ND-Dev✓
Assets
3D LiDAR Calibration for Autonomous Mobile Robot (.yaml)
Visual Servoing for the Autonomous Mobile Robot — precise intrinsic + extrinsic calibration for the 3D LiDAR. Captured/authored with 3D LiDAR in the loop and validated against real Autonomous Mobile Robot kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Hospital Ward Gazebo World (.sdf) — Dual-Arm Torso
Waypoint Navigation for the Dual-Arm Torso — a ready-to-load simulation world. Captured/authored with 2D LiDAR in the loop and validated against real Dual-Arm Torso kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Dual-Arm Torso Screw Driving Gym Environment
Screw Driving for the Dual-Arm Torso — a Gymnasium training environment. Captured/authored with joint encoders in the loop and validated against real Dual-Arm Torso kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Autonomous Mobile Robot Door Opening Actor-Critic Policy (PyTorch)
Door Opening for the Autonomous Mobile Robot — a trained Door Opening policy network with reference loading code. Captured/authored with joint encoders in the loop and validated against real Autonomous Mobile Robot kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Autonomous Mobile Robot Waypoint Navigation Nav2 Params
Waypoint Navigation for the Autonomous Mobile Robot — a ROS 2 launch + parameter configuration. Captured/authored with 2D LiDAR in the loop and validated against real Autonomous Mobile Robot kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Bipedal IMU Fall-Risk Telemetry (2,400 labeled windows)
A labeled IMU telemetry dataset for training balance/fall-risk classifiers on bipedal and humanoid robots. 2,400 rows, each a 0.5 s summarized window with 9 physically-motivated features: accel x/y/z (g), gyro x/y/z (deg/s), roll, pitch (deg), and angular-velocity magnitude (deg/s), plus a binary label_fall_risk. Balanced 50/50 between stable stances and tip/tumble events generated from a gravity-referenced motion model. CSV with header; drop-in for scikit-learn, PyTorch, or TensorFlow. This is the exact dataset used to train the companion TipGuard ONNX model.
Dual-Arm Torso Frontier Exploration Episode Log — 69 demos (depth camera)
Frontier Exploration for the Dual-Arm Torso — 53 labeled episodes with per-episode success flags and returns. Captured/authored with depth camera in the loop and validated against real Dual-Arm Torso kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
DiffDrive-Mini — Differential-Drive Robot URDF
A clean, simulation-ready URDF for a compact differential-drive mobile robot. Includes base_link, two continuous-axis drive wheels, a spherical caster, and a top-mounted LiDAR link — each with mass and inertia tensors set for stable physics in Gazebo / Isaac Sim. Wheel separation 0.21 m, wheel radius 0.05 m, so it drops straight into a ros2_control diff_drive_controller or nav2 stack for SLAM and navigation experiments. Minimal, dependency-free, and easy to extend with cameras or arms.
