Open Source Contributions

I am an active open source contributor. See below for a highlight of the open source software I have developed or contributed to. Most of this software is available on my personal Github page or the Github organization for the Personal Robotics Lab at Carnegie Mellon University.

DART

I regularly contribute to the Dynamic Animation and Robotics Toolkit (DART), a library that provides data structures and algorithms for kinematic and dynamic applications in robotic and computer animation. I work closely with Michael Grey and Jeongseok Lee, the lead DART developers, to improve DART for motion planning and robotic manipulation. I am the author of DART's URI resource support and was involved in the design behind the Skeleton ownership semantic, MetaSkeleton concept, ShapeNode concept, and CollisionGroup implementation.

OpenRAVE Software

I have released several open source OpenRAVE plugins. Most of these plugins were developed in collaboration with my colleagues in the Personal Robotics Lab at Carnegie Mellon University:

Hardware Drivers

I have also released drivers for controlling robotics hardware. Much of this software was developed in collaboration with my colleagues in the Rutgers University IEEE Student Branch or the Personal Robotics Lab at Carnegie Mellon University: