├── .gitignore ├── CLA ├── LICENSE ├── README.md ├── content ├── assets │ ├── collision_maps │ │ ├── collision_map.png │ │ ├── collision_map.svg │ │ ├── collision_map_cem.png │ │ ├── collision_map_corridor.png │ │ ├── collision_map_test.png │ │ └── collision_map_xy.png │ └── urdf │ │ ├── franka_description │ │ ├── franka_panda_no_gripper.urdf │ │ └── meshes │ │ │ ├── collision │ │ │ ├── finger.obj │ │ │ ├── finger.stl │ │ │ ├── hand.obj │ │ │ ├── hand.stl │ │ │ ├── hand_gripper.obj │ │ │ ├── hand_gripper.stl │ │ │ ├── link0.obj │ │ │ ├── link0.stl │ │ │ ├── link1.obj │ │ │ ├── link1.stl │ │ │ ├── link2.obj │ │ │ ├── link2.stl │ │ │ ├── link3.obj │ │ │ ├── link3.stl │ │ │ ├── link4.obj │ │ │ ├── link4.stl │ │ │ ├── link5.obj │ │ │ ├── link5.stl │ │ │ ├── link6.obj │ │ │ ├── link6.stl │ │ │ ├── link7.obj │ │ │ └── link7.stl │ │ │ └── visual │ │ │ ├── finger.dae │ │ │ ├── finger.mtl │ │ │ ├── finger.obj │ │ │ ├── hand.dae │ │ │ ├── hand.mtl │ │ │ ├── hand.obj │ │ │ ├── hand_gripper.obj │ │ │ ├── hand_gripper.stl │ │ │ ├── link0.dae │ │ │ ├── link0.mtl │ │ │ ├── link0.obj │ │ │ ├── link1.dae │ │ │ ├── link1.mtl │ │ │ ├── link1.obj │ │ │ ├── link2.dae │ │ │ ├── link2.mtl │ │ │ ├── link2.obj │ │ │ ├── link3.dae │ │ │ ├── link3.mtl │ │ │ ├── link3.obj │ │ │ ├── link4.dae │ │ │ ├── link4.mtl │ │ │ ├── link4.obj │ │ │ ├── link5.dae │ │ │ ├── link5.mtl │ │ │ ├── link5.obj │ │ │ ├── link6.dae │ │ │ ├── link6.mtl │ │ │ ├── link6.obj │ │ │ ├── link7.dae │ │ │ ├── link7.mtl │ │ │ ├── link7.obj │ │ │ └── train_gripper.obj │ │ └── mug │ │ ├── movable_mug.urdf │ │ ├── mug.obj │ │ └── mug.urdf └── configs │ ├── gym │ ├── collision_demo.yml │ ├── collision_primitives_3d.yml │ ├── collision_table.yml │ ├── franka.yml │ └── physx.yml │ ├── mpc │ ├── franka_reacher.yml │ └── simple_reacher.yml │ └── robot │ ├── franka.yml │ ├── franka_real_robot.yml │ └── kinova_gen3.yml ├── docs ├── Makefile ├── conf.py ├── generate_docs.sh ├── images │ ├── coll_demo.gif │ ├── constrained_storm.gif │ ├── mpc_approach.png │ └── mpc_framework.png └── index.rst ├── environment.yml ├── examples ├── franka_reacher.py └── simple_reacher.py ├── install_instructions.md ├── scripts └── train_self_collision.py ├── setup.py ├── storm_kit ├── __init__.py ├── differentiable_robot_model │ ├── LICENSE │ ├── __init__.py │ ├── coordinate_transform.py │ ├── differentiable_rigid_body.py │ ├── differentiable_robot_model.py │ ├── urdf_utils.py │ └── utils.py ├── geom │ ├── __init__.py │ ├── geom_types.py │ ├── nn_model │ │ ├── __init__.py │ │ ├── network_macros.py │ │ └── robot_self_collision.py │ ├── sdf │ │ ├── __init__.py │ │ ├── primitives.py │ │ ├── robot.py │ │ ├── robot_world.py │ │ └── world.py │ └── utils.py ├── gym │ ├── __init__.py │ ├── core.py │ ├── helpers.py │ ├── kdl_parser.py │ └── sim_robot.py ├── mpc │ ├── __init__.py │ ├── control │ │ ├── __init__.py │ │ ├── control_base.py │ │ ├── control_utils.py │ │ ├── mppi.py │ │ ├── olgaussian_mpc.py │ │ └── sample_libs.py │ ├── cost │ │ ├── __init__.py │ │ ├── bound_cost.py │ │ ├── capsule_collision_cost.py │ │ ├── circle_collision_cost.py │ │ ├── collision_cost.py │ │ ├── cost_base.py │ │ ├── dist_cost.py │ │ ├── ee_vel_cost.py │ │ ├── finite_difference_cost.py │ │ ├── gaussian_projection.py │ │ ├── image_collision_cost.py │ │ ├── jacobian_cost.py │ │ ├── manipulability_cost.py │ │ ├── null_costs.py │ │ ├── pose_cost.py │ │ ├── primitive_collision_cost.py │ │ ├── projected_dist_cost.py │ │ ├── robot_self_collision_cost.py │ │ ├── stop_cost.py │ │ ├── voxel_collision_cost.py │ │ └── zero_cost.py │ ├── model │ │ ├── __init__.py │ │ ├── integration_utils.py │ │ ├── model_base.py │ │ ├── simple_model.py │ │ ├── urdf_kinematic_model.py │ │ └── urdf_kinematic_model_baseline.py │ ├── rollout │ │ ├── __init__.py │ │ ├── arm_base.py │ │ ├── arm_reacher.py │ │ ├── rollout_base.py │ │ └── simple_reacher.py │ ├── task │ │ ├── __init__.py │ │ ├── arm_task.py │ │ ├── reacher_task.py │ │ ├── simple_task.py │ │ └── task_base.py │ └── 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-------------------------------------------------------------------------------- 1 | Contains MLP weights for robot self collision checking --------------------------------------------------------------------------------