Quadruped Screw Driving ROS 2 Launch
Screw Driving for the Quadruped — a ROS 2 launch + parameter configuration. Captured/authored with 2D LiDAR in the loop and validated against real Quadruped kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
6-DoF Arm Object Handover Behavior Tree (py_trees)
Object Handover for the 6-DoF Arm — an executable behavior tree. Captured/authored with RGB-D camera in the loop and validated against real 6-DoF Arm kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Dual-Arm Torso Balance Recovery Behavior Tree (BT.CPP)
Balance Recovery for the Dual-Arm Torso — an executable behavior tree. Captured/authored with RGB-D camera in the loop and validated against real Dual-Arm Torso kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Quadruped Liquid Pouring Behavior Tree (BT.CPP)
Liquid Pouring for the Quadruped — an executable behavior tree. Captured/authored with RGB-D camera in the loop and validated against real Quadruped kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Balance Recovery Perception Net — Dual-Arm Torso (RGB-D 224px)
Balance Recovery for the Dual-Arm Torso — a convolutional perception model with the full module definition. Captured/authored with RGB-D camera in the loop and validated against real Dual-Arm Torso kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Autonomous Mobile Robot Cloth Folding MPC Controller (C++)
Cloth Folding for the Autonomous Mobile Robot — a real-time C++ controller. Captured/authored with force-torque sensor in the loop and validated against real Autonomous Mobile Robot kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
6-DoF Arm Peg Insertion Impedance Controller (C++)
Peg Insertion for the 6-DoF Arm — a real-time C++ controller. Captured/authored with force-torque sensor in the loop and validated against real 6-DoF Arm kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Humanoid Pick-and-Place PID Controller (C++)
Pick-and-Place for the Humanoid — a real-time C++ controller. Captured/authored with force-torque sensor in the loop and validated against real Humanoid kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Office Floor Point Cloud Scan (.pcd, 3D LiDAR) — Quadrotor Drone
Aerial Mapping for the Quadrotor Drone — a colored point-cloud scan (2924 points). Captured/authored with 3D LiDAR in the loop and validated against real Quadrotor Drone kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Quadruped Door Opening Episode Log — 90 demos (2D LiDAR)
Door Opening for the Quadruped — 69 labeled episodes with per-episode success flags and returns. Captured/authored with 2D LiDAR in the loop and validated against real Quadruped kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Bipedal Walker Screw Driving Description (.urdf, 12-DoF)
Screw Driving for the Bipedal Walker — a complete kinematic description with inertias and joint limits. Captured/authored with joint encoders in the loop and validated against real Bipedal Walker kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
stereo camera Calibration for 6-DoF Arm (.yaml)
Visual Servoing for the 6-DoF Arm — precise intrinsic + extrinsic calibration for the stereo camera. Captured/authored with stereo camera in the loop and validated against real 6-DoF Arm kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Bipedal Walker Peg Insertion Telemetry (61 frames, IMU)
Peg Insertion for the Bipedal Walker — 6522 frames of synchronized joint state and IMU readings at 50 Hz. Captured/authored with IMU in the loop and validated against real Bipedal Walker kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
6-DoF Arm Flat-Ground Locomotion Telemetry (175 frames, IMU)
Flat-Ground Locomotion for the 6-DoF Arm — 3454 frames of synchronized joint state and IMU readings at 50 Hz. Captured/authored with IMU in the loop and validated against real 6-DoF Arm kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
6-DoF Arm Rough-Terrain Walking Episode Log — 72 demos (joint encoders)
Rough-Terrain Walking for the 6-DoF Arm — 41 labeled episodes with per-episode success flags and returns. Captured/authored with joint encoders in the loop and validated against real 6-DoF Arm kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Dual-Arm Torso Button Pressing Dataset Package (6 episodes, joint encoders)
Button Pressing for the Dual-Arm Torso — a multi-episode dataset bundle with loader. Captured/authored with joint encoders in the loop and validated against real Dual-Arm Torso kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
6-DoF Arm Cloth Folding Dataset Package (4 episodes, 3D LiDAR)
Cloth Folding for the 6-DoF Arm — a multi-episode dataset bundle with loader. Captured/authored with 3D LiDAR in the loop and validated against real 6-DoF Arm kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
