├── .colcon ├── build │ └── .gitkeep ├── install │ └── .gitkeep └── log │ └── .gitkeep ├── .docker ├── Dockerfile └── entrypoint.sh ├── .github └── workflows │ ├── build-humble.yaml │ ├── build-jazzy.yaml │ ├── build-kilted.yaml │ └── lint.yaml ├── .gitignore ├── .pre-commit-config.yaml ├── .readthedocs.yaml ├── LICENSE ├── README.md ├── dependencies.repos ├── docker-compose.yml ├── docs ├── COLCON_IGNORE ├── Makefile ├── make.bat ├── requirements.txt └── source │ ├── conf.py │ ├── demos │ ├── docs │ │ └── panda_collecting_toycars.rst │ └── index.rst │ └── index.rst ├── grab2_behavior_tree ├── CMakeLists.txt ├── behavior_trees │ ├── bt_groot2.btproj │ ├── collect_cubes.xml │ ├── collect_toys.xml │ ├── lookaround_demo.xml │ ├── stack_cubes.xml │ └── target_ik_demo.xml ├── config │ └── panda_joint_trajectories.yaml ├── include │ └── grab2_behavior_tree │ │ ├── plugins │ │ └── action │ │ │ ├── compute_plan_to_target_ik.hpp │ │ │ ├── compute_top_down_grasp.hpp │ │ │ ├── detect_object.hpp │ │ │ ├── get_grasp_hardcoded.hpp │ │ │ ├── get_trajectory_from_yaml.hpp │ │ │ ├── grip.hpp │ │ │ ├── move.hpp │ │ │ └── reach_object.hpp │ │ └── utils.hpp ├── launch │ ├── bt_demo.launch.py │ └── grab2_engine.launch.py ├── package.xml ├── plugins │ └── action │ │ ├── compute_plan_to_target_ik.cpp │ │ ├── compute_top_down_grasp.cpp │ │ ├── detect_object.cpp │ │ ├── get_grasp_hardcoded.cpp │ │ ├── get_trajectory_from_yaml.cpp │ │ ├── grip.cpp │ │ ├── move.cpp │ │ └── reach_object.cpp └── src │ └── main.cpp ├── grab2_bt_grabber ├── CMakeLists.txt ├── behavior_trees │ └── reach_object.xml ├── config │ └── reach_object.yaml ├── include │ └── grab2_bt_grabber │ │ └── grabbers │ │ └── reach_object.hpp ├── launch │ └── reach_object_server.launch.py ├── package.xml └── src │ ├── grabbers │ └── reach_object.cpp │ └── main.cpp ├── grab2_controller ├── CMakeLists.txt ├── config │ ├── panda │ │ ├── initial_positions.yaml │ │ └── ros2_controllers.yaml │ ├── rviz2 │ │ ├── 3d_detection_cfg.yaml │ │ └── rviz2_config.rviz │ └── ur │ │ ├── initial_positions.yaml │ │ └── ros2_controllers.yaml ├── description │ ├── panda │ │ ├── panda.ros2_control.xacro │ │ └── panda.urdf.xacro │ ├── robotiq_2f_140 │ │ ├── README.md │ │ ├── meshes │ │ │ ├── collision │ │ │ │ ├── robotiq_arg2f_140_inner_finger.stl │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle.stl │ │ │ │ ├── robotiq_arg2f_140_outer_finger.stl │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle.stl │ │ │ │ ├── robotiq_arg2f_base_link.stl │ │ │ │ └── robotiq_arg2f_coupling.stl │ │ │ └── visual │ │ │ │ ├── robotiq_arg2f_140_inner_finger.stl │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle.stl │ │ │ │ ├── robotiq_arg2f_140_outer_finger.stl │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle.stl │ │ │ │ ├── robotiq_arg2f_base_link.stl │ │ │ │ └── robotiq_arg2f_coupling.stl │ │ └── robotiq_2f_140.xacro │ └── ur │ │ ├── ur.ros2_control.xacro │ │ └── ur.urdf.xacro ├── launch │ ├── panda_controllers.launch.py │ ├── ur10e_suction_gripper_controllers.launch.py │ └── ur5e_robotiq_2f_140_controllers.launch.py └── package.xml ├── grab2_curobo_planner ├── config │ ├── table.yaml │ └── toybox.yaml ├── grab2_curobo_planner │ ├── __init__.py │ ├── curobo │ │ ├── __init__.py │ │ └── motion_generation.py │ └── planning_server.py ├── launch │ └── planning_server.launch.py ├── package.xml ├── resource │ └── grab2_curobo_planner ├── setup.cfg ├── setup.py └── test │ ├── test_copyright.py │ ├── test_flake8.py │ └── test_pep257.py ├── grab2_grasp_generator ├── CMakeLists.txt ├── config │ └── isaac_grasp.yaml ├── include │ └── grab2_grasp_generator │ │ ├── grasp_generator.hpp │ │ └── visibility_control.h ├── package.xml ├── src │ ├── grasp_generator.cpp │ └── main.cpp └── test │ ├── CMakeLists.txt │ └── test_grasp_generator.cpp ├── grab2_msgs ├── CMakeLists.txt ├── action │ ├── ComputePlanThroughPoses.action │ ├── ComputePlanToTargetIK.action │ ├── GetIsaacGrasp.action │ └── ReachObject.action └── package.xml ├── grab2_planner ├── CMakeLists.txt ├── config │ └── panda_move_group.rviz ├── include │ └── grab2_planner │ │ └── planner_server.hpp ├── launch │ └── planning_server.launch.py ├── package.xml └── src │ ├── main.cpp │ └── planner_server.cpp ├── grab2_ros_common ├── CMakeLists.txt ├── include │ └── grab2_ros_common │ │ ├── bt_execution_server.hpp │ │ └── node.hpp └── package.xml └── isaac_sim_worlds ├── __init__.py ├── assets ├── objects │ ├── plate.usd │ └── toy_car.usd ├── robots │ ├── franka_alt_fingers.usd │ ├── suction_gripper.usd │ └── ur10e_short_suction.usd └── worlds │ └── toybox_world │ ├── Textures │ ├── Mat_Box_baseColor.jpg │ ├── Mat_Box_metallicRoughness_metal_scale0.jpg │ ├── Mat_Box_metallicRoughness_rough.jpg │ ├── Mat_Box_normal.jpg │ ├── Mat_Light_baseColor.png │ ├── Mat_Light_emissive.jpg │ ├── Mat_Light_metallicRoughness_metal_scale0.jpg │ ├── Mat_Light_metallicRoughness_rough.jpg │ ├── Mat_Room_baseColor.jpg │ ├── Mat_Room_metallicRoughness_metal.jpg │ ├── Mat_Room_metallicRoughness_rough.jpg │ ├── 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