Real-time collision avoidance and contact-aware dual-arm DLO* manipulation using mink and MuJoCo.
A user-friendly GUI tool (built with Python) processing vector line data and optionally extract elevation from GeoTIFF files. It supports creating interpolated nodes or create the original vertex along line segments and exporting the results as CSV and Shapefile formats.
Safe dual-arm cable routing using Deformable Linear Objects (DLOs) - M.Sc. thesis at NUST. Covers real-time DLO perception & tracking, Jacobian-based shape control, hierarchical motion planning, and Contact-Aware Control Barrier Functions (CBFs) for collision-free cable manipulation with dual Franka Panda arms in MuJoCo.
Electrical power engineering calculation (a functional programming design)
Processing-only plugin for sampling points along line features at fixed intervals, with optional vertex preservation, azimuth calculation, 2D/3D length computation, and elevation sampling from a GeoTIFF.
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