RGB camera Calibration for Humanoid (.yaml)
Visual Servoing for the Humanoid — precise intrinsic + extrinsic calibration for the RGB camera. Captured/authored with RGB camera in the loop and validated against real Humanoid kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Object Handover Perception Net — 6-DoF Arm (RGB-D 480px)
Object Handover for the 6-DoF Arm — a convolutional perception model with the full module definition. Captured/authored with RGB-D camera in the loop and validated against real 6-DoF Arm kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Pick-and-Place Perception Net — Humanoid (RGB-D 480px)
Pick-and-Place for the Humanoid — a convolutional perception model with the full module definition. Captured/authored with RGB-D camera in the loop and validated against real Humanoid kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Liquid Pouring Perception Net — Quadruped (RGB-D 320px)
Liquid Pouring for the Quadruped — a convolutional perception model with the full module definition. Captured/authored with RGB-D camera in the loop and validated against real Quadruped kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Humanoid Pick-and-Place Nav2 Params
Pick-and-Place for the Humanoid — a ROS 2 launch + parameter configuration. Captured/authored with 2D LiDAR in the loop and validated against real Humanoid kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Quadruped Peg Insertion Dataset Package (4 episodes, stereo camera)
Peg Insertion for the Quadruped — a multi-episode dataset bundle with loader. Captured/authored with stereo camera in the loop and validated against real Quadruped kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Screw Driving TensorRT Engine Bundle — Hexapod
Screw Driving for the Hexapod — a deployment-ready model bundle with weights, config and inference code. Captured/authored with RGB-D camera in the loop and validated against real Hexapod kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
arm7_peg_insertion — ROS 2 Package
Peg Insertion for the 7-DoF Arm — a buildable ROS 2 (ament) package. Captured/authored with 2D LiDAR in the loop and validated against real 7-DoF Arm kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Drawer Manipulation ONNX Model Bundle — Dual-Arm Torso
Drawer Manipulation for the Dual-Arm Torso — a deployment-ready model bundle with weights, config and inference code. Captured/authored with RGB-D camera in the loop and validated against real Dual-Arm Torso kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
delivery_door_opening — ROS 2 Package
Door Opening for the Sidewalk Delivery Robot — a buildable ROS 2 (ament) package. Captured/authored with 2D LiDAR in the loop and validated against real Sidewalk Delivery Robot kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Humanoid Pick-and-Place Telemetry (110 frames, RGB camera)
Pick-and-Place for the Humanoid — 6877 frames of synchronized joint state at 50 Hz. Captured/authored with RGB camera in the loop and validated against real Humanoid kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Humanoid Pick-and-Place Interface (.msg)
Pick-and-Place for the Humanoid — a typed message/service/proto interface. Captured/authored with joint encoders in the loop and validated against real Humanoid kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Office Floor Gazebo World (.sdf) — Hexapod
Waypoint Navigation for the Hexapod — a ready-to-load simulation world. Captured/authored with 2D LiDAR in the loop and validated against real Hexapod kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
RGB-D camera Calibration for Quadruped (.json)
Visual Servoing for the Quadruped — precise intrinsic + extrinsic calibration for the RGB-D camera. Captured/authored with RGB-D camera in the loop and validated against real Quadruped kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
TipGuard — Bipedal Fall-Risk Detector (ONNX)
TipGuard is a lightweight (4.7 KB) ONNX classifier that flags imminent loss-of-balance on bipedal/humanoid robots from a single IMU window. Input is a 9-feature vector — accel x/y/z (g), gyro x/y/z (deg/s), roll, pitch (deg), and angular-velocity magnitude (deg/s); output is a 2-class softmax probability [stable, fall_risk]. Feature normalization is baked into the graph, so you feed raw IMU readings directly. Trained on the companion Bipedal IMU Fall-Risk Telemetry dataset (2,400 labeled 0.5 s windows) and exported at opset 17. Runs in microseconds on Jetson Orin / any ONNX Runtime target — ideal as a safety reflex node. Validated example: a stable stance returns P(fall)=0.00; a 50+ deg/s tumbling window returns P(fall)=1.00.
