├── .flake8 ├── .github └── ISSUE_TEMPLATE │ ├── bug-performance-issue--custom-images-.md │ ├── bug-performance-issue--physical-robot-.md │ ├── bug-performance-issue--replication-.md │ ├── installation-issue.md │ └── other-issue.md ├── .gitignore ├── .style.yapf ├── .travis.yml ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cfg ├── examples │ ├── antipodal_grasp_sampling.yaml │ ├── fc_gqcnn_pj.yaml │ ├── fc_gqcnn_suction.yaml │ ├── gqcnn_pj.yaml │ ├── gqcnn_suction.yaml │ ├── replication │ │ ├── dex-net_2.0.yaml │ │ ├── dex-net_2.1.yaml │ │ ├── dex-net_3.0.yaml │ │ ├── dex-net_4.0_fc_pj.yaml │ │ ├── dex-net_4.0_fc_suction.yaml │ │ ├── dex-net_4.0_pj.yaml │ │ └── dex-net_4.0_suction.yaml │ └── ros │ │ ├── fc_gqcnn_pj.yaml │ │ ├── fc_gqcnn_suction.yaml │ │ ├── gqcnn_pj.yaml │ │ └── gqcnn_suction.yaml ├── finetune.yaml ├── finetune_dex-net_4.0_pj.yaml ├── finetune_dex-net_4.0_suction.yaml ├── finetune_example_pj.yaml ├── finetune_example_suction.yaml ├── hyperparam_search │ ├── train_dex-net_4.0_fc_suction_hyperparam_search.yaml │ └── train_hyperparam_search.yaml ├── tools │ ├── analyze_gqcnn_performance.yaml │ └── run_policy.yaml ├── train.yaml ├── train_dex-net_2.0.yaml ├── train_dex-net_3.0.yaml ├── train_dex-net_4.0_fc_pj.yaml ├── train_dex-net_4.0_fc_suction.yaml ├── train_dex-net_4.0_pj.yaml ├── train_dex-net_4.0_suction.yaml ├── train_example_pj.yaml ├── train_example_suction.yaml └── train_fc.yaml ├── ci └── travis │ └── format.sh ├── data ├── calib │ ├── phoxi │ │ ├── phoxi.intr │ │ └── phoxi_to_world.tf │ └── primesense │ │ ├── primesense.intr │ │ └── primesense.tf ├── examples │ ├── clutter │ │ ├── phoxi │ │ │ ├── dex-net_4.0 │ │ │ │ ├── color_0.png │ │ │ │ ├── color_1.png │ │ │ │ ├── color_2.png │ │ │ │ ├── color_3.png │ │ │ │ ├── color_4.png │ │ │ │ ├── depth_0.npy │ │ │ │ ├── depth_1.npy │ │ │ │ ├── depth_2.npy │ │ │ │ ├── depth_3.npy │ │ │ │ ├── depth_4.npy │ │ │ │ ├── segmask_0.png │ │ │ │ ├── segmask_1.png │ │ │ │ ├── segmask_2.png │ │ │ │ ├── segmask_3.png │ │ │ │ └── segmask_4.png │ │ │ └── fcgqcnn │ │ │ │ ├── color_0.png │ │ │ │ ├── color_1.png │ │ │ │ ├── color_2.png │ │ │ │ ├── color_3.png │ │ │ │ ├── color_4.png │ │ │ │ ├── depth_0.npy │ │ │ │ ├── depth_1.npy │ │ │ │ ├── depth_2.npy │ │ │ │ ├── depth_3.npy │ │ │ │ ├── depth_4.npy │ │ │ │ ├── segmask_0.png │ │ │ │ ├── segmask_1.png │ │ │ │ ├── segmask_2.png │ │ │ │ ├── segmask_3.png │ │ │ │ └── segmask_4.png │ │ └── primesense │ │ │ ├── color_0.png │ │ │ ├── color_1.png │ │ │ ├── color_2.png │ │ │ ├── color_3.png │ │ │ ├── color_4.png │ │ │ ├── depth_0.npy │ │ │ ├── depth_1.npy │ │ │ ├── depth_2.npy │ │ │ ├── depth_3.npy │ │ │ ├── depth_4.npy │ │ │ ├── segmask_0.png │ │ │ ├── segmask_1.png │ │ │ ├── segmask_2.png │ │ │ ├── segmask_3.png │ │ │ └── segmask_4.png │ └── single_object │ │ └── primesense │ │ ├── color_0.png │ │ ├── color_1.png │ │ ├── color_2.png │ │ ├── color_3.png │ │ ├── color_4.png │ │ ├── color_5.png │ │ ├── color_6.png │ │ ├── color_7.png │ │ ├── color_8.png │ │ ├── color_9.png │ │ ├── depth_0.npy │ │ ├── depth_1.npy │ │ ├── depth_2.npy │ │ ├── depth_3.npy │ │ ├── depth_4.npy │ │ ├── depth_5.npy │ │ ├── depth_6.npy │ │ ├── depth_7.npy │ │ ├── depth_8.npy │ │ ├── depth_9.npy │ │ ├── segmask_0.png │ │ ├── segmask_1.png │ │ ├── segmask_2.png │ │ ├── segmask_3.png │ │ ├── segmask_4.png │ │ ├── segmask_5.png │ │ ├── segmask_6.png │ │ ├── segmask_7.png │ │ ├── segmask_8.png │ │ └── segmask_9.png └── training │ └── README.md ├── docker ├── cpu │ └── Dockerfile └── gpu │ └── Dockerfile ├── docs ├── Makefile ├── gh_deploy.sh ├── make.bat └── source │ ├── api │ ├── analysis.rst │ ├── gqcnn.rst │ ├── policies.rst │ └── training.rst │ ├── benchmarks │ └── benchmarks.rst │ ├── conf.py │ ├── images │ ├── cem.png │ ├── dataset_tensorboard_output.png │ ├── dexnet_benchmark.png │ ├── fcgqcnn_arch_diagram.png │ ├── gqcnn.png │ ├── gqcnn_leaderboard.png │ ├── plots │ │ ├── pj_error_rate.png │ │ ├── pj_roc.png │ │ ├── suction_error_rate.png │ │ └── suction_roc.png │ ├── policy_final_grasp.png │ ├── sample_grasp.png │ └── tensorboard.png │ ├── index.rst │ ├── info │ └── info.rst │ ├── install │ └── install.rst │ ├── license │ └── license.rst │ ├── replication │ └── replication.rst │ └── tutorials │ ├── analysis.rst │ ├── planning.rst │ ├── training.rst │ └── tutorial.rst ├── examples ├── antipodal_grasp_sampling.py ├── policy.py ├── policy_ros.py └── policy_with_image_proc.py ├── gqcnn ├── __init__.py ├── analysis │ ├── __init__.py │ └── analyzer.py ├── grasping │ ├── __init__.py │ ├── actions.py │ ├── constraint_fn.py │ ├── grasp.py │ ├── grasp_quality_function.py │ ├── image_grasp_sampler.py │ └── policy │ │ ├── __init__.py │ │ ├── enums.py │ │ ├── fc_policy.py │ │ └── policy.py ├── model │ ├── __init__.py │ └── tf │ │ ├── __init__.py │ │ ├── fc_network_tf.py │ │ └── network_tf.py ├── search │ ├── __init__.py │ ├── enums.py │ ├── resource_manager.py │ ├── search.py │ ├── trial.py │ └── utils.py ├── training │ ├── __init__.py │ └── tf │ │ ├── __init__.py │ │ └── trainer_tf.py ├── utils │ ├── __init__.py │ ├── enums.py │ ├── policy_exceptions.py │ ├── train_stats_logger.py │ └── utils.py └── version.py ├── launch └── grasp_planning_service.launch ├── msg ├── Action.msg ├── BoundingBox.msg ├── GQCNNGrasp.msg └── Observation.msg ├── package.xml ├── post-checkout ├── requirements ├── cpu_requirements.txt ├── docs_requirements.txt └── gpu_requirements.txt ├── ros_nodes └── grasp_planner_node.py ├── scripts ├── docker │ └── build-docker.sh ├── downloads │ ├── datasets │ │ ├── download_dex-net_2.0.sh │ │ ├── download_dex-net_2.1.sh │ │ ├── download_dex-net_3.0.sh │ │ ├── download_dex-net_4.0_fc_pj.sh │ │ ├── download_dex-net_4.0_fc_suction.sh │ │ ├── download_dex-net_4.0_pj.sh │ │ ├── download_dex-net_4.0_suction.sh │ │ └── download_example_datasets.sh │ ├── download_example_data.sh │ └── models │ │ └── download_models.sh ├── policies │ ├── run_all_dex-net_2.0_examples.sh │ ├── run_all_dex-net_2.1_examples.sh │ ├── run_all_dex-net_3.0_examples.sh │ ├── run_all_dex-net_4.0_fc_pj_examples.sh │ ├── run_all_dex-net_4.0_fc_suction_examples.sh │ ├── run_all_dex-net_4.0_pj_examples.sh │ └── run_all_dex-net_4.0_suction_examples.sh └── training │ ├── train_dex-net_2.0.sh │ ├── train_dex-net_2.1.sh │ ├── train_dex-net_3.0.sh │ ├── train_dex-net_4.0_fc_pj.sh │ ├── train_dex-net_4.0_fc_suction.sh │ ├── train_dex-net_4.0_pj.sh │ └── train_dex-net_4.0_suction.sh ├── setup.py ├── srv ├── GQCNNGraspPlanner.srv ├── GQCNNGraspPlannerBoundingBox.srv ├── GQCNNGraspPlannerFull.srv └── GQCNNGraspPlannerSegmask.srv └── tools ├── analyze_gqcnn_performance.py ├── finetune.py ├── hyperparam_search.py ├── plot_training_losses.py ├── run_policy.py └── train.py /.flake8: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/BerkeleyAutomation/gqcnn/HEAD/.flake8 -------------------------------------------------------------------------------- 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