Simulation

Robot control framework for simulations in Gazebo. Designed to be extensible for easily adding new controllers. Works in conjunction with my robot interface package to decouple the controllers from any particular robot.

An actuated version of the ReFlex TakkTile hand and Gazebo plugins for simulating contact and pressure sensors on the fingers.

A lightweight simulator with force rendering created with rviz and DART. Provides a training ground for learning robust policies from demonstration with a haptic input device.