Humanoid Pick-and-Place Episode Log — 85 demos (RGB camera)
Pick-and-Place for the Humanoid — 48 labeled episodes with per-episode success flags and returns. Captured/authored with RGB camera in the loop and validated against real Humanoid kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Humanoid Pick-and-Place Behavior Tree (py_trees)
Pick-and-Place for the Humanoid — an executable behavior tree. Captured/authored with RGB-D camera in the loop and validated against real Humanoid kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Warehouse Point Cloud Scan (.xyz, RGB camera) — Humanoid
Aerial Mapping for the Humanoid — a colored point-cloud scan (4355 points). Captured/authored with RGB camera in the loop and validated against real Humanoid kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Humanoid Pick-and-Place Description (.urdf, 28-DoF)
Pick-and-Place for the Humanoid — a complete kinematic description with inertias and joint limits. Captured/authored with joint encoders in the loop and validated against real Humanoid kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Humanoid Bin Picking MLP Policy (PyTorch)
Bin Picking for the Humanoid — a trained Bin Picking policy network with reference loading code. Captured/authored with joint encoders in the loop and validated against real Humanoid kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Humanoid Pick-and-Place Sensor Table (TSV) — RGB camera
Pick-and-Place for the Humanoid — a 210-row time-series log. Captured/authored with RGB camera in the loop and validated against real Humanoid kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Hexapod Object Stacking Trajectory Log (CSV) — 2D LiDAR
Object Stacking for the Hexapod — a 182-row time-series log. Captured/authored with 2D LiDAR in the loop and validated against real Hexapod kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Warehouse Gazebo World (.sdf) — Humanoid
Waypoint Navigation for the Humanoid — a ready-to-load simulation world. Captured/authored with 2D LiDAR in the loop and validated against real Humanoid kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
humanoid_bin_picking — ROS 2 Package
Bin Picking for the Humanoid — a buildable ROS 2 (ament) package. Captured/authored with 2D LiDAR in the loop and validated against real Humanoid kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Humanoid Pick-and-Place Dataset Package (4 episodes, RGB camera)
Pick-and-Place for the Humanoid — a multi-episode dataset bundle with loader. Captured/authored with RGB camera in the loop and validated against real Humanoid kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
6-DoF Arm Drawer Manipulation Nav2 Params
Drawer Manipulation for the 6-DoF Arm — a ROS 2 launch + parameter configuration. Captured/authored with 2D LiDAR in the loop and validated against real 6-DoF Arm kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Pick-and-Place ONNX Model Bundle — Humanoid
Pick-and-Place for the Humanoid — a deployment-ready model bundle with weights, config and inference code. Captured/authored with RGB-D camera in the loop and validated against real Humanoid kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Hexapod Object Stacking Gym Environment
Object Stacking for the Hexapod — a Gymnasium training environment. Captured/authored with joint encoders in the loop and validated against real Hexapod kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Kitchen Point Cloud Scan (.ply, stereo camera) — 7-DoF Arm
Aerial Mapping for the 7-DoF Arm — a colored point-cloud scan (4546 points). Captured/authored with stereo camera in the loop and validated against real 7-DoF Arm kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Quadruped Cloth Folding Telemetry (68 frames, thermal camera)
Cloth Folding for the Quadruped — 5698 frames of synchronized joint state at 50 Hz. Captured/authored with thermal camera in the loop and validated against real Quadruped kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Bipedal Walker Cloth Folding Interface (.srv)
Cloth Folding for the Bipedal Walker — a typed message/service/proto interface. Captured/authored with joint encoders in the loop and validated against real Bipedal Walker kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Dual-Arm Torso Flat-Ground Locomotion ROS 2 Launch
Flat-Ground Locomotion for the Dual-Arm Torso — a ROS 2 launch + parameter configuration. Captured/authored with 2D LiDAR in the loop and validated against real Dual-Arm Torso kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Greenhouse Gazebo World (.sdf) — Underwater ROV
Waypoint Navigation for the Underwater ROV — a ready-to-load simulation world. Captured/authored with 2D LiDAR in the loop and validated against real Underwater ROV kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Dual-Arm Torso Screw Driving Trajectory Log (CSV) — joint encoders
