├── .gitignore ├── README.md ├── cfg ├── default_panda_controller.yaml ├── default_sawyer_controller.yaml ├── franka-panda.yaml ├── panda.yaml ├── panda_ctrl_config.yaml ├── redis.yaml ├── redis_nuc.yaml ├── ros_sensors.yaml ├── sawyer.yaml ├── sawyer_ctrl_config.yaml ├── table_and_bin.yaml └── time_franka_panda.yaml ├── data ├── calibration │ └── kinect │ │ ├── IR_RGB_rotation.p │ │ ├── IR_RGB_translation.p │ │ ├── IR_intrinsics.p │ │ ├── IR_intrinsics_kinect_calibrated.p │ │ └── RGB_distortion.p ├── objects │ ├── compute_geom_info.mlx │ └── ycb │ │ └── 013_apple │ │ └── google_16k │ │ ├── kinbody.xml │ │ ├── nontextured.ply │ │ ├── nontextured.stl │ │ ├── texture_map.png │ │ ├── textured.dae │ │ ├── textured.mtl │ │ ├── textured.obj │ │ ├── textured.urdf │ │ └── textured │ │ ├── textured.urdf │ │ └── textured_vhacd_0_of_1.obj ├── robot │ ├── franka_panda │ │ ├── LICENSE.txt │ │ ├── meshes │ │ │ ├── collision │ │ │ │ ├── finger.obj │ │ │ │ ├── hand.obj │ │ │ │ ├── link0.obj │ │ │ │ ├── link1.obj │ │ │ │ ├── link2.obj │ │ │ │ ├── link3.obj │ │ │ │ ├── link4.obj │ │ │ │ ├── link5.obj │ │ │ │ ├── link6.mtl │ │ │ │ ├── link6.obj │ │ │ │ └── link7.obj │ │ │ └── visual │ │ │ │ ├── colors.png │ │ │ │ ├── finger.mtl │ │ │ │ ├── finger.obj │ │ │ │ ├── hand.mtl │ │ │ │ ├── hand.obj │ │ │ │ ├── link1.mtl │ │ │ │ ├── link1.obj │ │ │ │ ├── link2.mtl │ │ │ │ ├── link2.obj │ │ │ │ ├── link3.mtl │ │ │ │ ├── link3.obj │ │ │ │ ├── link4.mtl │ │ │ │ ├── link4.obj │ │ │ │ ├── link5.mtl │ │ │ │ ├── link5.obj │ │ │ │ ├── link6.mtl │ │ │ │ ├── link6.obj │ │ │ │ └── visualShapeBench.json_0.json │ │ └── panda.urdf │ └── rethink │ │ ├── CHANGELOG.rst │ │ ├── LICENSE │ │ ├── README.rst │ │ ├── intera_tools_description │ │ ├── meshes │ │ │ ├── connector_plate │ │ │ │ ├── connector_plate.DAE │ │ │ │ └── connector_plate.STL │ │ │ ├── electric_gripper │ │ │ │ ├── electric_gripper_base.DAE │ │ │ │ ├── electric_gripper_base.STL │ │ │ │ ├── electric_gripper_w_fingers.DAE │ │ │ │ ├── electric_gripper_w_fingers.STL │ │ │ │ └── fingers │ │ │ │ │ ├── basic_hard_tip.DAE │ │ │ │ │ ├── basic_hard_tip.STL │ │ │ │ │ ├── basic_soft_tip.DAE │ │ │ │ │ ├── basic_soft_tip.STL │ │ │ │ │ ├── extended_narrow.DAE │ │ │ │ │ ├── extended_narrow.STL │ │ │ │ │ ├── extended_wide.DAE │ │ │ │ │ ├── extended_wide.STL │ │ │ │ │ ├── half_round_tip.DAE │ │ │ │ │ ├── half_round_tip.STL │ │ │ │ │ ├── limiter.DAE │ │ │ │ │ ├── limiter.STL │ │ │ │ │ ├── paddle_tip.DAE │ │ │ │ │ ├── paddle_tip.STL │ │ │ │ │ ├── standard_narrow.DAE │ │ │ │ │ ├── standard_narrow.STL │ │ │ │ │ ├── standard_wide.DAE │ │ │ │ │ └── standard_wide.STL │ │ │ ├── pneumatic_gripper │ │ │ │ ├── pneumatic_gripper_base.DAE │ │ │ │ ├── pneumatic_gripper_base.STL │ │ │ │ ├── pneumatic_gripper_w_cup.DAE │ │ │ │ └── pneumatic_gripper_w_cup.STL │ │ │ └── smart_tool_plate │ │ │ │ ├── smart_tool_plate.DAE │ │ │ │ └── smart_tool_plate.STL │ │ ├── package.xml │ │ └── urdf │ │ │ ├── connector_plate │ │ │ └── connector_plate.xacro │ │ │ ├── controller_box │ │ │ └── controller_box.urdf │ │ │ ├── electric_gripper │ │ │ ├── example_end_effector.urdf.xacro │ │ │ ├── fingers │ │ │ │ ├── basic_hard_tip.xacro │ │ │ │ ├── basic_soft_tip.xacro │ │ │ │ ├── extended_narrow.xacro │ │ │ │ ├── extended_wide.xacro │ │ │ │ ├── half_round_tip.xacro │ │ │ │ ├── none.xacro │ │ │ │ ├── paddle_tip.xacro │ │ │ │ ├── standard_narrow.xacro │ │ │ │ └── standard_wide.xacro │ │ │ └── rethink_electric_gripper.xacro │ │ │ ├── null_gripper │ │ │ ├── example_end_effector.urdf.xacro │ │ │ └── null_gripper.xacro │ │ │ └── pneumatic_gripper │ │ │ ├── example_end_effector.urdf.xacro │ │ │ ├── pneumatic_gripper_base.xacro │ │ │ └── rethink_pneumatic_gripper.xacro │ │ ├── rethink_ee_description │ │ ├── CMakeLists.txt │ │ ├── meshes │ │ │ ├── electric_gripper │ │ │ │ ├── electric_gripper_base.DAE │ │ │ │ ├── electric_gripper_base.STL │ │ │ │ ├── electric_gripper_w_fingers.DAE │ │ │ │ ├── electric_gripper_w_fingers.STL │ │ │ │ └── fingers │ │ │ │ │ ├── basic_hard_tip.DAE │ │ │ │ │ ├── basic_hard_tip.STL │ │ │ │ │ ├── basic_soft_tip.DAE │ │ │ │ │ ├── basic_soft_tip.STL │ │ │ │ │ ├── extended_narrow.DAE │ │ │ │ │ ├── extended_narrow.STL │ │ │ │ │ ├── extended_wide.DAE │ │ │ │ │ ├── extended_wide.STL │ │ │ │ │ ├── half_round_tip.DAE │ │ │ │ │ ├── half_round_tip.STL │ │ │ │ │ ├── limiter.DAE │ │ │ │ │ ├── limiter.STL │ │ │ │ │ ├── paddle_tip.DAE │ │ │ │ │ ├── paddle_tip.STL │ │ │ │ │ ├── standard_narrow.DAE │ │ │ │ │ ├── standard_narrow.STL │ │ │ │ │ ├── standard_wide.DAE │ │ │ │ │ └── standard_wide.STL │ │ │ └── pneumatic_gripper │ │ │ │ ├── archive │ │ │ │ ├── pneumatic_gripper.STL │ │ │ │ └── pneumatic_gripper_30mm_cup.STL │ │ │ │ ├── pneumatic_gripper_base.DAE │ │ │ │ ├── pneumatic_gripper_base.STL │ │ │ │ ├── pneumatic_gripper_w_cup.DAE │ │ │ │ └── pneumatic_gripper_w_cup.STL │ │ ├── package.xml │ │ └── urdf │ │ │ ├── electric_gripper │ │ │ ├── _right_end_effector.urdf │ │ │ ├── example_end_effector.urdf.xacro │ │ │ ├── fingers │ │ │ │ ├── basic_hard_tip.xacro │ │ │ │ ├── basic_soft_tip.xacro │ │ │ │ ├── extended_narrow.xacro │ │ │ │ ├── extended_wide.xacro │ │ │ │ ├── half_round_tip.xacro │ │ │ │ ├── none.xacro │ │ │ │ ├── paddle_tip.xacro │ │ │ │ ├── standard_narrow.xacro │ │ │ │ └── standard_wide.xacro │ │ │ ├── left_end_effector.urdf │ │ │ ├── rethink_electric_gripper.xacro │ │ │ └── right_end_effector.urdf │ │ │ ├── null_gripper │ │ │ ├── example_end_effector.urdf.xacro │ │ │ └── null_gripper.xacro │ │ │ └── pneumatic_gripper │ │ │ ├── example_end_effector.urdf.xacro │ │ │ ├── pneumatic_gripper_base.xacro │ │ │ └── rethink_pneumatic_gripper.xacro │ │ ├── sawyer_description │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ └── sawyer.rviz │ │ ├── launch │ │ │ └── test_sawyer_description.launch.test │ │ ├── meshes │ │ │ ├── sawyer_ft │ │ │ │ ├── PEDESTAL.DAE │ │ │ │ ├── PEDESTAL.STL │ │ │ │ ├── base.DAE │ │ │ │ ├── base.STL │ │ │ │ ├── head.DAE │ │ │ │ ├── head.STL │ │ │ │ ├── l0.DAE │ │ │ │ ├── l0.STL │ │ │ │ ├── l1.DAE │ │ │ │ ├── l1.STL │ │ │ │ ├── l2.DAE │ │ │ │ ├── l2.STL │ │ │ │ ├── l3.DAE │ │ │ │ ├── l3.STL │ │ │ │ ├── l4.DAE │ │ │ │ ├── l4.STL │ │ │ │ ├── l5.DAE │ │ │ │ ├── l5.STL │ │ │ │ ├── l6.DAE │ │ │ │ └── l6.STL │ │ │ ├── sawyer_mp1 │ │ │ │ ├── l6.DAE │ │ │ │ └── l6.STL │ │ │ ├── sawyer_mp3 │ │ │ │ ├── l0.DAE │ │ │ │ ├── l0.STL │ │ │ │ ├── l1.DAE │ │ │ │ └── l1.STL │ │ │ └── sawyer_pv │ │ │ │ ├── base.DAE │ │ │ │ ├── base.STL │ │ │ │ ├── head.DAE │ │ │ │ ├── head.STL │ │ │ │ ├── l0.DAE │ │ │ │ ├── l0.STL │ │ │ │ ├── l1.DAE │ │ │ │ ├── l1.STL │ │ │ │ ├── l2.DAE │ │ │ │ ├── l2.STL │ │ │ │ ├── l3.DAE │ │ │ │ ├── l3.STL │ │ │ │ ├── l4.DAE │ │ │ │ ├── l4.STL │ │ │ │ ├── l5.DAE │ │ │ │ ├── l5.STL │ │ │ │ ├── l6.DAE │ │ │ │ ├── l6.STL │ │ │ │ ├── pedestal.DAE │ │ │ │ └── pedestal.STL │ │ ├── package.xml │ │ ├── params │ │ │ └── named_poses.yaml │ │ └── urdf │ │ │ ├── intera_tools_description │ │ │ ├── CMakeFiles │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ └── progress.marks │ │ │ ├── CTestTestfile.cmake │ │ │ ├── Makefile │ │ │ ├── catkin_generated │ │ │ │ ├── installspace │ │ │ │ │ ├── intera_tools_description.pc │ │ │ │ │ ├── intera_tools_descriptionConfig-version.cmake │ │ │ │ │ └── intera_tools_descriptionConfig.cmake │ │ │ │ ├── package.cmake │ │ │ │ ├── pkg.develspace.context.pc.py │ │ │ │ ├── pkg.installspace.context.pc.py │ │ │ │ └── stamps │ │ │ │ │ └── intera_tools_description │ │ │ │ │ ├── package.xml.stamp │ │ │ │ │ └── pkg.pc.em.stamp │ │ │ └── cmake_install.cmake │ │ │ ├── sawyer.urdf │ │ │ ├── sawyer_arm.urdf │ │ │ ├── sawyer_base.urdf │ │ │ └── sawyer_urdf.urdf │ │ ├── sawyer_robot.rosinstall │ │ └── sawyer_robot │ │ ├── CMakeLists.txt │ │ └── package.xml └── scene_objects │ ├── beveled_bin │ ├── beveled_bin.obj │ ├── beveled_bin.urdf │ ├── beveled_bin_convex_piece_0.obj │ ├── beveled_bin_convex_piece_1.obj │ ├── beveled_bin_convex_piece_10.obj │ ├── beveled_bin_convex_piece_11.obj │ ├── beveled_bin_convex_piece_12.obj │ ├── beveled_bin_convex_piece_13.obj │ ├── beveled_bin_convex_piece_2.obj │ ├── beveled_bin_convex_piece_3.obj │ ├── beveled_bin_convex_piece_4.obj │ ├── beveled_bin_convex_piece_5.obj │ ├── beveled_bin_convex_piece_6.obj │ ├── beveled_bin_convex_piece_7.obj │ ├── beveled_bin_convex_piece_8.obj │ ├── beveled_bin_convex_piece_9.obj │ └── model.config │ ├── plane │ ├── model.config │ ├── plane.obj │ ├── plane.urdf │ └── plane_convex_piece_0.obj │ ├── table │ ├── .table.urdf.swp │ ├── table.mtl │ ├── table.obj │ ├── table.png │ └── table.urdf │ ├── table_cube.urdf │ ├── table_square │ ├── checker_grid.jpg │ ├── table.mtl │ ├── table.obj │ └── table_square.urdf │ └── table_svl │ ├── .table.urdf.swp │ ├── table.mtl │ ├── table.obj │ ├── table.png │ ├── table.urdf │ └── table_grasp.urdf ├── demos ├── README.md ├── __init__.py ├── demo.py ├── demo_control_cfg.yaml ├── demo_envs.py ├── demo_panda_controller.yaml ├── demo_path.py ├── joint_demo.py ├── osc_demo.py ├── run_gc_demo.py ├── run_jointimp_demo.py ├── run_osc_line_demo.py ├── run_osc_rot_demo.py └── run_osc_square_demo.py ├── dev ├── __init__.py ├── test │ ├── __init__.py │ ├── test_bullet_cfg.yaml │ ├── test_bullet_objects.py │ ├── test_bullet_render.py │ ├── test_bullet_robot.py │ ├── test_bullet_robot_gripper.py │ ├── test_cfg.yaml │ ├── test_env.py │ └── test_simple_reach.py └── validation │ ├── control_demo.py │ ├── demo_control_cfg.yaml │ ├── demo_control_env.py │ └── test_controllers.py ├── docs ├── Makefile ├── camera_interface.rst ├── conf.py ├── controller.rst ├── env.rst ├── index.rst ├── install.md ├── object_interface.rst ├── quickstart.md ├── robot_interface.rst ├── simple_reach.md ├── source │ ├── controllers.md │ ├── environments.md │ ├── introduction.md │ ├── load_objects.md │ ├── project_template.md │ ├── real_robot_control.md │ ├── robot_interfaces.md │ ├── switch_sim_real.md │ └── worlds.md └── world.rst ├── examples ├── README.md ├── __init__.py ├── load_objects │ ├── README.md │ ├── load_objects.py │ └── load_objects.yaml ├── project_template │ ├── README.md │ ├── cfg │ │ ├── default_camera.yaml │ │ ├── default_controllers.yaml │ │ ├── default_panda_controller.yaml │ │ ├── default_sawyer_controller.yaml │ │ ├── panda.yaml │ │ ├── redis.yaml │ │ ├── sawyer.yaml │ │ └── table_and_bin.yaml │ ├── project_template.yaml │ ├── project_template_env.py │ └── run_project_template.py ├── replay │ ├── README.md │ ├── __init__.py │ ├── replay.yaml │ └── run_replay.py ├── safenet │ ├── README.md │ ├── cfg │ │ ├── default_camera.yaml │ │ ├── default_controllers.yaml │ │ ├── default_panda_controller.yaml │ │ ├── default_sawyer_controller.yaml │ │ ├── panda.yaml │ │ ├── redis.yaml │ │ ├── sawyer.yaml │ │ └── table_and_bin.yaml │ ├── get_safenet_boundary.py │ ├── output │ │ └── safenet.yaml │ ├── run_safenet_example.py │ ├── safenet.yaml │ ├── safenet_env.py │ └── safenet_example.yaml ├── simple_reach │ ├── __init__.py │ ├── reach_panda_controller.yaml │ ├── run_simple_reach.py │ ├── simple_reach.md │ ├── simple_reach.yaml │ └── simple_reach_env.py └── switch_sim_real_reach │ ├── README.MD │ ├── run_switch_sim_real.py │ ├── sim_real_reach.yaml │ └── switch_sim_real_env.py ├── local ├── perls2_local_control_pc │ ├── franka-panda.yaml │ ├── local_dirs.sh │ ├── panda_ctrl_config.yaml │ ├── redis.conf │ ├── redis_nuc.yaml │ └── redis_passfile.txt └── perls2_local_ws │ ├── local_dirs.sh │ ├── redis.conf │ ├── redis_nuc.yaml │ └── ros_sensors.yaml ├── p27_requirements.txt ├── perls2 ├── __init__.py ├── arenas │ ├── __init__.py │ ├── arena.py │ ├── bullet_arena.py │ ├── mujoco_arena.py │ └── real_arena.py ├── controllers │ ├── README.md │ ├── __init__.py │ ├── base_controller.py │ ├── ee_imp.py │ ├── ee_posture.py │ ├── interpolator │ │ ├── __init__.py │ │ ├── base_interpolator.py │ │ ├── linear_interpolator.py │ │ └── linear_ori_interpolator.py │ ├── joint_imp.py │ ├── joint_torque.py │ ├── joint_vel.py │ ├── robot_model │ │ ├── __init__.py │ │ └── model.py │ └── utils │ │ ├── __init__.py │ │ ├── control_utils.py │ │ └── transform_utils.py ├── ctrl_interfaces │ ├── README.md │ ├── __init__.py │ ├── ctrl_interface.py │ └── panda_ctrl_interface.py ├── envs │ ├── README.md │ ├── __init__.py │ ├── env.py │ └── lift_env.py ├── objects │ ├── __init__.py │ ├── bullet_object_interface.py │ └── object_interface.py ├── redis_interfaces │ ├── README.md │ ├── __init__.py │ ├── panda_redis_keys.py │ ├── redis_interface.py │ ├── redis_keys.py │ └── redis_values.py ├── robots │ ├── __init__.py │ ├── bullet_panda_interface.py │ ├── bullet_robot_interface.py │ ├── bullet_sawyer_interface.py │ ├── mujoco_panda_interface.py │ ├── mujoco_robot_interface.py │ ├── mujoco_sawyer_interface.py │ ├── real_panda_interface.py │ ├── real_robot_interface.py │ ├── real_sawyer_interface.py │ └── robot_interface.py ├── ros_interfaces │ ├── __init__.py │ ├── camera_ros_redis_pub.py │ ├── ctrl_interface.py │ ├── kinect_ROS_interface.py │ ├── ros_redis_interface.py │ ├── ros_redis_pub.py │ ├── sawyer_ROS_interface.py │ ├── sawyer_ctrl_interface.py │ └── sawyer_joint_pub_rate.py ├── sensors │ ├── README.md │ ├── __init__.py │ ├── bullet_camera_interface.py │ ├── camera_interface.py │ ├── kinect_camera_interface.py │ ├── ros_camera_interface.py │ ├── sensor_interface.py │ └── sim_camera_interface.py ├── utils │ ├── __init__.py │ ├── bullet_utils.py │ ├── exp_save.py │ ├── image_utils.py │ ├── math │ │ ├── __init__.py │ │ ├── geometry.py │ │ ├── ik │ │ │ ├── __init__.py │ │ │ ├── chain.py │ │ │ ├── ik_solver.py │ │ │ ├── inverse_kinematics.py │ │ │ ├── link.py │ │ │ ├── sym_geometry.py │ │ │ └── urdf_utils.py │ │ ├── orientation.py │ │ ├── pose.py │ │ ├── tests │ │ │ ├── geometry_tests.py │ │ │ ├── orientation_tests.py │ │ │ ├── pose_tests.py │ │ │ └── rigid_transforms_tests.py │ │ └── transformations.py │ ├── redis_utils.py │ └── yaml_config.py └── worlds │ ├── README.md │ ├── __init__.py │ ├── bullet_world.py │ ├── mujoco_world.py │ ├── real_world.py │ 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