├── .gitignore ├── .gitmodules ├── Dockerfile ├── LICENSE ├── README.md ├── docker-run.sh ├── docs ├── .doctrees │ ├── environment.pickle │ ├── index.doctree │ └── src │ │ ├── 01_common │ │ ├── 01_common.doctree │ │ ├── hma_common │ │ │ ├── hma_common.doctree │ │ │ ├── hma_common_action │ │ │ │ └── index.doctree │ │ │ └── hma_common_pkg │ │ │ │ ├── get_pose_node.doctree │ │ │ │ ├── grasp_pose_estimation_server.doctree │ │ │ │ ├── index.doctree │ │ │ │ ├── mapping_object_server.doctree │ │ │ │ ├── modules.doctree │ │ │ │ └── publish_obstacles_node.doctree │ │ ├── hma_ii_pkg │ │ │ ├── common_import.doctree │ │ │ ├── index.doctree │ │ │ ├── modules.doctree │ │ │ └── ros_import.doctree │ │ ├── hma_lib_pkg │ │ │ ├── index.doctree │ │ │ ├── libaction.doctree │ │ │ ├── libopencv.doctree │ │ │ ├── libpub.doctree │ │ │ ├── libtf.doctree │ │ │ ├── libutil.doctree │ │ │ └── modules.doctree │ │ └── hma_yolact │ │ │ ├── hma_yolact.doctree │ │ │ ├── hma_yolact_action │ │ │ └── index.doctree │ │ │ ├── hma_yolact_msgs │ │ │ └── index.doctree │ │ │ └── hma_yolact_pkg │ │ │ ├── index.doctree │ │ │ ├── libyolact.doctree │ │ │ ├── modules.doctree │ │ │ └── yolact_server.doctree │ │ └── 02_sim_robot │ │ ├── 02_sim_robot.doctree │ │ ├── hma_hsr_msgs │ │ └── index.doctree │ │ ├── hma_hsr_nav │ │ ├── hma_hsr_nav.doctree │ │ ├── hma_hsr_nav_action │ │ │ └── index.doctree │ │ └── hma_hsr_nav_pkg │ │ │ ├── hsr_nav_import.doctree │ │ │ ├── index.doctree │ │ │ ├── libhsrnav.doctree │ │ │ ├── manage_cmd_vel_node.doctree │ │ │ ├── modules.doctree │ │ │ ├── motion_synthesis_server.doctree │ │ │ ├── omni_path_follow_server.doctree │ │ │ └── publish_global_pose_node.doctree │ │ ├── hma_hsr_sim_lib_pkg │ │ ├── index.doctree │ │ ├── libhsraction.doctree │ │ ├── libhsrmoveit.doctree │ │ ├── libhsrpub.doctree │ │ ├── libhsrsub.doctree │ │ ├── libhsrutil.doctree │ │ └── modules.doctree │ │ ├── hma_hsr_sim_pkg │ │ ├── index.doctree │ │ ├── manage_task_time_node.doctree │ │ ├── modules.doctree │ │ ├── prepare_task_node.doctree │ │ └── teleop_node.doctree │ │ └── tasks │ │ ├── hma_hsr_cu_pkg │ │ ├── estimate_orientation_node.doctree │ │ ├── index.doctree │ │ ├── modules.doctree │ │ ├── sm_cu_node.doctree │ │ └── sm_main.doctree │ │ ├── hma_hsr_gg_pkg │ │ ├── detect_drivable_area_server.doctree │ │ ├── index.doctree │ │ ├── modules.doctree │ │ ├── sm_gg_node.doctree │ │ └── sm_main.doctree │ │ ├── hma_sm_pkg │ │ ├── index.doctree │ │ ├── libsm.doctree │ │ └── modules.doctree │ │ └── tasks.doctree ├── .nojekyll ├── _sources │ ├── index.rst.txt │ └── src │ │ ├── 01_common │ │ ├── 01_common.rst.txt │ │ ├── hma_common │ │ │ ├── hma_common.rst.txt │ │ │ ├── hma_common_action │ │ │ │ └── index.rst.txt │ │ │ └── hma_common_pkg │ │ │ │ ├── get_pose_node.rst.txt │ │ │ │ ├── grasp_pose_estimation_server.rst.txt │ │ │ │ ├── index.rst.txt │ │ │ │ ├── mapping_object_server.rst.txt │ │ │ │ ├── modules.rst.txt │ │ │ │ └── publish_obstacles_node.rst.txt │ │ ├── hma_ii_pkg │ │ │ ├── common_import.rst.txt │ │ │ ├── index.rst.txt │ │ │ ├── modules.rst.txt │ │ │ └── ros_import.rst.txt │ │ ├── hma_lib_pkg │ │ │ ├── index.rst.txt │ │ │ ├── libaction.rst.txt │ │ │ ├── libopencv.rst.txt │ │ │ ├── libpub.rst.txt │ │ │ ├── libtf.rst.txt │ │ │ ├── libutil.rst.txt │ │ │ └── modules.rst.txt │ │ └── hma_yolact │ │ │ ├── hma_yolact.rst.txt │ │ │ ├── hma_yolact_action │ │ │ └── index.rst.txt │ │ │ ├── hma_yolact_msgs │ │ │ └── index.rst.txt │ │ │ └── hma_yolact_pkg │ │ │ ├── index.rst.txt │ │ │ ├── libyolact.rst.txt │ │ │ ├── modules.rst.txt │ │ │ └── yolact_server.rst.txt │ │ └── 02_sim_robot │ │ ├── 02_sim_robot.rst.txt │ │ ├── hma_hsr_msgs │ │ └── index.rst.txt │ │ ├── hma_hsr_nav │ │ ├── hma_hsr_nav.rst.txt │ │ ├── hma_hsr_nav_action │ │ │ └── index.rst.txt │ │ └── hma_hsr_nav_pkg │ │ │ ├── hsr_nav_import.rst.txt │ │ │ ├── index.rst.txt │ │ │ ├── libhsrnav.rst.txt │ │ │ ├── manage_cmd_vel_node.rst.txt │ │ │ ├── modules.rst.txt │ │ │ ├── motion_synthesis_server.rst.txt │ │ │ ├── omni_path_follow_server.rst.txt │ │ │ └── publish_global_pose_node.rst.txt │ │ ├── hma_hsr_sim_lib_pkg │ │ ├── index.rst.txt │ │ ├── libhsraction.rst.txt │ │ ├── libhsrmoveit.rst.txt │ │ ├── libhsrpub.rst.txt │ │ ├── libhsrsub.rst.txt │ │ ├── libhsrutil.rst.txt │ │ └── modules.rst.txt │ │ ├── hma_hsr_sim_pkg │ │ ├── index.rst.txt │ │ ├── manage_task_time_node.rst.txt │ │ ├── modules.rst.txt │ │ ├── prepare_task_node.rst.txt │ │ └── teleop_node.rst.txt │ │ └── tasks │ │ ├── hma_hsr_cu_pkg │ │ ├── estimate_orientation_node.rst.txt │ │ ├── index.rst.txt │ │ ├── modules.rst.txt │ │ ├── sm_cu_node.rst.txt │ │ └── sm_main.rst.txt │ │ ├── hma_hsr_gg_pkg │ │ ├── detect_drivable_area_server.rst.txt │ │ ├── index.rst.txt │ │ ├── modules.rst.txt │ │ ├── sm_gg_node.rst.txt │ │ └── sm_main.rst.txt │ │ ├── hma_sm_pkg │ │ ├── index.rst.txt │ │ ├── libsm.rst.txt │ │ └── modules.rst.txt │ │ └── tasks.rst.txt ├── _static │ ├── basic.css │ ├── css │ │ ├── badge_only.css │ │ ├── fonts │ │ │ ├── Roboto-Slab-Bold.woff │ │ │ ├── Roboto-Slab-Bold.woff2 │ │ │ ├── Roboto-Slab-Regular.woff │ │ │ ├── Roboto-Slab-Regular.woff2 │ │ │ ├── fontawesome-webfont.eot │ │ │ ├── fontawesome-webfont.svg │ │ │ ├── fontawesome-webfont.ttf │ │ │ ├── fontawesome-webfont.woff │ │ │ ├── fontawesome-webfont.woff2 │ │ │ ├── lato-bold-italic.woff │ │ │ ├── lato-bold-italic.woff2 │ │ │ ├── lato-bold.woff │ │ │ ├── lato-bold.woff2 │ │ │ ├── lato-normal-italic.woff │ │ │ ├── lato-normal-italic.woff2 │ │ │ ├── lato-normal.woff │ │ │ └── lato-normal.woff2 │ │ └── theme.css │ ├── doctools.js │ ├── documentation_options.js │ ├── file.png │ ├── jquery-3.5.1.js │ ├── jquery.js │ ├── js │ │ ├── badge_only.js │ │ ├── html5shiv-printshiv.min.js │ │ ├── html5shiv.min.js │ │ └── theme.js │ ├── language_data.js │ ├── minus.png │ ├── plus.png │ ├── pygments.css │ ├── searchtools.js │ ├── underscore-1.13.1.js │ └── underscore.js ├── genindex.html ├── index.html ├── objects.inv ├── py-modindex.html ├── search.html ├── searchindex.js └── src │ ├── 01_common │ ├── 01_common.html │ ├── hma_common │ │ ├── hma_common.html │ │ ├── hma_common_action │ │ │ ├── action │ │ │ │ ├── GraspPoseEstimation.html │ │ │ │ └── MappingObject.html │ │ │ ├── index.html │ │ │ └── msg-styles.css │ │ └── hma_common_pkg │ │ │ ├── get_pose_node.html │ │ │ ├── grasp_pose_estimation_server.html │ │ │ ├── index.html │ │ │ ├── mapping_object_server.html │ │ │ ├── modules.html │ │ │ └── publish_obstacles_node.html │ ├── hma_ii_pkg │ │ ├── common_import.html │ │ ├── index.html │ │ ├── modules.html │ │ └── ros_import.html │ ├── hma_lib_pkg │ │ ├── index.html │ │ ├── libaction.html │ │ ├── libopencv.html │ │ ├── libpub.html │ │ ├── libtf.html │ │ ├── libutil.html │ │ └── modules.html │ └── hma_yolact │ │ ├── hma_yolact.html │ │ ├── hma_yolact_action │ │ ├── action │ │ │ └── Yolact.html │ │ ├── index.html │ │ └── msg-styles.css │ │ ├── hma_yolact_msgs │ │ ├── index.html │ │ ├── msg-styles.css │ │ └── msg │ │ │ ├── YolactWithPose.html │ │ │ └── YolactWithoutPose.html │ │ └── hma_yolact_pkg │ │ ├── index.html │ │ ├── libyolact.html │ │ ├── modules.html │ │ └── yolact_server.html │ └── 02_sim_robot │ ├── 02_sim_robot.html │ ├── hma_hsr_msgs │ ├── index.html │ ├── msg-styles.css │ └── msg │ │ ├── Effort.html │ │ └── HSRJoints.html │ ├── hma_hsr_nav │ ├── hma_hsr_nav.html │ ├── hma_hsr_nav_action │ │ ├── action │ │ │ ├── MotionSynthesis.html │ │ │ └── OmniPathFollower.html │ │ ├── index.html │ │ └── msg-styles.css │ └── hma_hsr_nav_pkg │ │ ├── hsr_nav_import.html │ │ ├── index.html │ │ ├── libhsrnav.html │ │ ├── manage_cmd_vel_node.html │ │ ├── modules.html │ │ ├── motion_synthesis_server.html │ │ ├── omni_path_follow_server.html │ │ └── publish_global_pose_node.html │ ├── hma_hsr_sim_lib_pkg │ ├── index.html │ ├── libhsraction.html │ ├── libhsrmoveit.html │ ├── libhsrpub.html │ ├── libhsrsub.html │ ├── libhsrutil.html │ └── modules.html │ ├── hma_hsr_sim_pkg │ ├── index.html │ ├── manage_task_time_node.html │ ├── modules.html │ ├── prepare_task_node.html │ └── teleop_node.html │ └── tasks │ ├── hma_hsr_cu_pkg │ ├── estimate_orientation_node.html │ ├── index.html │ ├── modules.html │ ├── sm_cu_node.html │ └── sm_main.html │ ├── hma_hsr_gg_pkg │ ├── action │ │ └── DetectDrivableArea.html │ ├── detect_drivable_area_server.html │ ├── index.html │ ├── modules.html │ ├── msg-styles.css │ ├── sm_gg_node.html │ └── sm_main.html │ ├── hma_sm_pkg │ ├── index.html │ ├── libsm.html │ └── modules.html │ └── tasks.html ├── get-weights.sh ├── resources ├── logo.png ├── mapping.png └── yolact.gif ├── scripts ├── exec_all.sh └── exec_all_debug.sh ├── source.sh └── src ├── 01_common ├── README.md ├── hma_common │ ├── README.md │ ├── hma_common_action │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── action │ │ │ ├── .gitkeep │ │ │ ├── GraspPoseEstimation.action │ │ │ └── MappingObject.action │ │ ├── package.xml │ │ └── rosdoc.yaml │ └── hma_common_pkg │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── docs │ │ ├── get_pose_node.md │ │ ├── grasp_pose_estimation_server.md │ │ ├── mapping_object_server.md │ │ ├── publish_obstacles_node.md │ │ └── resources │ │ │ └── mapping_object.jpg │ │ ├── include │ │ ├── .gitkeep │ │ └── hma_common_pkg │ │ │ └── .gitkeep │ │ ├── io │ │ ├── .gitkeep │ │ ├── map │ │ │ ├── map.pgm │ │ │ └── map.yaml │ │ └── mapping_area │ │ │ └── area.json │ │ ├── launch │ │ └── .gitkeep │ │ ├── package.xml │ │ ├── rosdoc.yaml │ │ ├── rviz │ │ └── .gitkeep │ │ ├── script │ │ ├── .gitkeep │ │ └── src │ │ │ ├── .gitkeep │ │ │ ├── get_pose_node.py │ │ │ ├── grasp_pose_estimation_server.py │ │ │ ├── mapping_object_server.py │ │ │ └── publish_obstacles_node.py │ │ └── src │ │ └── .gitkeep ├── hma_ii_pkg │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ ├── rosdoc.yaml │ └── script │ │ └── import │ │ ├── common_import.py │ │ └── ros_import.py ├── hma_lib_pkg │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ ├── .gitkeep │ │ └── hma_lib_pkg │ │ │ └── .gitkeep │ ├── launch │ │ └── .gitkeep │ ├── package.xml │ ├── rosdoc.yaml │ ├── rviz │ │ └── .gitkeep │ ├── script │ │ ├── .gitkeep │ │ └── src │ │ │ ├── .gitkeep │ │ │ └── lib │ │ │ ├── .gitkeep │ │ │ ├── libaction.py │ │ │ ├── libopencv.py │ │ │ ├── libpub.py │ │ │ ├── libtf.py │ │ │ └── libutil.py │ └── src │ │ └── .gitkeep └── hma_yolact │ ├── README.md │ ├── hma_yolact_action │ ├── CMakeLists.txt │ ├── README.md │ ├── action │ │ └── Yolact.action │ ├── package.xml │ └── rosdoc.yaml │ ├── hma_yolact_msgs │ ├── CMakeLists.txt │ ├── README.md │ ├── msg │ │ ├── .gitkeep │ │ ├── YolactWithPose.msg │ │ └── YolactWithoutPose.msg │ ├── package.xml │ └── rosdoc.yaml │ └── hma_yolact_pkg │ ├── CMakeLists.txt │ ├── README.md │ ├── docs │ ├── resources │ │ └── yolact.gif │ └── yolact_server.md │ ├── io │ └── ycb_object_config.yaml │ ├── launch │ └── yolact_server.launch │ ├── package.xml │ ├── rosdoc.yaml │ ├── rviz │ ├── real.rviz │ ├── sim.rviz │ └── test.rviz │ └── script │ └── src │ ├── hma_yolact_edge │ ├── data │ │ └── hma_config.py │ ├── hma_eval.py │ └── hma_yolact.py │ ├── lib │ └── libyolact.py │ └── yolact_server.py ├── 02_sim_robot ├── README.md ├── hma_hsr_msgs │ ├── CMakeLists.txt │ ├── README.md │ ├── msg │ │ ├── Effort.msg │ │ └── HSRJoints.msg │ ├── package.xml │ └── rosdoc.yaml ├── hma_hsr_nav │ ├── README.md │ ├── hma_hsr_nav_action │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── action │ │ │ ├── MotionSynthesis.action │ │ │ └── OmniPathFollower.action │ │ ├── package.xml │ │ └── rosdoc.yaml │ └── hma_hsr_nav_pkg │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── docs │ │ ├── manage_cmd_vel_node.md │ │ ├── motion_synthesis_server.md │ │ ├── omni_path_follow_server.md │ │ ├── publish_global_pose_node.md │ │ └── resources │ │ │ └── motion_synthesis.jpg │ │ ├── io │ │ └── configs │ │ │ ├── costmap_common.yaml │ │ │ ├── costmap_global.yaml │ │ │ ├── costmap_local.yaml │ │ │ ├── move_base.yaml │ │ │ └── omni_path_follower_config.yaml │ │ ├── launch │ │ └── include │ │ │ ├── move_base.launch.xml │ │ │ └── omni_path_follower.launch │ │ ├── package.xml │ │ ├── rosdoc.yaml │ │ └── script │ │ ├── import │ │ └── hsr_nav_import.py │ │ └── src │ │ ├── lib │ │ └── libhsrnav.py │ │ ├── manage_cmd_vel_node.py │ │ ├── motion_synthesis_server.py │ │ ├── omni_path_follow_server.py │ │ └── publish_global_pose_node.py ├── hma_hsr_sim_lib_pkg │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ ├── rosdoc.yaml │ └── script │ │ └── src │ │ └── lib │ │ ├── libhsraction.py │ │ ├── libhsrmoveit.py │ │ ├── libhsrpub.py │ │ ├── libhsrsub.py │ │ └── libhsrutil.py ├── hma_hsr_sim_pkg │ ├── CMakeLists.txt │ ├── README.md │ ├── docs │ │ ├── manage_task_time_node.md │ │ ├── prepare_task_node.md │ │ └── teleop_node.md │ ├── io │ │ ├── configs │ │ │ └── descriptor.csv │ │ ├── models │ │ │ ├── wrc_bookshelf │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── wrc_frame │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── wrc_long_table │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ └── wrc_tall_table │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ └── moveit │ │ │ ├── joint_limits.yaml │ │ │ └── kinematics.yaml │ ├── launch │ │ ├── get_pose.launch │ │ ├── prepare_task.launch │ │ └── teleop.launch │ ├── package.xml │ ├── rosdoc.yaml │ ├── rviz │ │ └── get_pose.rviz │ └── script │ │ └── src │ │ ├── manage_task_time_node.py │ │ ├── prepare_task_node.py │ │ └── teleop_node.py └── tasks │ ├── README.md │ ├── hma_hsr_cu_pkg │ ├── CMakeLists.txt │ ├── README.md │ ├── docs │ │ ├── estimate_orientation_node.md │ │ ├── resources │ │ │ └── state_machine.png │ │ └── sm_cu_node.md │ ├── io │ │ ├── mapping_area │ │ │ └── area.json │ │ └── orientation │ │ │ ├── cutlery │ │ │ ├── left_1.jpg │ │ │ ├── left_1.png │ │ │ ├── left_2.jpg │ │ │ ├── left_2.png │ │ │ ├── left_3.jpg │ │ │ ├── left_3.png │ │ │ ├── right_1.jpg │ │ │ ├── right_1.png │ │ │ ├── right_2.jpg │ │ │ ├── right_2.png │ │ │ ├── right_3.jpg │ │ │ └── right_3.png │ │ │ └── marker │ │ │ ├── left_0.jpg │ │ │ ├── left_0.png │ │ │ ├── left_1.jpg │ │ │ ├── left_1.png │ │ │ ├── left_2.png │ │ │ ├── left_3.png │ │ │ ├── right_0.jpg │ │ │ ├── right_0.png │ │ │ ├── right_1.jpg │ │ │ ├── right_1.png │ │ │ ├── right_2.png │ │ │ └── right_3.png │ ├── launch │ │ ├── cu.launch │ │ ├── cu_debug.launch │ │ └── moveit.launch │ ├── package.xml │ ├── rosdoc.yaml │ ├── rviz │ │ └── cu.rviz │ └── script │ │ └── src │ │ ├── config.py │ │ ├── estimate_orientation_node.py │ │ ├── sm_cu_node.py │ │ └── sm_main.py │ ├── hma_hsr_gg_pkg │ ├── CMakeLists.txt │ ├── README.md │ ├── action │ │ └── DetectDrivableArea.action │ ├── docs │ │ ├── detect_drivable_area_server.md │ │ ├── resources │ │ │ └── state_machine.png │ │ └── sm_gg_node.md │ ├── io │ │ └── moveit │ │ │ └── kinematics.yaml │ ├── launch │ │ ├── gg.launch │ │ └── gg_debug.launch │ ├── package.xml │ ├── rosdoc.yaml │ ├── rviz │ │ └── gg.rviz │ └── script │ │ └── src │ │ ├── config.py │ │ ├── detect_drivable_area_server.py │ │ ├── sm_gg_node.py │ │ └── sm_main.py │ └── hma_sm_pkg │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ ├── rosdoc.yaml │ └── script │ └── src │ └── lib │ └── libsm.py ├── 03_tmc ├── README.md └── deb │ ├── ros-melodic-hsrb-analytic-ik_0.29.4-1.bionic.20211108.0549.+0000_amd64.deb │ ├── ros-melodic-hsrb-description_0.20.5-1.bionic.20211104.0057.+0000_amd64.deb │ ├── ros-melodic-hsrb-moveit-config_1.0.0-2.bionic.20220309.2325.+0000.29cd601_amd64.deb │ ├── ros-melodic-hsrb-moveit-plugins_0.6.3-2.bionic.20220309.2325.+0000.29cd601_amd64.deb │ ├── ros-melodic-hsrb-moveit_0.6.3-2.bionic.20220309.2325.+0000.29cd601_amd64.deb │ ├── ros-melodic-hsrb-parts-description_0.20.5-1.bionic.20211104.0057.+0000_amd64.deb │ ├── ros-melodic-tarp3-urdf_0.6.0-1.bionic.20210617.2331.+0000_amd64.deb │ ├── ros-melodic-tarp3_0.6.0-1.bionic.20210617.2331.+0000_amd64.deb │ ├── ros-melodic-tmc-control-msgs_0.9.2-1.bionic.20211108.0259.+0000_amd64.deb │ ├── ros-melodic-tmc-manipulation-types_0.32.1-1.bionic.20211108.0324.+0000_amd64.deb │ ├── ros-melodic-tmc-navigation-msgs_0.24.0-1.bionic.20211108.0234.+0000_amd64.deb │ ├── ros-melodic-tmc-omni-path-follower_0.30.1-1.bionic.20211108.0503.+0000_amd64.deb │ ├── ros-melodic-tmc-pose-2d-lib_0.30.1-1.bionic.20211108.0503.+0000_amd64.deb │ └── ros-melodic-tmc-robot-kinematics-model_0.32.1-1.bionic.20211108.0324.+0000_amd64.deb ├── 04_sim_docker └── README.md ├── CMakeLists.txt └── README.md /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Hibikino-Musashi-Home/hma_wrs_sim_ws/HEAD/.gitignore -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Hibikino-Musashi-Home/hma_wrs_sim_ws/HEAD/.gitmodules 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