Assist
Assist is an advanced graphical programming software tailored to facilitate the fusion of heterogeneous data from finite element numerical simulations with essential inputs for robotic control, non-rigid registration of finite element models, and augmented reality. The software provides a platform for smooth data exchange between different processors and libraries, integrating popular libraries such as OpenCV, ROS2, SOFA, CUDA, and Python.
ROS2 project – LCFC Gitlab
Based on common ROS2 libraries and the official ROS Driver for Universal Robots, our GitLab hosts custom code for dual-robot manipulation. Our pipeline integrates the two robots with appropriate namespacing and controller definition, enabling multi-robot operation. On top of the driver, we integrated Mandolin-tailored features: Cartesian space position control, transforms identification from an OptiTrack MoCap system.
