├── LICENSE ├── LICENSE.md ├── README.md ├── gazebo_grasp_plugin ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── include │ └── gazebo_grasp_plugin │ │ ├── GazeboGraspFix.h │ │ └── GazeboGraspGripper.h ├── package.xml └── src │ ├── GazeboGraspFix.cpp │ └── GazeboGraspGripper.cpp ├── images ├── Screenshot 2018-11-10 20:46:14.png ├── capture_features.png ├── pcl-cluster.png ├── pcl-objects.png ├── pcl-pointcloud.png ├── pick_place_launch.png ├── pr2_SS.png ├── test_1_confusionmatrix.png ├── test_1_confusionmatrix2.png ├── test_1_rviz.png ├── test_2_confusionmatrix.png ├── test_2_rviz.png ├── test_3_confusionmatrix.png └── test_3_rviz.png ├── model.sav ├── output_1.yaml ├── output_2.yaml ├── output_3.yaml ├── pr2_moveit ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── controllers.yaml │ ├── fake_controllers.yaml │ ├── grasp.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ └── pr2.srdf ├── launch │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── filter.launch │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── pr2_moveit.launch │ ├── pr2_moveit_controller_manager.launch.xml │ ├── pr2_moveit_sensor_manager.launch.xml │ ├── run_benchmark_ompl.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── trajectory_execution.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml └── package.xml ├── pr2_robot ├── .DS_Store ├── CMakeLists.txt ├── config │ ├── controllers.yaml │ ├── dropbox.yaml │ ├── output.yaml │ ├── pick_list_1.yaml │ ├── pick_list_2.yaml │ ├── pick_list_3.yaml │ ├── pr2.rviz │ └── sensors.yaml ├── include │ └── pr2_robot │ │ ├── pr2_motion.h │ │ └── pr2_pick_place_server.h ├── launch │ ├── octomap_server.launch │ ├── pick_place_demo.launch │ ├── pick_place_project.launch │ ├── robot_control.launch │ ├── robot_description.launch │ └── robot_spawn.launch ├── materials │ └── textures │ │ ├── pr2_caster_texture.png │ │ ├── pr2_wheel_left.png │ │ └── pr2_wheel_right.png ├── meshes │ ├── README.md │ ├── base_v0 │ │ ├── .gitignore │ │ ├── base.dae │ │ ├── base.stl │ │ ├── base_L.stl │ │ ├── base_color.png │ │ ├── base_normals.png │ │ ├── caster.stl │ │ ├── caster_L.stl │ │ ├── pr2_wheel.stl │ │ ├── wheel.dae │ │ ├── wheel.stl │ │ ├── wheel_color.png │ │ ├── wheel_h.dae │ │ ├── wheel_h_color.png │ │ └── wheel_normals.png │ ├── forearm_v0 │ │ ├── .gitignore │ │ ├── forearm.dae │ │ ├── forearm.jpg │ │ ├── forearm.stl │ │ ├── forearm_color.png │ │ ├── forearm_normals.png │ │ ├── wrist_color.png │ │ ├── wrist_flex.dae │ │ ├── wrist_flex.stl │ │ ├── wrist_normals.png │ │ ├── wrist_roll.stl │ │ └── wrist_roll_L.stl │ ├── gripper │ │ ├── finger_left.dae │ │ ├── finger_left_collision.dae │ │ ├── finger_right.dae │ │ ├── finger_right_collision.dae │ │ └── gripper_base.dae │ ├── head_v0 │ │ ├── .gitignore │ │ ├── head_pan.dae │ │ ├── head_pan.stl │ │ ├── head_pan_L.stl │ │ ├── head_pan_color.png │ │ ├── head_pan_normals.png │ │ ├── head_tilt.dae │ │ ├── head_tilt.stl │ │ ├── head_tilt_L.stl │ │ ├── head_tilt_color.png │ │ ├── head_tilt_color_red.png │ │ ├── head_tilt_color_yellow.png │ │ ├── head_tilt_green.png │ │ └── head_tilt_normals.png │ ├── shoulder_v0 │ │ ├── .gitignore │ │ ├── shoulder_lift.dae │ │ ├── shoulder_lift.stl │ │ ├── shoulder_lift_color.png │ │ ├── shoulder_lift_normals.png │ │ ├── shoulder_pan.dae │ │ ├── shoulder_pan.stl │ │ ├── shoulder_pan_color.png │ │ ├── shoulder_pan_normals.png │ │ ├── shoulder_yaw.stl │ │ ├── upper_arm_roll.dae │ │ ├── upper_arm_roll.stl │ │ ├── upper_arm_roll_L.stl │ │ ├── upper_arm_roll_color.png │ │ └── upper_arm_roll_normals.png │ ├── torso_v0 │ │ ├── .gitignore │ │ ├── torso.stl │ │ ├── torso_lift.dae │ │ ├── torso_lift.stl │ │ ├── torso_lift_L.stl │ │ ├── torso_lift_color.png │ │ └── torso_lift_normals.png │ └── upper_arm_v0 │ │ ├── .gitignore │ │ ├── elbow_flex.dae │ │ ├── elbow_flex.stl │ │ ├── elbow_flex_color.png │ │ ├── elbow_flex_normals.png │ │ ├── forearm_roll.stl │ │ ├── forearm_roll_L.stl │ │ ├── upper_arm.dae │ │ ├── upper_arm.jpg │ │ ├── upper_arm.stl │ │ ├── upper_arm_color.png │ │ └── upper_arm_normals.png ├── model.sav ├── models │ ├── README.md │ ├── asus_xtion.dae │ ├── biscuits │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── biscuits.material │ │ │ └── textures │ │ │ │ └── optimized_tsdf_texture_mapped_mesh.png │ │ ├── meshes │ │ │ └── biscuits.dae │ │ ├── model.config │ │ └── model.sdf │ ├── book │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── book.material │ │ │ └── textures │ │ │ │ └── optimized_tsdf_texture_mapped_mesh.png │ │ ├── meshes │ │ │ └── book.dae │ │ ├── model.config │ │ └── model.sdf │ ├── dropbox │ │ ├── meshes │ │ │ └── dropbox.dae │ │ ├── model.config │ │ └── model.sdf │ ├── eraser │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── eraser.material │ │ │ └── textures │ │ │ │ └── optimized_tsdf_texture_mapped_mesh.png │ │ ├── meshes │ │ │ └── eraser.dae │ │ ├── model.config │ │ └── model.sdf │ ├── glue │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── glue.material │ │ │ └── textures │ │ │ │ └── optimized_tsdf_texture_mapped_mesh.png │ │ ├── meshes │ │ │ └── glue.dae │ │ ├── model.config │ │ └── model.sdf │ ├── short_table │ │ ├── meshes │ │ │ └── short_table.dae │ │ ├── model.config │ │ └── model.sdf │ ├── snacks │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── snacks.material │ │ │ └── textures │ │ │ │ └── optimized_tsdf_texture_mapped_mesh.png │ │ ├── meshes │ │ │ └── snacks.dae │ │ ├── model.config │ │ └── model.sdf │ ├── soap │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── soap.material │ │ │ └── textures │ │ │ │ └── optimized_tsdf_texture_mapped_mesh.png │ │ ├── meshes │ │ │ └── soap.dae │ │ ├── model.config │ │ └── model.sdf │ ├── soap2 │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── soap2.material │ │ │ └── textures │ │ │ │ └── optimized_tsdf_texture_mapped_mesh.png │ │ ├── meshes │ │ │ └── soap2.dae │ │ ├── model.config │ │ └── model.sdf │ ├── soda_can │ │ ├── materials │ │ │ └── textures │ │ │ │ └── uda_can.png │ │ ├── meshes │ │ │ ├── soda_can.dae │ │ │ └── udacity-blue.png.001.png │ │ ├── model-1_2.sdf │ │ ├── model-1_3.sdf │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf │ ├── sticky_notes │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── sticky_notes.material │ │ │ └── textures │ │ │ │ └── optimized_tsdf_texture_mapped_mesh.png │ │ ├── meshes │ │ │ └── sticky_notes.dae │ │ ├── model.config │ │ └── model.sdf │ └── twin_table │ │ ├── meshes │ │ └── twin_table.dae │ │ ├── model.config │ │ └── model.sdf ├── package.xml ├── scripts │ ├── .DS_Store │ ├── grasp_server.py │ ├── model.sav │ ├── output_3.yaml │ ├── pcl_helper.py │ ├── pr2_safe_spawner.sh │ ├── project.py │ ├── project_template.py │ ├── rospy_message_converter │ │ ├── __init__.py │ │ ├── __init__.pyc │ │ ├── json_message_converter.py │ │ ├── message_converter.py │ │ └── message_converter.pyc │ ├── template.py │ └── training_set.sav ├── src │ ├── pr2_cloud_transformer.cpp │ ├── pr2_motion.cpp │ └── pr2_pick_place_server.cpp ├── srv │ ├── Grasp.srv │ └── PickPlace.srv ├── urdf │ ├── common.xacro │ ├── materials.urdf.xacro │ ├── pr2.gazebo.xacro │ ├── pr2.urdf.xacro │ └── sensor.urdf.xacro └── worlds │ ├── challenge.world │ ├── demo.world │ ├── tabletop.world │ ├── test1.world │ ├── test2.world │ └── test3.world ├── sensor_stick ├── .DS_Store ├── CMakeLists.txt ├── config │ ├── Pcl.cfg │ ├── controllers.yaml │ └── perception.rviz ├── launch │ ├── robot_control.launch │ ├── robot_description.launch │ ├── robot_spawn.launch │ └── training.launch ├── meshes │ └── asus_xtion.dae ├── models │ ├── arm_part │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── arm_part.material │ │ │ └── textures │ │ │ │ └── parts.png │ │ ├── meshes │ │ │ └── arm.dae │ │ ├── model.config │ │ └── model.sdf │ ├── beer │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── beer.material │ │ │ └── textures │ │ │ │ └── beer.png │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf │ ├── biscuits │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── biscuits.material │ │ │ └── textures │ │ │ │ └── optimized_tsdf_texture_mapped_mesh.png │ │ ├── meshes │ │ │ └── biscuits.dae │ │ ├── model.config │ │ └── model.sdf │ ├── book │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── book.material │ │ │ └── textures │ │ │ │ └── optimized_tsdf_texture_mapped_mesh.png │ │ ├── meshes │ │ │ └── book.dae │ │ ├── model.config │ │ └── model.sdf │ ├── bowl │ │ ├── meshes │ │ │ └── bowl.dae │ │ ├── model-1_2.sdf │ │ ├── model-1_3.sdf │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf │ ├── create │ │ ├── materials │ │ │ └── textures │ │ │ │ └── create_body.png │ │ ├── meshes │ │ │ └── create_body.dae │ │ ├── model-1_2.sdf │ │ ├── model-1_3.sdf │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf │ ├── disk_part │ │ ├── meshes │ │ │ └── disk.dae │ │ ├── model.config │ │ └── model.sdf │ ├── eraser │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── eraser.material │ │ │ └── textures │ │ │ │ └── optimized_tsdf_texture_mapped_mesh.png │ │ ├── meshes │ │ │ └── eraser.dae │ │ ├── model.config │ │ └── model.sdf │ ├── glue │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── glue.material │ │ │ └── textures │ │ │ │ └── optimized_tsdf_texture_mapped_mesh.png │ │ ├── meshes │ │ │ └── glue.dae │ │ ├── model.config │ │ └── model.sdf │ ├── hammer │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── __auto_.png │ │ │ │ ├── __auto_1.png │ │ │ │ ├── hammer-1_1_1.png │ │ │ │ └── hammer-1_1_noCulling.png │ │ ├── meshes │ │ │ └── hammer.dae │ │ ├── model-1_2.sdf │ │ ├── model-1_3.sdf │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf │ ├── plastic_cup │ │ ├── meshes │ │ │ └── plastic_cup.dae │ │ ├── model.config │ │ ├── model.rsdf │ │ └── model.sdf │ ├── snacks │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── snacks.material │ │ │ └── textures │ │ │ │ └── optimized_tsdf_texture_mapped_mesh.png │ │ ├── meshes │ │ │ └── snacks.dae │ │ ├── model.config │ │ └── model.sdf │ ├── soap │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── soap.material │ │ │ └── textures │ │ │ │ └── optimized_tsdf_texture_mapped_mesh.png │ │ ├── meshes │ │ │ └── soap.dae │ │ ├── model.config │ │ └── model.sdf │ ├── soap2 │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── soap2.material │ │ │ └── textures │ │ │ │ └── optimized_tsdf_texture_mapped_mesh.png │ │ ├── meshes │ │ │ └── soap2.dae │ │ ├── model.config │ │ └── model.sdf │ ├── soda_can │ │ ├── materials │ │ │ └── textures │ │ │ │ └── uda_can.png │ │ ├── meshes │ │ │ ├── soda_can.dae │ │ │ └── udacity-blue.png.001.png │ │ ├── model-1_2.sdf │ │ ├── model-1_3.sdf │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf │ └── sticky_notes │ │ ├── materials │ │ ├── scripts │ │ │ └── sticky_notes.material │ │ └── textures │ │ │ └── optimized_tsdf_texture_mapped_mesh.png │ │ ├── meshes │ │ └── sticky_notes.dae │ │ ├── model.config │ │ └── model.sdf ├── msg │ ├── DetectedObject.msg │ └── DetectedObjectsArray.msg ├── package.xml ├── scripts │ ├── capture_features.py │ ├── object_recognition.py │ ├── pcl_helper.py │ ├── segmentation.py │ ├── template.py │ └── train_svm.py ├── setup.py ├── src │ ├── cloud_transformer.cpp │ ├── feature_extractor.cpp │ └── sensor_stick │ │ ├── .features.py.swp │ │ ├── __init__.py │ │ ├── features.py │ │ ├── features.pyc │ │ ├── marker_tools.py │ │ ├── marker_tools.pyc │ │ ├── pcl_helper.py │ │ ├── pcl_helper.pyc │ │ ├── training_helper.py │ │ └── training_helper.pyc ├── srv │ ├── GetFloatArrayFeature.srv │ └── GetNormals.srv ├── urdf │ ├── sensor_stick.gazebo.xacro │ └── sensor_stick.urdf.xacro └── worlds │ └── pr2_perception.world ├── training_set.sav └── writeup_template.md /LICENSE: -------------------------------------------------------------------------------- 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