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  1. portable-force-skill portable-force-skill Public

    Documentation for a frozen force-control skill that ports across position/velocity-commanded cobots via a locked interface contract. Validated on Kinova Gen3.

    1

  2. kinova-kinematics kinova-kinematics Public

    Forward kinematics library for Kinova Gen3 7-DOF arm. Classical DH convention, pure C++17/Eigen — no ROS or Kortex dependencies. Part of robotics capstone building toward visual servoing pick-and-p…

    C++

  3. admittance-controller admittance-controller Public

    ROS2 admittance controller for Kinova Gen3 7-DOF arm with external F/T sensor integration

    C++

  4. kinova-wrapper kinova-wrapper Public

    Production-grade C++ wrapper for the Kinova Gen3 7-DOF Kortex SDK. Thread-safe API for joint/Cartesian motion, velocity control, gripper commands, and F/T sensing. Mock/real SDK toggle, watchdog sa…

    C++

  5. mae-sensor-driver mae-sensor-driver Public

    ROS2 Python lifecycle driver for MAE SensuReal 6-axis F/T sensor — streams force/torque data via UDP and publishes WrenchStamped for real-time robot control

    Python

  6. surface-wipe surface-wipe Public

    Force-controlled surface wiping demo for Kinova Gen3 7-DOF. 4-state machine (APPROACH → WIPE → RETRACT) with PI force control maintaining 5N contact force during lateral zigzag trajectories. Brain/…

    C++