├── .gitignore ├── LICENSE ├── README.md ├── cad └── panda_realsense_D4xx.stl ├── dougsm_helpers ├── CMakeLists.txt ├── package.xml ├── scripts │ ├── set_realsense_autoexposure.sh │ └── test_build.py ├── setup.py └── src │ └── dougsm_helpers │ ├── __init__.py │ ├── gridshow.py │ ├── ros_control.py │ ├── tf_helpers.py │ └── timeit.py ├── franka_control_wrappers ├── CMakeLists.txt ├── config │ └── franka_controllers.yaml ├── franka_control_wrappers_plugin.xml ├── include │ └── franka_control_wrappers │ │ └── cartesian_velocity_node_controller.h ├── launch │ └── cartesian_velocity_controller.launch ├── package.xml ├── ros_nodes │ ├── set_panda_defaults.py │ └── test_panda_commander.py ├── setup.py └── src │ ├── cartesian_velocity_node_controller.cpp │ └── franka_control_wrappers │ ├── __init__.py │ └── panda_commander.py ├── ggcnn ├── CMakeLists.txt ├── cfg │ └── ggcnn_service.yaml ├── launch │ └── ggcnn_service.launch ├── msg │ └── Grasp.msg ├── package.xml ├── ros_nodes │ ├── ggcnn_predict_rt.py │ └── ggcnn_service.py ├── setup.py ├── src │ └── ggcnn │ │ ├── __init__.py │ │ ├── ggcnn.py │ │ ├── ggcnn_torch.py │ │ ├── grasp.py │ │ └── models │ │ ├── __init__.py │ │ └── epoch_29_model.hdf5 └── srv │ └── GraspPrediction.srv ├── mvp_grasping ├── CMakeLists.txt ├── cfg │ ├── mvp_grasp.yaml │ └── realsense.json ├── launch │ ├── grasp_entropy_service.launch │ ├── robot_bringup.launch │ └── wrist_realsense.launch ├── msg │ └── Grasp.msg ├── package.xml ├── ros_nodes │ ├── grasp_entropy_node.py │ ├── panda_fixed_baseline_grasp.py │ ├── panda_mvp_grasp.py │ └── panda_open_loop_grasp.py ├── setup.py ├── src │ └── mvp_grasping │ │ ├── __init__.py │ │ ├── grasp_stats.py │ │ ├── gridworld.py │ │ ├── panda_base_grasping_controller.py │ │ └── renderer.py └── srv │ ├── AddFailurePoint.srv │ └── NextViewpoint.srv ├── requirements.txt └── scales_interface ├── CATKIN_IGNORE ├── CMakeLists.txt ├── README.md ├── launch └── scales.launch ├── package.xml └── src └── scales.cpp 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