├── README.md ├── gazebo_objects ├── goal │ ├── model.config │ └── model.sdf └── unit_box │ ├── model.config │ └── model.sdf ├── img ├── kukapush.png ├── kukapush_performance.png └── scheme.png ├── kuka_experimental ├── kuka_experimental │ ├── CMakeLists.txt │ └── package.xml ├── kuka_kr6_support │ ├── CMakeLists.txt │ ├── config │ │ ├── joint_names_kr6r700sixx.yaml │ │ └── joint_names_kr6r900sixx.yaml │ ├── launch │ │ ├── load_kr6r700sixx.launch │ │ ├── load_kr6r900sixx.launch │ │ ├── test_kr6r700sixx.launch │ │ └── test_kr6r900sixx.launch │ ├── meshes │ │ ├── kr6_agilus │ │ │ ├── collision │ │ │ │ ├── base_link.stl │ │ │ │ ├── link_1.stl │ │ │ │ ├── link_3.stl │ │ │ │ ├── link_5.stl │ │ │ │ └── link_6.stl │ │ │ └── visual │ │ │ │ ├── base_link.dae │ │ │ │ ├── link_1.dae │ │ │ │ ├── link_3.dae │ │ │ │ ├── link_5.dae │ │ │ │ └── link_6.dae │ │ ├── kr6r700sixx │ │ │ ├── collision │ │ │ │ ├── link_2.stl │ │ │ │ └── link_4.stl │ │ │ └── visual │ │ │ │ ├── link_2.dae │ │ │ │ └── link_4.dae │ │ └── kr6r900sixx │ │ │ ├── collision │ │ │ ├── link_2.stl │ │ │ └── link_4.stl │ │ │ └── visual │ │ │ ├── gripper_body.stl │ │ │ ├── link_2.dae │ │ │ ├── link_4.dae │ │ │ └── priruba.stl │ ├── package.xml │ ├── test │ │ ├── roslaunch_test_kr6r700sixx.xml │ │ └── roslaunch_test_kr6r900sixx.xml │ └── urdf │ │ ├── kr6.urdf │ │ ├── kr6r700sixx.xacro │ │ ├── kr6r700sixx_macro.xacro │ │ ├── kr6r900sixx.xacro │ │ └── kr6r900sixx_macro.xacro └── kuka_resources │ ├── CMakeLists.txt │ ├── package.xml │ └── urdf │ ├── common_colours.xacro │ ├── common_constants.xacro │ └── common_materials.xacro ├── kuka_gazebo ├── CMakeLists.txt ├── config │ └── gazebo_controllers.yaml ├── launch │ ├── gazebo_basic.launch │ ├── gazebo_moveit.launch │ ├── kuka_gazebo_controllers.launch │ └── kuka_world.launch ├── package.xml └── worlds │ ├── kuka.world │ └── kukapush.world ├── kuka_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── chomp_planning.yaml │ ├── controllers.yaml │ ├── controllers_gazebo.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── joint_names.yaml │ ├── kinematics.yaml │ ├── kuka_kr6r900sixx.srdf │ ├── ompl_planning.yaml │ ├── ros_controllers.yaml │ └── sensors_3d.yaml ├── launch │ ├── chomp_planning_pipeline.launch.xml │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── demo_gazebo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── gazebo.launch │ ├── joystick_control.launch │ ├── kuka_kr6r900sixx_moveit_controller_manager.launch.xml │ ├── kuka_kr6r900sixx_moveit_sensor_manager.launch.xml │ ├── kuka_planning_execution.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── ros_controllers.launch │ ├── run_benchmark_ompl.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── trajectory_execution.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml └── package.xml ├── kuka_push ├── CMakeLists.txt ├── include │ └── kuka_push │ │ ├── include.h │ │ ├── kukapush_env_lib.h │ │ └── marker.h ├── launch │ ├── agent_training.launch │ └── environment.launch ├── msg │ ├── object_pose_vel.msg │ └── rlplugin_msg.msg ├── package.xml ├── plugin │ ├── goalgazebo.cpp │ ├── goalgazebo.h │ ├── pushobject.cpp │ └── pushobject.h ├── saved_model │ ├── checkpoint │ ├── sac_KUKAPush_trained_model.data-00000-of-00001 │ ├── sac_KUKAPush_trained_model.index │ └── sac_KUKAPush_trained_model.meta ├── scripts │ ├── .idea │ │ ├── inspectionProfiles │ │ │ └── profiles_settings.xml │ │ ├── libraries │ │ │ ├── ROS.xml │ │ │ └── workspace.xml │ │ ├── misc.xml │ │ ├── modules.xml │ │ ├── ros.xml │ │ ├── scripts.iml │ │ └── workspace.xml │ ├── ReplayBuffer.py │ ├── __pycache__ │ │ ├── ReplayBuffer.cpython-36.pyc │ │ └── core.cpython-36.pyc │ ├── core.py │ ├── kuka_agent.py │ ├── kuka_trained.py │ └── logs │ │ ├── events.out.tfevents.1587123195.tomas-MS7B18 │ │ └── 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