope, as they are entangled.
      computer-visionroboticsindustrial-automationmanipulationropewirestracking-algorithmcablesdeformable-objectsdeformable-linear-object
      Python
      •
      MIT License
      •0•5•0•0•Updated Jul 1, 2025Jul 1, 2025

    • depthai-ros

      Public
      Official ROS Driver for DepthAI Sensors.
      C++
      •
      MIT License
      •217•0•0•0•Updated Jan 28, 2025Jan 28, 2025

    • sam2

      Public
      The repository provides code for running inference with the Meta Segment Anything Model 2 (SAM 2), links for downloading the trained model checkpoints, and example notebooks that show how to use the model.
      Jupyter Notebook
      •
      Apache License 2.0
      •2.1k•0•0•0•Updated Dec 25, 2024Dec 25, 2024

    • Knot-DLO

      Public
      Paper website
      JavaScript
      •0•0•0•0•Updated Mar 6, 2024Mar 6, 2024

    • simple-reachability

      Public
      Calculate the workspace for a robot and visualize it in RVIZ
      C++
      •5•0•0•0•Updated Dec 14, 2023Dec 14, 2023

    • rmdlo_tracking

      Public
      RMDLO Tracking ROS Workspace (CDCPD, TrackDLO)
      C++
      •0•0•0•0•Updated Jun 20, 2023Jun 20, 2023

    • cdcpd

      Public
      Library for Constrained Deformable Coherent Point Drift
      C++
      •14•0•0•0•Updated Jun 13, 2023Jun 13, 2023

    • shape_control_DLO_2

      Public
      Repository for the IEEE T-RO Paper "Global Model Learning for Large Deformation Control of Elastic Deformable Linear Objects: An Efficient and Adaptive Approach".
      ASP.NET
      •
      MIT License
      •3•0•0•0•Updated May 18, 2023May 18, 2023

    • mmdetection-MS-RCNN

      Public
      Library with implementation of various computer vision models. Primarily using it to experiment with Mask Scoring R-CNN
      Python
      •
      Apache License 2.0
      •0•1•0•0•Updated Apr 25, 2023Apr 25, 2023

    • 3DReconstruction_Playground

      Public
      Python
      •0•0•1•0•Updated Feb 14, 2023Feb 14, 2023

    • fastdlo

      Public
      Implementation of the paper "FASTDLO: Fast Deformable Linear Objects Instance Segmentation", Robotics and Automation Letters & IROS 2022
      Python
      •8•0•0•0•Updated Jan 5, 2023Jan 5, 2023

    • detectron2

      Public
      Detectron2 is a platform for object detection, segmentation and other visual recognition tasks.
      Python
      •
      Apache License 2.0
      •7.8k•0•0•0•Updated Oct 25, 2022Oct 25, 2022

    • ariadne_plus

      Public
      Implementation of "Ariadne+: Deep Learning-based Augmented Framework for the Instance Segmentation of Wires" to appear on IEEE Transactions on Industrial Informatics 2022
      Python
      •7•1•0•0•Updated Oct 24, 2022Oct 24, 2022

    • easy_handeye_demo

      Public
      Virtual demonstration of a hand-eye calibration with easy_handeye, no hardware required
      Python
      •
      GNU General Public License v3.0
      •23•0•0•0•Updated Oct 11, 2022Oct 11, 2022

    • charuco_detector

      Public
      ROS package for detecting ChArUco patterns
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •20•0•0•0•Updated Oct 11, 2022Oct 11, 2022

    • abb_robot_driver

      Public
      The new ROS driver for ABB robots
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •47•0•0•0•Updated Oct 11, 2022Oct 11, 2022

    • arc_utilities

      Public
      C++ and Python utilities. ARC -> ARM
      C++
      •
      BSD 2-Clause "Simplified" License
      •8•0•0•0•Updated Sep 23, 2022Sep 23, 2022

    • onrobot_2FG7_gripper_description

      Public
      CMake
      •
      MIT License
      •2•0•0•0•Updated Sep 11, 2022Sep 11, 2022

    • tacto

      Public
      Simulator of vision-based tactile sensors.
      Python
      •
      MIT License
      •77•0•0•0•Updated Feb 17, 2022Feb 17, 2022

    • SPR

      Public
      Code for Structure Preserved Registration
      MATLAB
      •5•0•0•0•Updated Feb 8, 2019Feb 8, 2019

    • ABB-IRB120-MultiRobot-Downloader

      Public
      ABB Drivers for Multiple Robots on a Single IRC5 Controller, with demo and launch files
      AMPL
      •4•0•0•0•Updated Jan 4, 2017Jan 4, 2017