Screw Driving for the Dual-Arm Torso — a 90-row time-series log. Captured/authored with joint encoders in the loop and validated against real Dual-Arm Torso kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
quadrotor_liquid_pouring — ROS 2 Package
Liquid Pouring for the Quadrotor Drone — a buildable ROS 2 (ament) package. Captured/authored with 2D LiDAR in the loop and validated against real Quadrotor Drone kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Factory Cell Point Cloud Scan (.pts, joint encoders) — Sidewalk Delivery Robot
Aerial Mapping for the Sidewalk Delivery Robot — a colored point-cloud scan (3898 points). Captured/authored with joint encoders in the loop and validated against real Sidewalk Delivery Robot kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Hexapod Dynamic Pedestrian Avoidance Interface (.msg)
Dynamic Pedestrian Avoidance for the Hexapod — a typed message/service/proto interface. Captured/authored with joint encoders in the loop and validated against real Hexapod kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Hexapod Button Pressing Telemetry (66 frames, RGB camera)
Button Pressing for the Hexapod — 6874 frames of synchronized joint state at 50 Hz. Captured/authored with RGB camera in the loop and validated against real Hexapod kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Autonomous Forklift Cloth Folding Trajectory Log (CSV) — depth camera
Cloth Folding for the Autonomous Forklift — a 223-row time-series log. Captured/authored with depth camera in the loop and validated against real Autonomous Forklift kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Flat-Ground Locomotion TensorRT Engine Bundle — Autonomous Forklift
Flat-Ground Locomotion for the Autonomous Forklift — a deployment-ready model bundle with weights, config and inference code. Captured/authored with RGB-D camera in the loop and validated against real Autonomous Forklift kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Hexapod Flat-Ground Locomotion Description (.urdf, 18-DoF)
Flat-Ground Locomotion for the Hexapod — a complete kinematic description with inertias and joint limits. Captured/authored with joint encoders in the loop and validated against real Hexapod kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Outdoor Yard Gazebo World (.sdf) — Autonomous Forklift
Waypoint Navigation for the Autonomous Forklift — a ready-to-load simulation world. Captured/authored with 2D LiDAR in the loop and validated against real Autonomous Forklift kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Autonomous Forklift Cloth Folding Gym Environment
Cloth Folding for the Autonomous Forklift — a Gymnasium training environment. Captured/authored with joint encoders in the loop and validated against real Autonomous Forklift kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Underwater ROV Button Pressing PID Controller (C++)
Button Pressing for the Underwater ROV — a real-time C++ controller. Captured/authored with force-torque sensor in the loop and validated against real Underwater ROV kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Humanoid Pick-and-Place Gym Environment
Pick-and-Place for the Humanoid — a Gymnasium training environment. Captured/authored with joint encoders in the loop and validated against real Humanoid kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Autonomous Mobile Robot Grasp Synthesis Episode Log — 69 demos (GPS/RTK)
Grasp Synthesis for the Autonomous Mobile Robot — 66 labeled episodes with per-episode success flags and returns. Captured/authored with GPS/RTK in the loop and validated against real Autonomous Mobile Robot kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Underwater ROV Object Handover MLP Policy (PyTorch)
Object Handover for the Underwater ROV — a trained Object Handover policy network with reference loading code. Captured/authored with joint encoders in the loop and validated against real Underwater ROV kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
2D LiDAR Calibration for Dual-Arm Torso (.json)
Visual Servoing for the Dual-Arm Torso — precise intrinsic + extrinsic calibration for the 2D LiDAR. Captured/authored with 2D LiDAR in the loop and validated against real Dual-Arm Torso kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
6-DoF Arm Screw Driving LSTM Policy (PyTorch)
Screw Driving for the 6-DoF Arm — a trained Screw Driving policy network with reference loading code. Captured/authored with joint encoders in the loop and validated against real 6-DoF Arm kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Quadruped Drawer Manipulation Description (.xacro, 12-DoF)
Drawer Manipulation for the Quadruped — a complete kinematic description with inertias and joint limits. Captured/authored with joint encoders in the loop and validated against real Quadruped kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.