├── .gitignore ├── .trunk ├── actions ├── notifications ├── out └── tools ├── .vscode ├── .gitignore ├── extensions.json ├── launch.json ├── settings.json ├── tasks.json └── tools │ ├── launch.template.json │ ├── settings.template.json │ └── setup_vscode.py ├── LICENSE ├── OBJECT_LIST.md ├── README.md ├── air_sim.py ├── background.npy ├── config.yaml ├── doc └── dependencies │ ├── isaaclab-license.txt │ └── metagraspnet-license.txt ├── grasp_sampler ├── generate_grasp_object.py ├── generate_grasp_scene.py ├── visualize_data.py ├── visualize_grasp_object.py └── visualize_object.py ├── isaac_env ├── __init__.py ├── agents │ ├── __init__.py │ ├── custom_extractor.py │ ├── rl_games_ppo_cfg.yaml │ ├── robomimic │ │ ├── bc.json │ │ └── bcq.json │ ├── sb3_ppo_cfg.yaml │ ├── sb3_sac_cfg.yaml │ ├── skrl_gaussian_model.py │ └── skrl_ppo_cfg.yaml ├── air_env_base │ ├── __init__.py │ ├── element_cfg.py │ ├── env.py │ ├── env_cfg.py │ ├── sim.py │ └── wp_cfg.py ├── air_env_data │ ├── __init__.py │ ├── element_cfg.py │ ├── env.py │ ├── env_cfg.py │ ├── sim.py │ └── wp_cfg.py ├── air_env_grasp │ ├── __init__.py │ ├── element_cfg.py │ ├── env.py │ ├── env_cfg.py │ ├── sim.py │ └── wp_cfg.py ├── air_env_rl │ ├── __init__.py │ ├── element_cfg.py │ ├── env.py │ ├── env_cfg.py │ ├── sim.py │ └── wp_cfg.py ├── air_env_sb3 │ ├── __init__.py │ ├── element_cfg.py │ ├── env.py │ ├── env_cfg.py │ ├── sim.py │ └── wp_cfg.py ├── air_env_skrl │ ├── __init__.py │ ├── element_cfg.py │ ├── env.py │ ├── env_cfg.py │ ├── sim.py │ └── wp_cfg.py ├── air_env_targo │ ├── __init__.py │ ├── element_cfg.py │ ├── env.py │ ├── env_cfg.py │ ├── read_targo.py │ ├── sim.py │ └── wp_cfg.py ├── air_env_tele │ ├── __init__.py │ ├── element_cfg.py │ ├── env.py │ ├── env_cfg.py │ ├── sim.py │ └── wp_cfg.py └── utils.py ├── models ├── .thumbs │ └── 256x256 │ │ ├── ur10e_with_hand_e_and_camera_mount.usd.png │ │ └── ur10e_with_hand_e_and_camera_mount2.usd.png ├── Camera.usd ├── CameraMount │ ├── .thumbs │ │ └── 256x256 │ │ │ ├── CameraMount.usd.png │ │ │ ├── EF_Camera_Stand_V1.2.usd.png │ │ │ └── Mount_with_camera.usd.png │ ├── CameraMount.usd │ ├── EF_Camera_Stand_V1.2.stl │ ├── EF_Camera_Stand_V1.2.stp │ ├── EF_Camera_Stand_V1.2.usd │ ├── EF_Camera_Stand_V1.usd │ ├── Mount_with_camera.usd │ ├── Orbbec_Femto Mega_S.stp │ └── Orbbec_Femto Mega_S.usd ├── Gripper │ ├── Robotiq │ │ ├── .thumbs │ │ │ └── 256x256 │ │ │ │ └── Robotiq2F85.usd.png │ │ ├── Robotiq2F85.usd │ │ └── robotiq_arg2f_85_model.usd │ └── hande │ │ ├── robotiq_hande_description │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── README.md │ │ ├── cad_models │ │ │ ├── coupler.FCStd │ │ │ ├── coupler.FCStd1 │ │ │ ├── finger.FCStd │ │ │ ├── finger_collision.FCStd │ │ │ └── hande_step.FCStd │ │ ├── docs │ │ │ └── hande_rviz.gif │ │ ├── launch │ │ │ └── display.launch.py │ │ ├── meshes │ │ │ ├── coupler.dae │ │ │ ├── coupler.stl │ │ │ ├── finger.dae │ │ │ ├── finger.stl │ │ │ ├── finger_collision.dae │ │ │ ├── finger_collision.stl │ │ │ ├── hande.dae │ │ │ └── hande.stl │ │ ├── package.xml │ │ ├── rviz │ │ │ └── urdf.rviz │ │ └── urdf │ │ │ ├── materials.xacro │ │ │ ├── robotiq_hande_gripper.urdf.xacro │ │ │ ├── robotiq_hande_gripper.xacro │ │ │ └── robotiq_hande_gripper │ │ │ └── robotiq_hande_gripper.usd │ │ ├── robotiq_hande_gripper.urdf │ │ └── robotiq_hande_gripper │ │ ├── .thumbs │ │ └── 256x256 │ │ │ └── robotiq_hande_gripper.usd.png │ │ └── robotiq_hande_gripper.usd ├── Orbbec.usd ├── Robots │ └── UR │ │ ├── .thumbs │ │ └── 256x256 │ │ │ └── UR10e2.usd.png │ │ ├── UR10e.usd │ │ └── UR10e2.usd ├── Workspace │ ├── .thumbs │ │ └── 256x256 │ │ │ ├── CameraMount.usd.png │ │ │ ├── MountingPlate.usd.png │ │ │ ├── RobotTable.usd.png │ │ │ ├── RobotTable01.usd.png │ │ │ ├── Table.usd.png │ │ │ ├── Table_sim.usd.png │ │ │ ├── bin.usd.png │ │ │ └── cell.usd.png │ ├── CameraMount.usd │ ├── Materials │ │ ├── FOF_Mesh_Labels.mdl │ │ ├── FOF_Mesh_Magenta_Box.mdl │ │ ├── FOF_Mesh_Sticker.mdl │ │ └── Textures │ │ │ ├── FOF_Map_Labels_D.png │ │ │ ├── FOF_Map_Magenta_Box_D.png │ │ │ ├── FOF_Map_Magenta_Box_D_modified.png │ │ │ ├── FOF_Map_Magenta_Box_D_modified1.png │ │ │ ├── FOF_Map_Magenta_Box_MS.png │ │ │ ├── FOF_Map_Magenta_Box_N.png │ │ │ ├── FOF_Mesh_Labels_D.png │ │ │ └── Thumbs.db │ ├── MountingPlate.usd │ ├── Table.usd │ ├── Table_sim.usd │ └── small_KLT_visual.usd ├── finger_collision_left.stl ├── finger_collision_right.stl ├── franka_gripper_collision_mesh.stl ├── hand_collision.stl ├── obj.usd └── ur10e_with_hand_e_and_camera_mount.usd ├── pic ├── Screenshot from 2024-08-05 23-47-43.png ├── Screenshot from 2024-08-06 12-50-50.png ├── depth.png ├── gif.gif ├── grasps.png ├── normals.png ├── output.pcd ├── pic.png ├── pipeline.png ├── rgb.png ├── rl.gif └── segmentation.png ├── run.py ├── test_ur10cfg.py └── urdf_converter.py /.gitignore: -------------------------------------------------------------------------------- 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