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.
MuJoCo simulation workcell for dual-arm deformable-linear-object routing: two Franka Panda arms on rails, a 120-segment DER cable, deterministic dynamic obstacles, and a force-instrumented elastic clip. Controller-agnostic.
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.
Electrical power engineering calculation (a functional programming design)
Code and data for the CCE 2026 wind-farm layout and cable-routing optimization paper
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