Under Review Links to the repositories and data as used for my PhD-thesis. As this data is subject to internal review, the links listed below will be inaccessible for the general public during this period.

Python-code and the LaTeX content for our recent publication to Frontiers in Robotics and AI - Advanced Learning Control in Physical Interaction Tasks has been made available online.

WSG 50 ROS-driver - public and internal - as presented @ IEEE ICRA 2022. The public link (gitlab-icon) forwards to the public ROS driver of our IEEE ICRA paper, while the internal link below forwards to the internal ROS-driver of the Chair of Automatic Control Engineering, Technical University of Munich.

This repository contains docker-images (dockerhub) that I have set up for simplified CI-testing.

This repository contains lab-internal instructions to use driver-independent GPU-ready setups via docker. The current setup is tailored to internal lab-setups as used for my time at the Chair or Automatic Control Engineering, but can be straightforward adapted to arbitrary setups.

An implementation of KMPs in python. This project has been initiated during the HR-Recycler project, but eventually has been dropped due to incompatibilities in the available robot hardware-interfaces.

A relational module that is used within multi agent gym and other projects and servers as standalone relational planning module. This project has been initiated during the HRC-project with SIEMENS AG, but eventually has reached EOL due to adjusted project goals.

This python-package contains a variety of helpers to derive robot dynamics from URDFs. As the repository also contains CAD-data of a COMAU-data as used within the HR-Recycler project, the dedicated content is only accessible for TUM-users.

This ROS meta-package was used to run experiments for the HR-Recycler project during my PhD at the Chair of Automatic Control Engineering, Technical University of Munich. Therefore, the link (gitlab-icon) will only be accessible to members of the dedicated TUM-gitlab.

The ROS package(s) contain the driver(s) for industrial COMAU robots of 2020-2022. The packages are maintained by the Chair of Automatic Control Engineering, Technical University of Munich. Therefore, the link (gitlab-icon) will only be accessible to members of the dedicated TUM-gitlab. The provided repositories have been tested on a COMAU Racer 5 0.80 during my stay at the chair and dissertation.

The ROS-driver for the JR3 F/T-sensor is currently maintained by the Chair of Automatic Control Engineering, Technical University of Munich. Therefore, the link (gitlab-icon) will only be accessible to members of the dedicated TUM-gitlab.

This repository contains URDFs and Gazebo / pybullet / mujoco compatible files for various robot mounts, manipulation objects, etc. as used with various experiments during my PhD and project work at the Chair of Automatic Control Engineering, Technical University of Munich. As these CAD files etc are subject to internal development processes, the data-access is restricted to internal members of the lab.

The driver is currently maintained by the Chair of Automatic Control Engineering, Technical University of Munich. Therefore, the link (gitlab-icon) will only be accessible to members of the dedicated TUM-gitlab.

This ROS meta-package was used to run (mainly HRC-)experiments during my PhD at the Chair of Automatic Control Engineering, Technical University of Munich. Therefore, the link (gitlab-icon) will only be accessible to members of the dedicated TUM-gitlab.

During my stay at the Chair of Automatic Control Engineering, I have created a collection of various IT projects, which (partially) contain sensitive data. Thus, the repos listed below remain inaccessible to the general public. Nonetheless, for completion this page contains a short summary of the individual projects, as well as forwarding links to the dedicated internal projects

While the remaining projects from above, are either available online or for selected staff / students at TUM, this small page summarizes projects that have been created during my time at the chair of automatic control engineering. These projects have not only reached EOL before the end of my thesis, but also have not been migrated to the TUM centralized git-server. Instead all repositories are found at the (by now deprecated) internal GIT-server of the Chair of Automatic Control Engineering (https://git.lsr.ei.tum.de), which I have set up and maintained during my stay at the chair. As a result, access to any of the links below is limited to (most probably) a handful of people.