├── .gitignore ├── .vscode └── settings.json ├── AXXB ├── AXXB.py ├── __init__.py └── utils.py ├── README.md ├── README.md.bak ├── RobotEnvironment ├── Servoj_RTDE_UR5 │ ├── README.md │ ├── __init__.py │ ├── control_loop_configuration.xml │ ├── min_jerk_planner_translation.py │ ├── min_jerk_servoj.py │ ├── polyscope │ │ ├── translation_sample_servoj.txt │ │ └── translation_sample_servoj.urp │ ├── rtde │ │ ├── __init__.py │ │ ├── csv_binary_writer.py │ │ ├── csv_reader.py │ │ ├── csv_writer.py │ │ ├── rtde.py │ │ ├── rtde_config.py │ │ └── serialize.py │ ├── simplified_servoj.py │ ├── sv.py │ ├── sv_to1p.py │ └── sv_tonp.py ├── __init__.py ├── auto_callibration ├── auto_callibration.py ├── calculate_intrinsics.py ├── camera_manager.py ├── classes_proj1.png ├── debug_decorators.py ├── five_body.py ├── gripper.py ├── gripper_state ├── motor_controller.py ├── packages_proj1.png ├── realsense_camera.py ├── registered_camera.csv ├── robotEnv.py ├── robot_environment.py ├── solar_system_2years.gif ├── solar_system_2years.mp4 ├── ur5_robot.py └── visualizer.py ├── Servoj_RTDE_UR5 ├── README.md ├── __init__.py ├── control_loop_configuration.xml ├── min_jerk_planner_translation.py ├── min_jerk_servoj.py ├── polyscope │ ├── translation_sample_servoj.txt │ └── translation_sample_servoj.urp ├── rtde │ ├── __init__.py │ ├── csv_binary_writer.py │ ├── csv_reader.py │ ├── csv_writer.py │ ├── rtde.py │ ├── rtde_config.py │ └── serialize.py ├── simplified_servoj.py ├── sv.py ├── sv_to1p.py └── sv_tonp.py ├── UML_classes.md ├── UML_decorators.md ├── callibrate_eye_to_hand.py ├── callibration └── get_intrinsics.py ├── callibration_shoot.py ├── chessboard_27mm ├── Camera_Calibration_Distort.py ├── LICENSE ├── README.md ├── 棋盘格27_27.dwg ├── 棋盘格27_27.pdf └── 棋盘格9by9_竖向.pdf ├── configs ├── camera.yaml ├── config.yaml ├── og_scene_file_pen.json ├── readme.md └── sam2 │ ├── sam2.1_hiera_s.yaml │ ├── sam2_hiera_b+.yaml │ └── sam2_hiera_s.yaml ├── d435i ├── c.py ├── camera_shot │ ├── color_shot_0.png │ ├── color_shot_0_cube.png │ ├── color_shot_1.png │ ├── depth_colormap_0.png │ ├── depth_colormap_1.png │ ├── depth_frame_0.png │ ├── depth_frame_1.png │ ├── left_shot_0.png │ ├── left_shot_1.png │ ├── right_shot_0.png │ └── right_shot_1.png └── t.py ├── direction_tip.py ├── docker ├── MUJOCO_LOG.TXT ├── NV.sh ├── mj_test.py └── run_docker.sh ├── docs ├── pretrain.md └── test_6drot.py ├── draw ├── 6d_pose_img.png ├── draw.py ├── metadata.json └── metadata_final_notInput.json ├── full_routine.py ├── genesis ├── ur5_env_test.py └── ur_description │ ├── meshes │ ├── robotiq_85_gripper │ │ ├── collision │ │ │ ├── robotiq_85_base_link.stl │ │ │ ├── robotiq_85_finger_link.stl │ │ │ ├── robotiq_85_finger_tip_link.stl │ │ │ ├── robotiq_85_inner_knuckle_link.stl │ │ │ └── robotiq_85_knuckle_link.stl │ │ ├── objects │ │ │ ├── 826a4530bc6832c437d43e094da89ace.mtl │ │ │ ├── 826a4530bc6832c437d43e094da89ace.obj │ │ │ ├── 828d1b43814fc98c93b89bfd41acaad0.mtl │ │ │ ├── 828d1b43814fc98c93b89bfd41acaad0.obj │ │ │ ├── AntipodalSampler.py │ │ │ └── trimesh_test.py │ │ └── visual │ │ │ ├── robotiq_85_base_link.dae │ │ │ ├── robotiq_85_finger_link.dae │ │ │ ├── robotiq_85_finger_tip_link.dae │ │ │ ├── robotiq_85_inner_knuckle_link.dae │ │ │ └── robotiq_85_knuckle_link.dae │ ├── ur10 │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ ├── ur10e │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ ├── ur3 │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ ├── ur3e │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ ├── ur5 │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ └── ur5e │ │ ├── collision │ │ ├── base.stl │ │ ├── forearm.stl │ │ ├── shoulder.stl │ │ ├── upperarm.stl │ │ ├── wrist1.stl │ │ ├── wrist2.stl │ │ └── wrist3.stl │ │ └── visual │ │ ├── base.dae │ │ ├── forearm.dae │ │ ├── shoulder.dae │ │ ├── upperarm.dae │ │ ├── wrist1.dae │ │ ├── wrist2.dae │ │ └── wrist3.dae │ ├── meta-information.json │ └── urdf │ ├── ur10.urdf │ ├── ur3.urdf │ ├── ur5.urdf │ ├── ur5e.urdf │ └── ur5e_with_gripper.urdf ├── get_world2robot_homo.py ├── gripper_state ├── images └── kinova.jpg ├── initial_file ├── journals ├── 2025_01_07.md ├── 2025_01_16.md └── 2025_01_23.md ├── kinova.py ├── main.py ├── main_vision.py ├── main_vision_6d.py ├── out ├── UML │ └── UML.png ├── UML_classes │ └── UML_classes.png └── UML_decorators │ └── UML_decorators.png ├── outputs ├── action.json ├── next_paths_2025-3-4-15-56-59 ├── next_paths_2025-3-4-19-38-50 ├── next_paths_2025-3-4-19-46-39 ├── next_paths_2025-3-4-19-47-43 ├── next_subgoals_2025-3-4-15-56-59 ├── next_subgoals_2025-3-4-19-38-50 ├── next_subgoals_2025-3-4-19-46-39 └── next_subgoals_2025-3-4-19-47-43 ├── photo.py ├── point-draw ├── franka+kitchen │ ├── 1_marked.jpg │ ├── 2_marked.jpg │ ├── 3_marked.jpg │ ├── 4_marked.jpg │ ├── 5_marked.jpg │ ├── 6_marked.jpg │ └── 7_marked.jpg └── pen_marked.png ├── r2d2.py ├── r2d2.sh ├── r2d2_rekep.py ├── r2d2_vision.py ├── readme-pal.md ├── rekep ├── __init__.py ├── agent │ ├── __init__.py │ ├── actor │ │ ├── __init__.py │ │ ├── grasp_actor.py │ │ └── pose_actor.py │ ├── base.py │ ├── critic │ │ ├── __init__.py │ │ ├── pose_critic.py │ │ └── semantic_critic.py │ └── multimodal_incontext_agent.py ├── constraint_generation.py ├── constraint_generation_6d.py ├── environment.py ├── ik_solver copy.py ├── ik_solver.py ├── ik_solver_ur5.py ├── iksolver_xjc.py ├── keypoint_proposal.py ├── og_utils.py ├── path_solver.py ├── perception │ ├── __init__.py │ ├── base.py │ ├── depth_pro.py │ ├── dinov2.py │ ├── fusion.py │ ├── gdino.py │ ├── realsense.py │ ├── sam2.py │ └── zed2.py ├── subgoal_solver.py ├── transform_utils.py ├── transformations.py ├── utils.py └── visualizer.py ├── rekep_main.py ├── rekep运行流程.txt ├── require_info.md ├── requirements.txt ├── robotEnv.py ├── robot_state copy 2.json ├── robot_state copy.json ├── robot_state.json ├── robot_state.json.1 ├── robot_state.json.2 ├── ros_calli_catkin_ws └── src │ └── easy_handeye │ ├── .clang-format │ ├── .gitignore │ ├── LICENSE.md │ ├── README.md │ ├── docs │ ├── example_launch │ │ ├── iiwa_kinect_xtion_calibration.launch │ │ ├── iiwa_stack_config.rviz │ │ ├── panda_realsense_eyeonbase.launch │ │ ├── ur5_k4a_calibration.launch │ │ ├── ur5_kinect_calibration.launch │ │ └── ur5e_realsense_calibration.launch │ ├── img │ │ ├── 00_cannot_calibrate_movements.png │ │ ├── 00_cannot_calibrate_rviz.png │ │ ├── 01_start_movements.png │ │ ├── 01_start_rviz.png │ │ ├── 01_start_sample.png │ │ ├── 02_plan_movements.png │ │ ├── 02_sample_sample.png │ │ ├── 03_executed_movements.png │ │ ├── 03_executed_sample.png │ │ ├── 04_plan_show.png │ │ ├── 05_calibrated_movements.png │ │ ├── 05_calibrated_rviz.png │ │ ├── eye_on_base_aruco_pic.png │ │ ├── eye_on_base_ndi_pic.png │ │ └── eye_on_hand_aruco_pic.png │ └── troubleshooting.md │ ├── easy_handeye │ ├── CMakeLists.txt │ ├── README.md │ ├── launch │ │ ├── calibrate.launch │ │ ├── publish.launch │ │ ├── rqt_easy_handeye.perspective │ │ └── rviz_easy_handeye.config │ ├── package.xml │ ├── scripts │ │ ├── calibrate.py │ │ ├── handeye_calibration_commander.py │ │ ├── publish.py │ │ └── robot.py │ ├── setup.py │ └── src │ │ └── easy_handeye │ │ ├── .gitignore │ │ ├── __init__.py │ │ ├── handeye_calibration.py │ │ ├── handeye_calibration_backend_opencv.py │ │ ├── handeye_client.py │ │ ├── handeye_robot.py │ │ ├── handeye_sampler.py │ │ ├── handeye_server.py │ │ └── handeye_server_robot.py │ ├── easy_handeye_msgs │ ├── CMakeLists.txt │ ├── msg │ │ ├── HandeyeCalibration.msg │ │ ├── SampleList.msg │ │ └── TargetPoseList.msg │ ├── package.xml │ └── srv │ │ ├── calibration │ │ ├── ComputeCalibration.srv │ │ ├── ListAlgorithms.srv │ │ ├── RemoveSample.srv │ │ ├── SetAlgorithm.srv │ │ └── TakeSample.srv │ │ └── robot_movements │ │ ├── CheckStartingPose.srv │ │ ├── EnumerateTargetPoses.srv │ │ ├── ExecutePlan.srv │ │ ├── PlanToSelectedTargetPose.srv │ │ └── SelectTargetPose.srv │ └── rqt_easy_handeye │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ ├── plugin.xml │ ├── resource │ ├── rqt_handeye.ui │ ├── rqt_handeye_evaluator.ui │ └── rqt_handeye_info.ui │ ├── scripts │ ├── rqt_calibration_evaluator │ ├── rqt_calibrationmovements │ └── rqt_easy_handeye │ ├── setup.py │ └── src │ └── rqt_easy_handeye │ ├── .gitignore │ ├── __init__.py │ ├── rqt_calibration_evaluator.py │ ├── rqt_calibrationmovements.py │ └── rqt_easy_handeye.py ├── rtde-2.7.2-release.zip ├── sam2model └── sam2.1_hiera_b+.yaml ├── test ├── generate_mask.py ├── hellozed.py ├── point-draw.py ├── rekep-gpt4o.py ├── sam2_test.py ├── test_constraint_gen.py └── vis_saved_realsense.py ├── test_calibration.py ├── tool ├── shownpy.py └── syspath.py ├── vision.sh ├── visualize_actions.py ├── vlm_query └── prompt_template.txt ├── warmup.py ├── xlp_biaoding ├── camera.py ├── format_transformation.py ├── matrix_world2robot ├── r2c_bf.txt ├── robot2cameraMartix.txt ├── rotation_matrix.py └── test_calibration.py └── 标定流程.txt /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElementForever2022/ReKepUR5_from_kinova/HEAD/.gitignore -------------------------------------------------------------------------------- /.vscode/settings.json: -------------------------------------------------------------------------------- 1 | { 2 | "ros.distro": "humble" 3 | } -------------------------------------------------------------------------------- /AXXB/AXXB.py: -------------------------------------------------------------------------------- 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