├── .gitignore ├── LICENSE ├── README.md ├── doc ├── .gitignore ├── Makefile ├── README.md ├── acknowledgements.rst ├── additional_features.rst ├── cite.rst ├── communication_with_ros.rst ├── conf.py ├── create_virtual_worlds.rst ├── develop.rst ├── examples.rst ├── images │ ├── ATI_logo.png │ ├── FAROS_Logo.png │ ├── Harmony_logo.png │ ├── KCL-Logo.png │ ├── UoE.jpg │ ├── gui-controls.png │ ├── human_interaction.png │ ├── ik_ros_sys_overview.png │ ├── kuka_push.png │ ├── pybullet_objects.png │ ├── rgbd_cloud.png │ └── soft.png ├── index.rst ├── installation.rst ├── main_configuration.rst ├── make.bat ├── overview.rst └── thirdparty_human_urdf_LICENSE ├── install.sh ├── ros_pybullet_interface ├── CMakeLists.txt ├── msg │ ├── CalculateInverseKinematicsProblem.msg │ ├── JointInfo.msg │ ├── KeyboardEvent.msg │ ├── MouseEvent.msg │ ├── PybulletObject.msg │ └── ResetDebugVisualizerCamera.msg ├── package.xml ├── scripts │ └── ros_pybullet_interface_node.py ├── setup.py ├── src │ └── rpbi │ │ ├── __init__.py │ │ ├── pybullet_collision_object.py │ │ ├── pybullet_dynamic_object.py │ │ ├── pybullet_instance.py │ │ ├── pybullet_object.py │ │ ├── pybullet_object_pose.py │ │ ├── pybullet_rgbd_sensor.py │ │ ├── pybullet_robot.py │ │ ├── pybullet_robot_ik.py │ │ ├── pybullet_robot_joints.py │ │ ├── pybullet_robot_links.py │ │ ├── pybullet_robot_urdf.py │ │ ├── pybullet_sensor.py │ │ ├── pybullet_soft_body.py │ │ ├── pybullet_urdf.py │ │ ├── pybullet_visual_object.py │ │ ├── pybullet_visualizer.py │ │ └── ros_node.py └── srv │ ├── AddPybulletObject.srv │ ├── CalculateInverseKinematics.srv │ ├── GetDebugVisualizerCamera.srv │ ├── ResetEffState.srv │ ├── ResetJointState.srv │ └── RobotInfo.srv ├── rpbi_examples ├── CMakeLists.txt ├── configs │ ├── basic_example_human_model │ │ ├── config.yaml │ │ ├── human_model.yaml │ │ └── kuka_lwr.yaml │ ├── basic_example_kinova │ │ ├── config.yaml │ │ └── kinova.yaml │ ├── basic_example_kuka_lwr │ │ ├── config.yaml │ │ └── kuka_lwr.yaml │ ├── basic_example_nextage │ │ ├── config.yaml │ │ ├── nextage.yaml │ │ └── table.yaml │ ├── basic_example_talos │ │ ├── config.yaml │ │ └── talos.yaml │ ├── floor.yaml │ ├── human_interaction │ │ ├── box.yaml │ │ ├── config.yaml │ │ ├── ik.yaml │ │ ├── keyboard_scale.yaml │ │ ├── keyboard_to_joy.yaml │ │ ├── kuka_lwr.yaml │ │ ├── spacenav_scale.yaml │ │ └── teleop.yaml │ ├── interpolation │ │ ├── config.yaml │ │ ├── kuka_lwr.yaml │ │ ├── traj_lwr.yaml │ │ ├── visual_wpt1.yaml │ │ ├── visual_wpt2.yaml │ │ └── visual_wpt3.yaml │ ├── lfd │ │ ├── config.yaml │ │ ├── keyboard_scale.yaml │ │ ├── keyboard_to_joy.yaml │ │ ├── kuka_lwr.yaml │ │ ├── pushing_box.yaml │ │ ├── teleop.yaml │ │ └── visual_goal.yaml │ ├── nsl │ │ ├── bc_d20_1664663182235112824.regr │ │ ├── bc_d50_1664663453379648783.regr │ │ ├── box.yaml │ │ ├── config.yaml │ │ ├── goal_box.yaml │ │ └── kuka_lwr.yaml │ ├── nsl_haption │ │ ├── box.yaml │ │ ├── config.yaml │ │ ├── keyboard_scale.yaml │ │ ├── keyboard_to_joy.yaml │ │ └── kuka_lwr.yaml │ ├── optas_kuka_lwr_expr │ │ ├── config.yaml │ │ └── kuka_lwr.yaml │ ├── optas_kuka_lwr_expr2 │ │ ├── config.yaml │ │ └── kuka_lwr.yaml │ ├── pybullet_objects_example │ │ ├── config.yaml │ │ ├── dynamic_box.yaml │ │ └── visual_sphere.yaml │ ├── rgbd.rviz │ ├── run_kuka │ │ ├── config.yaml │ │ └── kuka_lwr.yaml │ ├── run_pose │ │ ├── config_human_model.yaml │ │ ├── config_kinova.yaml │ │ ├── config_kuka_lwr.yaml │ │ ├── config_talos.yaml │ │ ├── cup.mtl │ │ ├── cup.obj │ │ ├── cup.urdf │ │ ├── cup.yaml │ │ ├── human_model.yaml │ │ ├── kinova.yaml │ │ ├── kuka_lwr.yaml │ │ ├── table.yaml │ │ ├── talos.yaml │ │ └── whiteboard.yaml │ ├── soft_body │ │ ├── config.yaml │ │ ├── cube.mtl │ │ ├── cube.obj │ │ ├── cube.png │ │ ├── cube.urdf │ │ ├── cube.yaml │ │ ├── floor.yaml │ │ ├── plane.mtl │ │ ├── plane.obj │ │ ├── plane.urdf │ │ ├── plane.yaml │ │ ├── torus.vtk │ │ ├── torus.yaml │ │ ├── torus_deform.urdf │ │ ├── torus_deform.yaml │ │ ├── torus_textured.mtl │ │ └── torus_textured.obj │ └── teleop │ │ ├── config.yaml │ │ ├── keyboard_scale.yaml │ │ ├── keyboard_to_joy.yaml │ │ ├── kuka_lwr.yaml │ │ └── teleop.yaml ├── launch │ ├── basic_example_human_model.launch │ ├── basic_example_kinova.launch │ ├── basic_example_kuka_lwr.launch │ ├── basic_example_nextage.launch │ ├── basic_example_talos.launch │ ├── human_interaction.launch │ ├── interpolation.launch │ ├── lfd.launch │ ├── nsl.launch │ ├── nsl_haption.launch │ ├── optas_kuka_lwr_expr.launch │ ├── optas_kuka_lwr_expr2.launch │ ├── pybullet_objects_example.launch │ ├── pybullet_rgbd_example.launch │ ├── run_kuka.launch │ ├── run_pose_human_model.launch │ ├── run_pose_kinova.launch │ ├── run_pose_kuka_lwr.launch │ ├── run_pose_talos.launch │ ├── soft_body.launch │ └── teleop.launch ├── package.xml ├── robots │ ├── human_model.urdf │ └── kuka_lwr.urdf └── scripts │ ├── basic_robot_example_node.py │ ├── nsl.py │ ├── nsl_haption.py │ ├── orbit_node.py │ ├── pybullet_objects_example_node.py │ ├── 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