DAIRLab — University of Pennsylvania
A collection of robotics drivers, tooling, and infrastructure packages developed and maintained as part of my work at the DAIRLab.
Graduate Research — DAIRLab, University of Pennsylvania
Research at the DAIRLab requires a layer of reliable, well-tested infrastructure between the algorithms and the physical hardware. Below is a collection of open-source packages I developed or significantly contributed to during my graduate research.
Reference implementation of Consensus Complementarity Control — a contact-implicit MPC framework for systems that make and break contact. Lead developer; drove full refactor, CI/CD, and example suite.
Full project page →Drake integration driver for Universal Robots (UR) arms. Supports multiple control modes (status-only, velocity, position, TCP position/velocity) and integrates with Drake's MultibodyPlant for dynamics.
GitHub →C++ driver (with Python bindings) for Robotiq grippers over TCP/IP. Supports position control, force/speed regulation, status monitoring, and fault detection in both blocking and non-blocking modes.
GitHub →Lightweight wrapper around libspnav that publishes SpaceMouse hardware input as LCM messages. Includes Docker support with Unix socket mounting for clean containerised deployment.
GitHub →Lab-wide Docker infrastructure and base images used across DAIRLab projects. Standardises the development and deployment environment for reproducible research builds.
GitHub →The core DAIRLab research library, built on top of Drake. Provides shared utilities, controllers, and simulation infrastructure used across the lab's research projects. Contributed patches and improvements as part of C3 development.
GitHub →