Representing and Manipulating Deformable Linear Objects
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- @uiucrmdlo
This is the GitHub organization home page for the Representing and Manipulating Deformable Linear Objects (RMDLO) project from the University of Illinois at Urbana-Champaign (UIUC). The project studies robotic manipulation, grasp planning, tactile sensing, segmentation, simulation, and tracking of wires and ropes.
Our growing software stack includes code for controlling two ABB IRB120 6DOF robotic manipulators, the OnRobot 2FG7 gripper, the Intel RealSense d435 camera, the Intel RealSense d405 camera, the Luxonis Oak-D Pro camera, and the DIGIT tactile sensor. For any project-related inquiries or requests, please contact project Principal Investigator Holly Dinkel [hdinkel2@illinois.edu].
Hameed Abdul-Rashid, Mårten Björkman, Marcel Büsching, Timothy Bretl, Brian Coltin, Holly Dinkel, Achintya Gahalaut, Naixiang Gao, Berk Güler, Jagriti Jain, Danica Kragic, Alberta Longhini, Zikun Liu, Simon Manschitz, João Marcos Correia-Marques, Raghavendra Navaratna, Jan Peters, Florian T. Pokorny, Bhumsitt Pramuanpornsatid, Yash Rathod, Fuad Samhouri, Trey Smith, Minh Quang Ta, Jingyi Xiang, Dan Yang, Muhammad Zahid, Harry Zhao
H. Dinkel, M. Büsching, A. Longhini, B. Coltin, T. Smith, D. Kragic, M. Björkman, and T. Bretl (2025) "DLO-Splatting: Tracking Deformable Linear Objects Using 3D Gaussian Splatting," IEEE ICRA 5th Workshop on Reflections on Representations and Manipulating Deformable Objects. [Paper] [Code] [Poster] [Presentation Video]
H. Dinkel, R. Navaratna, J. Xiang, B. Coltin, T. Smith, and T. Bretl (2024) "KnotDLO: Toward Interpretable Knot Tying," ICRA Workshop on 3D Visual Representations for Robot Manipulation. [Paper] [Code] [Poster] [Presentation Video]
J. Xiang, H. Dinkel, H. Zhao, N. Gao, B. Coltin, T. Smith, and T. Bretl (2023) "TrackDLO: Tracking Deformable Linear Objects Under Occlusion with Motion Coherence," IEEE Robotics and Automation: Letters. [Paper] [Code] [Data] [Poster] [Presentation Video] [Supplementary Video]
J. Xiang and H. Dinkel (2023) "MultiDLO: Simultaneous Shape Tracking of Multiple Deformable Linear Objects with Global-Local Topology Preservation," IEEE ICRA Workshop on Deformable Objects. [Paper] [Code] [Data] [Poster] [Presentation Video]
H. Dinkel, J. Xiang, H. Zhao, B. Coltin, T. Smith, and T. Bretl (2022) "Wire Point Cloud Instance Segmentation from RGBD Imagery with Mask R-CNN," IEEE ICRA Workshop on Deformable Objects. [Paper] [Code] [Presentation Video] [Supplementary Video]
This work is funded through several programs:- NASA Space Technology Graduate Research Opportunity award 80NSSC21K1292
- U.S. Department of Education Graduate Assistance in Areas of National award P200A180050-19
- P.E.O. International Scholar Award
- Zonta International Amelia Earhart Fellowship
- Illinois Space Grant Consortium Graduate Research Fellowship
- Illinois Space Grant Consortium Undergraduate Research Opportunity Program
- Wallenberg AI, Autonomous Systems and Software Program (WASP) funded by the Knut and Alice Wallenberg Foundation
Additional research resources were provided by the UIUC Promoting Undergraduate Research in Engineering program, the UIUC Office of Undergraduate Research, the UIUC Department of Aerospace Engineering, the UIUC Coordinated Science Laboratory, the UIUC Department of Electrical and Computer Engineering, the UIUC Siebel School of Computing and Data Science, the NASA Ames Research Center Intelligent Robotics Group, the NASA Johnson Space Center Dexterous Robotics Laboratory, and the KTH Royal Institute of Technology Division of Robotics, Perception, and Learning.
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Repositories
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- .github Public
- 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.
- abb_dual_arm Public
This repository contains ROS packages and helper functions for planning and executing paths with two ABB IRB120 robotic manipulators.
- 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.
- sam2 Public Forked from facebookresearch/sam2
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.
- ROS-TCP-Endpoint Public Forked from Unity-Technologies/ROS-TCP-Endpoint
ROS package used to create an endpoint to accept ROS messages sent from a Unity scene using the ROS TCP Connector scripts
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