This project uses an Optoforce force sensor and a UR5 robotic arm to explore 3D object surfaces through touch, providing data to reconstruct these surfaces in a 3D point cloud format.

Provide a common API to many useful robotics libraries

Software platform for teaching a robot to cook via demonstration. Masters project at the University of Cambridge.

Sense–Plan–Code–Act (SPCA) framework — LLM+PDDL planning, code generation and ROS2/UR5 simulation for embodied robotic manipulation.

This respository includes the implementation of the robot UR5 with the gripper Robotiq 2f-85 in Gazebo Harmonic and Moveit.

This repository contains a ROS (Robot Operating System) node written in Python that integrates MediaPipe for perception tasks and controls relays based on detected hand gestures.

An end-to-end pipeline for table tennis juggling that leverages real-time 3D trajectory tracking and precise robotic striking with a UR5 manipulator.

Project to develop voice control of a Universal Robotics' arm to be used for playing chess.

MoveIt 2 configuration for UR5 robot with RG2 gripper

Complete pipeline for automated/manual pick/place using UR5 with the Robotiq 2f-85 gripper and ZED stereo camera. The pipeline uses manually drawn bounding boxes or roboflow cloud models for detection of object so in theory it can be modified for pick and place of any detected object.

Automated Bin Picking With A Cobot - Saxion Smart Solution Project

A complete imitation learning pipeline for bar alignment using the UR5 robot in NVIDIA Isaac Sim. Includes manual data collection with a game controller, dataset organization for LeRobot, diffusion policy training, and policy deployment through ROS2.

Mobile manipulator project demonstrating inverse kinematics and path following capabilities

Object grasping with Clearpath's dual-UR5 arm Husky using Aruco marker detection and MoveIt!

URDF and SDF descriptions of UR5 robot with RG2 gripper for Ignition and MoveIt2

RTC of Universal Robot (URx) for OpenRTM-aist

Code for keypoint-based visual servo IROS2020

SPARC is an intelligent ROS2 Humble-based pick-and-place robotic system integrating MoveIt, YOLOv8-OBB, and Isaac Sim. It enables real-time object detection, motion planning for Franka Panda and UR5 arms, and natural language control via an Ollama-powered chatbot—making robotic manipulation smart, interactive, and human-friendly.

Code for reproducing experiments for the paper "Pick-and-Place With Uncertain Object Instance Segmentation and Shape Completion".