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adamheins (Adam Heins) · GitHub

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adamheins/README.md

Laughing and crying while writing software to make hardware move. I also write a technical blog.

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  1. learnsyslab/upright learnsyslab/upright Public

    [RA-L 2023, 2025] Model predictive control and trajectory optimization for fast nonprehensile object transportation with a mobile manipulator.

    Python 154 13

  2. xacrodoc xacrodoc Public

    Compile xacro files to plain URDF or MJCF from Python or the command line (no ROS required).

    Python 75 8

  3. learnsyslab/force_push learnsyslab/force_push Public

    [RA-L 2024] Quasistatic robotic planar pushing with single-point contact using force feedback.

    Python 13 1

  4. pyb_utils pyb_utils Public

    Utilities for PyBullet, including collision detection, ghost (i.e. visual-only) objects, cameras, and more.

    Python 72 11

  5. learnsyslab/visual_servor learnsyslab/visual_servor Public

    [AIM 2026] Interactive robot waiter and nonprehensile object transportation with a hanging tray.

    Python 1

  6. uplite uplite Public

    Lightweight trajectory optimization for the robot waiter problem.

    Python 14

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