├── .gitignore ├── .travis.yml ├── .travis.yml.original ├── LICENSE.md ├── Readme.md ├── _config.yml ├── commands ├── collect_stack1_goals.sh ├── hidden_husky.sh ├── husky_conditional_image.sh ├── husky_discriminator.sh ├── husky_goal_discriminator.sh ├── husky_policy.sh ├── husky_pretrain_image.sh ├── husky_pretrain_image_gan.sh ├── husky_secondaries_no_ros.sh ├── jigsaws_conditional_image.sh ├── jigsaws_conditional_image_gan.sh ├── jigsaws_discriminator.sh ├── jigsaws_goal_discriminator.sh ├── jigsaws_pretrain_image.sh ├── jigsaws_pretrain_image_gan.sh ├── jigsaws_pretrain_image_no_ros.sh ├── learn_predictor.sh ├── multi_conditional_image_gan.sh ├── multi_discriminator.sh ├── multi_goal_discriminator.sh ├── multi_pose.sh ├── multi_pretrain_image_gan.sh ├── multi_pretrain_sampler.sh ├── multi_secondaries.sh ├── multi_secondaries_no_ros.sh ├── run_multi_conv_lstm.sh ├── run_multi_ff.sh ├── run_multi_lstm.sh ├── run_multi_tcn.sh ├── switch_stack.sh ├── switch_to_saved_weights.sh ├── switch_to_saved_weights_goal_sampler.sh ├── train_multi_conv_lstm.sh ├── train_multi_ff.sh ├── train_multi_lstm.sh └── train_multi_tcn.sh ├── costar_bullet ├── CMakeLists.txt ├── package.xml ├── scripts │ ├── README.md │ ├── gui_start │ ├── main.py │ └── start └── setup.py ├── costar_hyper ├── .env ├── LICENCE.md ├── README.md ├── __init__.py ├── block_stacking_dataset_README.md ├── block_stacking_reader.py ├── callbacks.py ├── choose_train_val_test.py ├── coord_conv.py ├── cornell_evaluate.py ├── cornell_grasp_classification_fine_tune.sh ├── cornell_grasp_dataset_reader.py ├── cornell_grasp_dataset_writer.py ├── cornell_grasp_train_classification.py ├── cornell_grasp_train_regression.py ├── cornell_grasp_train_regression.sh ├── cornell_hyperopt.sh ├── costar_block_stacking_internet_archive_download.py ├── costar_block_stacking_internet_archive_upload.py ├── costar_block_stacking_split_dataset.py ├── costar_block_stacking_train_ranked_regression.py ├── costar_block_stacking_train_regression.py ├── dataset │ ├── costar_block_stacking_v0.2_success_only_test_files.txt │ ├── costar_block_stacking_v0.2_success_only_train_files.txt │ ├── costar_block_stacking_v0.2_success_only_val_files.txt │ ├── costar_block_stacking_v0.4_success_only_test_files.txt │ ├── costar_block_stacking_v0.4_success_only_train_files.txt │ ├── costar_block_stacking_v0.4_success_only_val_files.txt │ ├── costar_combined_block_plush_stacking_v0.4_success_only_corrupted_files.txt │ ├── costar_combined_block_plush_stacking_v0.4_success_only_test_files.txt │ ├── costar_combined_block_plush_stacking_v0.4_success_only_train_files.txt │ ├── costar_combined_block_plush_stacking_v0.4_success_only_val_files.txt │ ├── costar_plush_block_stacking_v0.4_success_only_test_files.txt │ ├── costar_plush_block_stacking_v0.4_success_only_train_files.txt │ └── costar_plush_block_stacking_v0.4_success_only_val_files.txt ├── depth_image_encoding.py ├── google_grasp_hyperopt.py ├── grasp_dataset.py ├── grasp_eval_many.xsh ├── grasp_geometry.py ├── grasp_geometry_tf.py ├── grasp_loss.py ├── grasp_median_filter.py ├── grasp_success_fail_statistics.py ├── grasp_train.py ├── grasp_visualization.py ├── hyperopt.py ├── hyperopt_plot.py ├── hyperopt_rank.py ├── hyperparams │ ├── classification │ │ ├── 2018-02-28-16-13-51_real_run_classification_norm_s2_c2_w-fold-0-objectwise-train-on-23456789-val-on-01-vgg_dense_model-dataset_cornell_grasping-grasp_success_hyperparams.json │ │ ├── 2018-02-28-16-13-51_real_run_classification_norm_s2_c2_w-fold-0-objectwise-train-on-23456789-val-on-01-vgg_dense_model-dataset_cornell_grasping-grasp_success_hyperparams.txt │ │ ├── 2018-03-14-00-40-09-vgg19-dense_block.txt │ │ ├── 2018-03-16-06-15-01_-densenet_dense_model-dataset_cornell_grasping-grasp_success.txt │ │ └── 2018-05-03-17-02-01_inception_resnet_v2_classifier_model-_img_inception_resnet_v2_vec_dense_trunk_vgg_conv_block-dataset_cornell_grasping-grasp_success_hyperparams.json │ ├── regression │ │ ├── 2018-03-01-15-12-20_-vgg_regression_model-dataset_cornell_grasping-norm_sin2_cos2_hw_yx_6_hyperparams.json │ │ ├── 2018-03-05-23-05-07_-vgg_regression_model-dataset_cornell_grasping-norm_sin2_cos2_hw_yx_6_hyperparams.json │ │ └── nasnet_large.json │ ├── semantic_grasp_regression │ │ ├── 2018-06-25-03-45-46_vgg_semantic_grasp_regression_model-_img_vgg_vec_dense_trunk_vgg_conv_block-dataset_costar_block_stacking-grasp_goal_xyz_aaxyz_nsc_8_hyperparams.json │ │ ├── 2018-06-28-21-16-47_vgg_semantic_grasp_regression_model-_img_vgg_vec_dense_trunk_vgg_conv_block-dataset_costar_block_stacking-grasp_goal_xyz_aaxyz_nsc_8_hyperparams.json │ │ ├── 2018-07-06-22-34-31_nasnet_mobile_semantic_grasp_regression_model-_img_nasnet_mobile_vec_dense_trunk_vgg_conv_block-dataset_costar_block_stacking-grasp_goal_xyz_aaxyz_nsc_8_hyperparams.json │ │ ├── 2018-07-07-15-05-32_nasnet_mobile_semantic_grasp_regression_model-_img_nasnet_mobile_vec_dense_trunk_vgg_conv_block-dataset_costar_block_stacking-grasp_goal_xyz_aaxyz_nsc_8_hyperparams.json │ │ ├── 2018-07-16-02-02-53_vgg_semantic_grasp_regression_model-_img_vgg_vec_dense_block_trunk_nasnet_normal_a_cell-dataset_costar_block_stacking-grasp_goal_xyz_aaxyz_nsc_8_hyperparams.json │ │ └── notes.txt │ └── semantic_rotation_regression │ │ └── 2018-08-09-03-05-18_train_200_epochs-vgg_semantic_rotation_regression_model-_img_vgg_vec_dense_block_trunk_nasnet_normal_a_cell-dataset_costar_block_stacking-grasp_goal_aaxyz_nsc_5_hyperparams.json ├── hypertree_hyperopt.py ├── hypertree_model.py ├── hypertree_pose_metrics.py ├── hypertree_train.py ├── hypertree_utilities.py ├── inception_preprocessing.py ├── keras_distributed_single_prediction_grasp_train.sh ├── keras_workaround.py ├── pixelwise_prediction_grasp_train.sh ├── pixelwise_single_prediction_grasp_pretrain.sh ├── pixelwise_single_prediction_grasp_vrep.sh ├── ply.py ├── profile_grasp_dataset.py ├── push_dataset_grab_train.py ├── push_dataset_grab_train_images.py ├── random_crop.py ├── single_prediction_fine_tune.sh ├── single_prediction_grasp_train.sh ├── test_callbacks.py ├── test_grasp_dataset.py ├── test_grasp_geometry.py ├── test_grasp_loss.py ├── test_grasp_metrics.py ├── test_median_filter.py ├── test_pixelwise_attempt_train.sh ├── test_random_crop.py ├── test_single_attempt_train.sh ├── test_sva.py ├── vrep │ ├── __init__.py │ ├── complexCommandTest.py │ ├── depth_image_encoding.py │ ├── kukaRemoteApiCommandServerExample.lua │ ├── pathPlanningTest.py │ ├── ply.py │ ├── readMe.txt │ ├── remote_childscript.lua │ ├── remote_customizationscript.lua │ ├── simpleSynchronousTest.py │ ├── simpleTest.py │ ├── visualization.py │ ├── vrep.py │ └── vrepConst.py ├── vrep_costar_stack.py ├── vrep_google_brain_grasp.py ├── vrep_grasp.py └── xonsh_download.xsh ├── costar_models ├── CMakeLists.txt ├── HACKING.md ├── package.xml ├── python │ ├── costar_models │ │ ├── __init__.py │ │ ├── abstract.py │ │ ├── acceleration_loss.py │ │ ├── batch_renorm.py │ │ ├── callbacks.py │ │ ├── conditiona_image_jigsaws_mhp.py │ │ ├── conditional_image.py │ │ ├── conditional_image_costar.py │ │ ├── conditional_image_gan.py │ │ ├── conditional_image_gan_jigsaws.py │ │ ├── conditional_image_husky.py │ │ ├── conditional_image_husky_gan.py │ │ ├── conditional_image_jigsaws.py │ │ ├── conditional_sampler.py │ │ ├── costar.py │ │ ├── cpu.py │ │ ├── ctp_sampler_keypoints.py │ │ ├── ctp_visualize_decoder.py │ │ ├── data_utils.py │ │ ├── datasets │ │ │ ├── __init__.py │ │ │ ├── data_utils.py │ │ │ ├── depth_image_encoding.py │ │ │ ├── h5f.py │ │ │ ├── h5f_generator.py │ │ │ ├── image.py │ │ │ ├── npy_generator.py │ │ │ ├── npz.py │ │ │ └── tfrecord.py │ │ ├── dense.py │ │ ├── discriminator.py │ │ ├── dvrk.py │ │ ├── fast.py │ │ ├── gmm.py │ │ ├── husky.py │ │ ├── husky_callbacks.py │ │ ├── husky_model_utils.py │ │ ├── husky_sampler.py │ │ ├── image_sampler.py │ │ ├── instance_normalization.py │ │ ├── keras_utils.py │ │ ├── loss.py │ │ ├── mhp_loss.py │ │ ├── multi.py │ │ ├── multi_autoencoder_model.py │ │ ├── multi_conv_lstm_regression.py │ │ ├── multi_gan_model.py │ │ ├── multi_gan_sampler.py │ │ ├── multi_hierarchical.py │ │ ├── multi_lstm_regression.py │ │ ├── multi_policy.py │ │ ├── multi_regression_model.py │ │ ├── multi_sampler.py │ │ ├── multi_sampler_one_decoder.py │ │ ├── multi_sequence.py │ │ ├── multi_tcn_regression_model.py │ │ ├── next_image.py │ │ ├── openai_settings.py │ │ ├── openai_train.py │ │ ├── parse.py │ │ ├── permanent_dropout.py │ │ ├── planner.py │ │ ├── plotting.py │ │ ├── pose_lstm_regression.py │ │ ├── pose_tcn_regression.py │ │ ├── prednet.py │ │ ├── preprocess.py │ │ ├── pretrain_image.py │ │ ├── pretrain_image_costar.py │ │ ├── pretrain_image_gan.py │ │ ├── pretrain_image_husky.py │ │ ├── pretrain_image_husky_gan.py │ │ ├── pretrain_image_jigsaws.py │ │ ├── pretrain_image_jigsaws_gan.py │ │ ├── pretrain_sampler.py │ │ ├── resnet.py │ │ ├── robot_multi_models.py │ │ ├── secondary.py │ │ ├── temporary.py │ │ ├── trajectory.py │ │ └── util.py │ └── setup.py ├── scripts │ ├── convert_jigsaws.py │ ├── ctp_decoder.py │ ├── ctp_final.py │ ├── ctp_final_no_class.py │ ├── ctp_hidden.py │ ├── ctp_hidden_perturb.py │ ├── ctp_keypoints │ ├── ctp_model_tool │ ├── ctp_red.py │ ├── ctp_transform.py │ ├── ctp_validate │ ├── drl_main.py │ ├── fix_bad_csv.py │ ├── make_parallel_predictions │ ├── make_video │ ├── openai_model_evaluate │ ├── openai_model_tool │ ├── preprocess_images │ ├── show_images │ └── visualize_data └── setup.py ├── costar_plan_msgs ├── CMakeLists.txt ├── action │ ├── .PlanRequest.action.swp │ ├── Command.action │ └── PlanRequest.action ├── msg │ ├── ActionConfig.msg │ ├── ObjectConfig.msg │ └── Statistics.msg ├── package.xml └── srv │ ├── ConfigureObjects.srv │ └── TaskPlanRequest.srv ├── costar_planning_interface ├── CMakeLists.txt ├── cpp │ ├── align_test_node.cpp │ ├── auto │ │ ├── load_wam_skills_auto_data.hpp │ │ └── task_test_auto_data.cpp │ ├── collision_map.cpp │ ├── costar_planner.cpp │ ├── dist │ │ └── utils.cc │ ├── features.cpp │ ├── gripper.cpp │ ├── instantiated_skill.cpp │ ├── instantiated_skill_init.cpp │ ├── planning_interface_wrapper.cpp │ ├── predicate.cpp │ ├── robot_kinematics.cpp │ ├── simple_test_node.cpp │ ├── skill.cpp │ ├── task_model.cpp │ ├── task_test_node.cpp │ ├── test │ │ ├── cart_dmp_execution_test_node.cpp │ │ ├── costar_plan_node.cpp │ │ ├── dmp_execution_test_node.cpp │ │ ├── dmp_generation_test.cpp │ │ ├── execution_test_node.cpp │ │ ├── feature_computation_test.cpp │ │ ├── moveit_robot_test.cpp │ │ ├── training_test_node.cpp │ │ └── trajectory_generation_test.cpp │ ├── test_features.cpp │ ├── training_features.cpp │ ├── traj │ │ ├── cart_dmp_trajectory_distribution.cpp │ │ ├── dmp_trajectory_distribution.cpp │ │ └── trajectory_distribution.cpp │ ├── utils │ │ ├── commander.cpp │ │ └── params.cpp │ ├── visualize.cpp │ ├── wam │ │ ├── input.cpp │ │ └── load_wam_skills.hpp │ └── wam_training_features.cpp ├── include │ └── costar_task_plan │ │ ├── cart_dmp_trajectory_distribution.h │ │ ├── collision_map.h │ │ ├── costar_planner.h │ │ ├── dist │ │ ├── gmm.h │ │ ├── normal.h │ │ └── utils.h │ │ ├── dmp_trajectory_distribution.h │ │ ├── features.h │ │ ├── float_features.h │ │ ├── goal.h │ │ ├── gripper.h │ │ ├── instantiated_skill.h │ │ ├── option.h │ │ ├── planning_interface_wrapper.h │ │ ├── predicate.h │ │ ├── robot_kinematics.h │ │ ├── skill.h │ │ ├── task_model.h │ │ ├── task_server.h │ │ ├── test_features.h │ │ ├── training_features.h │ │ ├── trajectory.h │ │ ├── trajectory_distribution.h │ │ ├── utils │ │ ├── commander.h │ │ ├── params.h │ │ └── python.hpp │ │ ├── visualize.h │ │ └── wam_training_features.h ├── package.xml ├── python │ └── costar_planning_interface │ │ ├── __init__.py │ │ └── interface.py └── setup.py ├── costar_simulation ├── CMakeLists.txt ├── README.md ├── assembly │ ├── assembly1.sdf.xacro │ ├── assembly2.sdf.xacro │ ├── double.sdf.xacro │ ├── double1.sdf.xacro │ ├── double10.sdf.xacro │ ├── double2.sdf.xacro │ ├── double3.sdf.xacro │ ├── double4.sdf.xacro │ ├── double5.sdf.xacro │ ├── double6.sdf.xacro │ ├── double7.sdf.xacro │ ├── double8.sdf.xacro │ ├── double9.sdf.xacro │ ├── finished_assembly.sdf.xacro │ ├── training.sdf.xacro │ ├── training1.sdf.xacro │ ├── training2.sdf.xacro │ ├── training3.sdf.xacro │ ├── training4.sdf.xacro │ ├── training5.sdf.xacro │ ├── training6.sdf.xacro │ └── training7.sdf.xacro ├── config │ ├── controllers.yaml │ ├── fake_controllers.yaml │ ├── fetch_simple_grasping.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── sensors_kinect.yaml │ └── ur5_robotiq_parallel.srdf ├── controller │ ├── arm_controller.yaml │ ├── gripper_controller.yaml │ └── joint_state_controller.yaml ├── launch │ ├── blocks.launch │ ├── camera.launch.xml │ ├── controllers.launch │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── fetch.launch │ ├── husky.launch │ ├── magnetic_assembly.launch │ ├── magnetic_assembly_classes.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── run_benchmark_ompl.launch │ ├── rviz.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── stack.launch │ ├── test.world │ ├── trajectory_execution.launch.xml │ ├── ur5.launch │ ├── ur5_moveit_controller_manager.launch.xml │ ├── ur5_moveit_planning_execution.launch │ ├── ur5_moveit_sensor_manager.launch.xml │ ├── ur5_robotiq_parallel_upload.launch │ ├── warehouse.launch │ └── warehouse_settings.launch.xml ├── meshes │ ├── jaco │ │ ├── arm.SLDPRT │ │ ├── arm.STL │ │ ├── arm.dae │ │ ├── arm_half_1.STL │ │ ├── arm_half_1.dae │ │ ├── arm_half_2.STL │ │ ├── arm_half_2.dae │ │ ├── arm_mico.STL │ │ ├── arm_mico.dae │ │ ├── base.STL │ │ ├── base.dae │ │ ├── finger_distal.STL │ │ ├── finger_distal.dae │ │ ├── finger_proximal.STL │ │ ├── finger_proximal.dae │ │ ├── forearm.STL │ │ ├── forearm.dae │ │ ├── forearm_mico.STL │ │ ├── forearm_mico.dae │ │ ├── hand_2finger.STL │ │ ├── hand_2finger.dae │ │ ├── hand_3finger.STL │ │ ├── hand_3finger.dae │ │ ├── ring_big.STL │ │ ├── ring_small.STL │ │ ├── shoulder.STL │ │ ├── shoulder.dae │ │ ├── wrist.STL │ │ ├── wrist.dae │ │ ├── wrist_spherical_1.STL │ │ ├── wrist_spherical_1.dae │ │ ├── wrist_spherical_2.STL │ │ └── wrist_spherical_2.dae │ ├── kinect │ │ ├── kinect.dae │ │ ├── kinect.jpg │ │ └── kinect.tga │ ├── ur5 │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upper_arm.stl │ │ │ ├── wrist_1.stl │ │ │ ├── wrist_2.stl │ │ │ └── wrist_3.stl │ │ └── visual │ │ │ ├── Base.dae │ │ │ ├── Base.dae.obj │ │ │ ├── Forearm.dae │ │ │ ├── Forearm.dae.obj │ │ │ ├── Shoulder.dae │ │ │ ├── Shoulder.dae.obj │ │ │ ├── UpperArm.dae │ │ │ ├── UpperArm.dae.obj │ │ │ ├── Wrist1.dae │ │ │ ├── Wrist1.dae.obj │ │ │ ├── Wrist2.dae │ │ │ ├── Wrist2.dae.obj │ │ │ ├── Wrist3.dae │ │ │ └── Wrist3.dae.obj │ └── world │ │ ├── plane.obj │ │ └── plane.urdf ├── package.xml ├── python │ └── costar_simulation │ │ ├── __init__.py │ │ ├── experiment.py │ │ ├── manager.py │ │ └── parse.py ├── robot │ ├── create.urdf.xacro │ ├── create_circles_kinect.urdf.xacro │ ├── create_description │ │ ├── cmake │ │ │ ├── create_descriptionConfig-version.cmake │ │ │ └── create_descriptionConfig.cmake │ │ ├── meshes │ │ │ ├── create_body.dae │ │ │ └── create_body.tga │ │ ├── package.xml │ │ └── urdf │ │ │ ├── create.urdf.xacro │ │ │ └── create_gazebo.urdf.xacro │ ├── jaco │ │ ├── kinova.gazebo │ │ ├── kinova_common.xacro │ │ ├── kinova_finger_set.xacro │ │ └── kinova_inertial.xacro │ ├── jaco_arm.urdf.xacro │ ├── jaco_arm.xacro │ ├── jaco_description │ │ ├── CMakeLists.txt │ │ ├── README.ModelChanges.md │ │ ├── README.MoveIt.md │ │ ├── README.md │ │ ├── doc │ │ │ ├── DH Parameters - Kinova - 1.1.6.pdf │ │ │ └── Hand.png │ │ ├── launch │ │ │ ├── jaco_gazebo.launch │ │ │ ├── jaco_standalone_gazebo.launch │ │ │ └── test_two_arms.launch │ │ ├── meshes │ │ │ ├── jaco │ │ │ │ ├── 0_baseA.STL │ │ │ │ ├── 0_baseB_limb.STL │ │ │ │ ├── 1_shoulder_limb.STL │ │ │ │ ├── 2_upperarm_limb.STL │ │ │ │ ├── 3_forearm_limb.STL │ │ │ │ ├── 4_upperwrist_limb.STL │ │ │ │ ├── 5_lowerwrist_limb.STL │ │ │ │ ├── 6_hand_limb.STL │ │ │ │ ├── 7_index_finger.STL │ │ │ │ ├── 7_pinkie_finger.STL │ │ │ │ ├── 7_thumb_finger.STL │ │ │ │ ├── ring_1.STL │ │ │ │ ├── ring_2.STL │ │ │ │ ├── ring_3.STL │ │ │ │ ├── ring_4.STL │ │ │ │ ├── ring_5.STL │ │ │ │ └── ring_6.STL │ │ │ └── jaco2 │ │ │ │ ├── 0_baseA.STL │ │ │ │ ├── 0_baseB_limb.STL │ │ │ │ ├── 1_shoulder_limb.STL │ │ │ │ ├── 2_upperarm_limb.STL │ │ │ │ ├── 3_forearm_limb.STL │ │ │ │ ├── 4_upperwrist_limb.STL │ │ │ │ ├── 5_lowerwrist_limb.STL │ │ │ │ ├── 6_hand_limb.STL │ │ │ │ ├── 7_finger_mount_index.STL │ │ │ │ ├── 7_finger_mount_pinkie.STL │ │ │ │ ├── 7_finger_mount_thumb.STL │ │ │ │ ├── 8_finger_index.STL │ │ │ │ ├── 8_finger_pinkie.STL │ │ │ │ ├── 8_finger_thumb.STL │ │ │ │ ├── 9_finger_index_tip.STL │ │ │ │ ├── 9_finger_pinkie_tip.STL │ │ │ │ ├── 9_finger_thumb_tip.STL │ │ │ │ ├── ring_1.STL │ │ │ │ ├── ring_2.STL │ │ │ │ ├── ring_3.STL │ │ │ │ ├── ring_4.STL │ │ │ │ ├── ring_5.STL │ │ │ │ └── ring_6.STL │ │ ├── package.xml │ │ ├── transformURDF.sh │ │ └── urdf │ │ │ ├── jaco.urdf.xacro │ │ │ ├── jaco_joint_control.xacro │ │ │ ├── jaco_joint_control_vel.xacro │ │ │ ├── jaco_robot.urdf.xacro │ │ │ └── jaco_robot_multi.urdf.xacro │ ├── jaco_robot.urdf │ ├── jaco_robot.urdf.xacro │ ├── jaco_testing │ │ └── j2n6s300.xacro │ ├── kinect.xacro │ ├── kinect_gazebo2.urdf.xacro │ ├── kinect_properties2.xacro │ ├── kinova_description │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ └── display_kinova_robot.launch │ │ ├── meshes │ │ │ ├── arm.SLDPRT │ │ │ ├── arm.STL │ │ │ ├── arm.dae │ │ │ ├── arm_half_1.STL │ │ │ ├── arm_half_1.dae │ │ │ ├── arm_half_2.STL │ │ │ ├── arm_half_2.dae │ │ │ ├── arm_mico.STL │ │ │ ├── arm_mico.dae │ │ │ ├── base.STL │ │ │ ├── base.dae │ │ │ ├── finger_distal.STL │ │ │ ├── finger_distal.dae │ │ │ ├── finger_proximal.STL │ │ │ ├── finger_proximal.dae │ │ │ ├── forearm.STL │ │ │ ├── forearm.dae │ │ │ ├── forearm_mico.STL │ │ │ ├── forearm_mico.dae │ │ │ ├── hand_2finger.STL │ │ │ ├── hand_2finger.dae │ │ │ ├── hand_3finger.STL │ │ │ ├── hand_3finger.dae │ │ │ ├── ring_big.STL │ │ │ ├── ring_small.STL │ │ │ ├── shoulder.STL │ │ │ ├── shoulder.dae │ │ │ ├── wrist.STL │ │ │ ├── wrist.dae │ │ │ ├── wrist_spherical_1.STL │ │ │ ├── wrist_spherical_1.dae │ │ │ ├── wrist_spherical_2.STL │ │ │ └── wrist_spherical_2.dae │ │ ├── package.xml │ │ └── urdf │ │ │ ├── j2n4s300.xacro │ │ │ ├── j2n4s300_standalone.xacro │ │ │ ├── j2n6s200.xacro │ │ │ ├── j2n6s200_standalone.xacro │ │ │ ├── j2n6s300.xacro │ │ │ ├── j2n6s300_standalone.xacro │ │ │ ├── j2n7s300.xacro │ │ │ ├── j2n7s300_standalone.xacro │ │ │ ├── j2s6s300.xacro │ │ │ ├── j2s6s300_standalone.xacro │ │ │ ├── j2s7s300.xacro │ │ │ ├── j2s7s300_standalone.xacro │ │ │ ├── kinova.gazebo │ │ │ ├── kinova_common.xacro │ │ │ ├── kinova_finger_set.xacro │ │ │ ├── kinova_inertial.xacro │ │ │ ├── m1n4s200.xacro │ │ │ ├── m1n4s200_standalone.xacro │ │ │ ├── m1n6s200.xacro │ │ │ ├── m1n6s200_standalone.xacro │ │ │ ├── m1n6s300.xacro │ │ │ ├── m1n6s300_standalone.xacro │ │ │ └── two_arm_robot_example_standalone.xacro │ ├── robotiq_85_gripper │ │ ├── meshes │ │ │ ├── collision │ │ │ │ ├── robotiq_85_base_link.stl │ │ │ │ ├── robotiq_85_finger_link.stl │ │ │ │ ├── robotiq_85_finger_tip_link.stl │ │ │ │ ├── robotiq_85_inner_knuckle_link.stl │ │ │ │ └── robotiq_85_knuckle_link.stl │ │ │ └── visual │ │ │ │ ├── robotiq_85_base_link.dae │ │ │ │ ├── robotiq_85_base_link.dae.mtl │ │ │ │ ├── robotiq_85_base_link.dae.obj │ │ │ │ ├── robotiq_85_base_link.mtl │ │ │ │ ├── robotiq_85_finger_link.dae │ │ │ │ ├── robotiq_85_finger_link.dae.obj │ │ │ │ ├── robotiq_85_finger_tip_link.dae │ │ │ │ ├── robotiq_85_finger_tip_link.dae.obj │ │ │ │ ├── robotiq_85_inner_knuckle_link.dae │ │ │ │ ├── robotiq_85_inner_knuckle_link.dae.obj │ │ │ │ ├── robotiq_85_knuckle_link.dae │ │ │ │ └── robotiq_85_knuckle_link.dae.obj │ │ └── urdf │ │ │ ├── robotiq_85_base_link.dae.mtl │ │ │ ├── robotiq_85_gripper.transmission.xacro │ │ │ ├── robotiq_85_gripper.urdf.xacro │ │ │ ├── robotiq_85_gripper.xacro │ │ │ ├── robotiq_85_gripper_pybullet.urdf.xacro │ │ │ └── robotiq_85_gripper_sim_base.urdf.xacro │ ├── test_pb.py │ ├── transformURDF.sh │ ├── turtlebot_description │ │ ├── cmake │ │ │ ├── turtlebot_descriptionConfig-version.cmake │ │ │ └── turtlebot_descriptionConfig.cmake │ │ ├── meshes │ │ │ ├── sensors │ │ │ │ ├── 0_xtion_pro.jpg │ │ │ │ ├── astra.dae │ │ │ │ ├── astra.jpg │ │ │ │ ├── asus_xtion_pro_live.dae │ │ │ │ ├── asus_xtion_pro_live.png │ │ │ │ ├── kinect.dae │ │ │ │ ├── kinect.jpg │ │ │ │ ├── kinect.tga │ │ │ │ ├── r200.dae │ │ │ │ ├── r200.jpg │ │ │ │ ├── r200_bracket.stl │ │ │ │ ├── r200_bracket_end.stl │ │ │ │ ├── sensor_pole.dae │ │ │ │ ├── xtion_pro.jpg │ │ │ │ ├── xtion_pro_camera.dae │ │ │ │ ├── xtion_pro_camera.jpg │ │ │ │ └── xtion_pro_stack.dae │ │ │ └── stacks │ │ │ │ ├── circles │ │ │ │ ├── 68-02403-125_Spacer.dae │ │ │ │ ├── 68-02421-8000-RA_Turtlebot_F-F_Standoff.dae │ │ │ │ ├── 68-02421-8000-RA_Turtlebot_F-F_Standoff_color.png │ │ │ │ ├── 68-04552-1000-RA_Turtlebot_M-F_Standoff.dae │ │ │ │ ├── 68-04552-1000-RA_Turtlebot_M-F_Standoff_color.png │ │ │ │ ├── 68-04552-2000-RA_Turtlebot_M-F_Standoff.dae │ │ │ │ ├── 68-04552-2000-RA_Turtlebot_M-F_Standoff_color.png │ │ │ │ ├── 68-04556-RA_Kinect_Standoff_Assy.3ds │ │ │ │ ├── 68-04556-RA_Kinect_Standoff_Assy.dae │ │ │ │ ├── plate_0_logo.dae │ │ │ │ ├── plate_0_logo.tga │ │ │ │ ├── plate_1_logo.dae │ │ │ │ ├── plate_1_logo.tga │ │ │ │ ├── plate_2_logo.dae │ │ │ │ └── plate_2_logo.tga │ │ │ │ └── hexagons │ │ │ │ ├── images │ │ │ │ ├── 1f_pole.jpg │ │ │ │ ├── 1f_stack.jpg │ │ │ │ ├── 2f_pole.jpg │ │ │ │ ├── 2f_stack.jpg │ │ │ │ ├── 3f_pole.jpg │ │ │ │ ├── 3f_stack.jpg │ │ │ │ ├── 3f_stack1.jpg │ │ │ │ ├── kinect_pole.jpg │ │ │ │ └── kinect_pole_old.jpg │ │ │ │ ├── plate_bottom.dae │ │ │ │ ├── plate_middle.dae │ │ │ │ ├── plate_top.dae │ │ │ │ ├── pole_bottom.dae │ │ │ │ ├── pole_kinect.dae │ │ │ │ ├── pole_middle.dae │ │ │ │ └── pole_top.dae │ │ ├── package.xml │ │ ├── robots │ │ │ ├── create_circles_asus_xtion_pro.urdf.xacro │ │ │ ├── create_circles_kinect.urdf.xacro │ │ │ ├── kobuki_hexagons_astra.urdf.xacro │ │ │ ├── kobuki_hexagons_asus_xtion_pro.urdf.xacro │ │ │ ├── kobuki_hexagons_asus_xtion_pro_offset.urdf.xacro │ │ │ ├── kobuki_hexagons_kinect.urdf.xacro │ │ │ ├── kobuki_hexagons_r200.urdf.xacro │ │ │ ├── roomba_circles_asus_xtion_pro.urdf.xacro │ │ │ └── roomba_circles_kinect.urdf.xacro │ │ ├── test │ │ │ └── test_urdf.cpp │ │ └── urdf │ │ │ ├── common_properties.urdf.xacro │ │ │ ├── sensors │ │ │ ├── astra.urdf.xacro │ │ │ ├── asus_xtion_pro.urdf.xacro │ │ │ ├── asus_xtion_pro_offset.urdf.xacro │ │ │ ├── kinect.urdf.xacro │ │ │ └── r200.urdf.xacro │ │ │ ├── stacks │ │ │ ├── circles.urdf.xacro │ │ │ └── hexagons.urdf.xacro │ │ │ ├── turtlebot_common_library.urdf.xacro │ │ │ ├── turtlebot_gazebo.urdf.xacro │ │ │ └── turtlebot_properties.urdf.xacro │ ├── turtlebot_gazebo.urdf.xacro │ ├── ur5 │ │ ├── ur5.gazebo.urdf.xacro │ │ ├── ur5.gazebo.xacro │ │ ├── ur5.transmission.xacro │ │ ├── ur5.urdf.xacro │ │ └── ur5_pybullet.urdf.xacro │ ├── ur5_joint_limited.xacro │ ├── ur5_joint_limited_robot.xacro │ └── ur5_joint_limited_robot_pybullet.xacro ├── rviz │ └── simulation.rviz ├── scripts │ ├── example.py │ ├── husky_test.py │ ├── husky_test_data_write.py │ ├── record │ ├── reset │ ├── robotiq_gripper_action_server.py │ └── start ├── sdf │ └── table │ │ ├── model-1_2.sdf │ │ ├── model-1_3.sdf │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf ├── setup.py ├── urdf │ ├── ball │ │ ├── blue.urdf │ │ └── red.urdf │ ├── block │ │ ├── blue.urdf │ │ ├── green.urdf │ │ ├── obstacle.urdf │ │ ├── red.urdf │ │ └── yellow.urdf │ ├── box │ │ ├── box.dae │ │ ├── box.stl │ │ ├── box.urdf.xacro │ │ └── box.xacro │ ├── drill │ │ ├── drill.dae │ │ ├── drill.stl │ │ ├── drill.urdf.xacro │ │ ├── drill.xacro │ │ ├── drill_receptacle.dae │ │ ├── drill_receptacle.stl │ │ ├── drill_receptacle.urdf.xacro │ │ └── drill_receptacle.xacro │ ├── duplo │ │ ├── duplo.dae │ │ ├── duplo.stl │ │ ├── duplo.xacro │ │ ├── duplo1.urdf.xacro │ │ ├── duplo2.urdf.xacro │ │ ├── high_table.dae │ │ └── high_table.stl │ ├── kinect_floating.urdf.xacro │ ├── orange │ │ ├── orange.urdf.xacro │ │ └── orange.xacro │ ├── table │ │ ├── default_tom_table.urdf.xacro │ │ ├── license.txt │ │ ├── table.mtl │ │ ├── table.obj │ │ ├── table.xacro │ │ ├── table2.mtl │ │ ├── table2.obj │ │ ├── tabletop.jpg │ │ └── tom_table.xacro │ ├── tray │ │ ├── tray.jpg │ │ ├── tray_textured.mtl │ │ ├── tray_textured.obj │ │ ├── tray_textured2.mtl │ │ ├── tray_textured2.obj │ │ ├── tray_textured2.urdf │ │ └── traybox.urdf │ ├── turtlebot_gazebo.urdf.xacro │ └── turtlebot_properties.urdf.xacro └── worlds │ └── clearpath_playpen_with_camera.world ├── costar_task_plan ├── CMakeLists.txt ├── package.xml ├── python │ ├── .gitignore │ ├── .task_tree_search.swo │ ├── costar_task_plan │ │ ├── __init__.py │ │ ├── abstract │ │ │ ├── __init__.py │ │ │ ├── action.py │ │ │ ├── condition.py │ │ │ ├── dynamics.py │ │ │ ├── features.py │ │ │ ├── grammar.py │ │ │ ├── observe.py │ │ │ ├── option.py │ │ │ ├── params.py │ │ │ ├── parser.py │ │ │ ├── predicate.py │ │ │ ├── simple_conditions.py │ │ │ ├── state.py │ │ │ ├── task.py │ │ │ ├── task_parser.py │ │ │ ├── trajectory.py │ │ │ └── world.py │ │ ├── agent │ │ │ ├── __init__.py │ │ │ ├── abstract.py │ │ │ ├── actor_network.py │ │ │ ├── apl_ddpg.py │ │ │ ├── critic_network.py │ │ │ ├── ff.py │ │ │ ├── goal.py │ │ │ ├── grapher.py │ │ │ ├── keras_ddpg.py │ │ │ ├── keras_naf.py │ │ │ ├── memory.py │ │ │ ├── nn_planner.py │ │ │ ├── null.py │ │ │ ├── ou_process.py │ │ │ ├── random_agent.py │ │ │ ├── task.py │ │ │ └── util.py │ │ ├── datasets │ │ │ ├── __init__.py │ │ │ ├── dataset.py │ │ │ ├── tom.py │ │ │ ├── tools.py │ │ │ └── visr.py │ │ ├── grid_world │ │ │ ├── __init__.py │ │ │ ├── actor.py │ │ │ ├── ai_actor.py │ │ │ ├── crossworld.py │ │ │ ├── crossworld_rl.py │ │ │ ├── experience.py │ │ │ ├── game.py │ │ │ ├── goal.py │ │ │ ├── graphics.py │ │ │ ├── plan_actor.py │ │ │ ├── replay_buffer.py │ │ │ ├── rl.py │ │ │ ├── testing.py │ │ │ └── world.py │ │ ├── mcts │ │ │ ├── __init__.py │ │ │ ├── abstract.py │ │ │ ├── action.py │ │ │ ├── continuous_policies.py │ │ │ ├── continuous_sampler.py │ │ │ ├── crave.py │ │ │ ├── default_policies.py │ │ │ ├── execution.py │ │ │ ├── extract.py │ │ │ ├── initialize.py │ │ │ ├── kernel_regression.py │ │ │ ├── node.py │ │ │ ├── planning_problem.py │ │ │ ├── rollout.py │ │ │ ├── sample.py │ │ │ ├── score.py │ │ │ ├── search.py │ │ │ ├── select.py │ │ │ ├── validation.py │ │ │ └── widen.py │ │ ├── needle_master │ │ │ ├── __init__.py │ │ │ ├── actor.py │ │ │ ├── condition.py │ │ │ ├── demo.py │ │ │ ├── dynamics.py │ │ │ ├── environment.py │ │ │ ├── mcts.py │ │ │ ├── nm_file.py │ │ │ ├── reward.py │ │ │ ├── utils.py │ │ │ └── world.py │ │ ├── robotics │ │ │ ├── __init__.py │ │ │ ├── config.py │ │ │ ├── core │ │ │ │ ├── __init__.py │ │ │ │ ├── actor.py │ │ │ │ ├── condition.py │ │ │ │ ├── demo_features.py │ │ │ │ ├── demo_reward.py │ │ │ │ ├── detected_object.py │ │ │ │ ├── dmp_option.py │ │ │ │ ├── dmp_policy.py │ │ │ │ ├── dynamics.py │ │ │ │ ├── execute.py │ │ │ │ ├── features.py │ │ │ │ ├── frame.py │ │ │ │ ├── gmm_policy.py │ │ │ │ ├── gripper_status_listener.py │ │ │ │ ├── js_listener.py │ │ │ │ ├── lfd.py │ │ │ │ ├── record_option.py │ │ │ │ ├── task.py │ │ │ │ └── world.py │ │ │ ├── perception │ │ │ │ ├── __init__.py │ │ │ │ ├── transform_integrator.py │ │ │ │ └── urdf_to_collision_object.py │ │ │ ├── representation │ │ │ │ ├── __init__.py │ │ │ │ ├── cartesian.py │ │ │ │ ├── dmp_utils.py │ │ │ │ ├── fake_messages.py │ │ │ │ ├── features.py │ │ │ │ ├── file_utils.py │ │ │ │ ├── gmm.py │ │ │ │ ├── segmentation.py │ │ │ │ ├── skill.py │ │ │ │ ├── types.py │ │ │ │ ├── urdf_parser_py │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── sdf.py │ │ │ │ │ ├── urdf.py │ │ │ │ │ └── xml_reflection │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── basics.py │ │ │ │ │ │ └── core.py │ │ │ │ └── visualization_utils.py │ │ │ ├── tom │ │ │ │ ├── __init__.py │ │ │ │ ├── config.py │ │ │ │ ├── execute.py │ │ │ │ ├── gripper_option.py │ │ │ │ ├── orange.py │ │ │ │ ├── parse.py │ │ │ │ ├── task.py │ │ │ │ └── world.py │ │ │ └── workshop │ │ │ │ ├── __init__.py │ │ │ │ ├── config.py │ │ │ │ ├── listeners.py │ │ │ │ └── parse.py │ │ ├── simulation │ │ │ ├── __init__.py │ │ │ ├── actor.py │ │ │ ├── agents │ │ │ │ ├── albert.py │ │ │ │ ├── albert2.py │ │ │ │ └── albert3.py │ │ │ ├── bullet_gym.py │ │ │ ├── camera.py │ │ │ ├── client.py │ │ │ ├── condition.py │ │ │ ├── features.py │ │ │ ├── option.py │ │ │ ├── parse.py │ │ │ ├── reward.py │ │ │ ├── robots │ │ │ │ ├── __init__.py │ │ │ │ ├── abstract.py │ │ │ │ ├── iiwa_robotiq_3_finger.py │ │ │ │ ├── jaco_robotiq.py │ │ │ │ ├── turtlebot.py │ │ │ │ └── ur5_robotiq.py │ │ │ ├── tasks │ │ │ │ ├── __init__.py │ │ │ │ ├── abstract.py │ │ │ │ ├── blocks.py │ │ │ │ ├── clutter.py │ │ │ │ ├── default.py │ │ │ │ ├── drl_blocks.py │ │ │ │ ├── explore.py │ │ │ │ ├── mug.py │ │ │ │ ├── obstacles.py │ │ │ │ ├── obstructions.py │ │ │ │ ├── oranges.py │ │ │ │ ├── rings.py │ │ │ │ ├── ringsalbert.py │ │ │ │ ├── sorting.py │ │ │ │ ├── sorting2.py │ │ │ │ └── trays.py │ │ │ ├── util.py │ │ │ └── world.py │ │ └── tools │ │ │ ├── __init__.py │ │ │ ├── animate.py │ │ │ ├── draw │ │ │ ├── __init__.py │ │ │ └── sprite.py │ │ │ ├── evaluate_mcts.py │ │ │ ├── graph.py │ │ │ ├── optimize.py │ │ │ ├── plotting │ │ │ ├── __init__.py │ │ │ ├── plot.py │ │ │ └── plot_utils.py │ │ │ └── show_task.py │ └── setup.py ├── scripts │ ├── box2d │ │ └── lander_continuous_test.py │ ├── collect_blocks_data.py │ ├── create_training_data.py │ ├── discrete_reinforce_test.py │ ├── grid_world │ │ ├── crossworld.py │ │ ├── feature_generation_test.py │ │ ├── four_lane.py │ │ ├── generate_crossworld_test.py │ │ ├── local_map_test.py │ │ ├── play_random_crossworld.py │ │ └── random_crossworld.py │ ├── keras │ │ ├── deep_dream.py │ │ ├── figures │ │ │ └── random_MNIST_examples.png │ │ ├── gradients.py │ │ ├── keras_autoencoder.py │ │ ├── keras_cnn.py │ │ ├── keras_mnist_mlp_gan.py │ │ ├── keras_time_distributed.py │ │ └── lstm_nietzche_test.py │ ├── learn_regression_model.py │ ├── learn_simple.py │ ├── learn_two_layer_nn.py │ ├── needle_master │ │ ├── generate_trajectories.py │ │ ├── test.py │ │ └── trials │ │ │ ├── environment_0.txt │ │ │ ├── environment_1.txt │ │ │ ├── environment_10.txt │ │ │ ├── environment_11.txt │ │ │ ├── environment_12.txt │ │ │ ├── environment_2.txt │ │ │ ├── environment_3.txt │ │ │ ├── environment_4.txt │ │ │ ├── environment_5.txt │ │ │ ├── environment_6.txt │ │ │ ├── environment_7.txt │ │ │ ├── environment_8.txt │ │ │ ├── environment_9.txt │ │ │ ├── trial_0_1445267197347.csv │ │ │ ├── trial_0_1445267304540.csv │ │ │ ├── trial_0_1445267403753.csv │ │ │ ├── trial_10_1445267284640.csv │ │ │ ├── trial_10_1445267377876.csv │ │ │ ├── trial_10_1445267481471.csv │ │ │ ├── trial_11_1445267291853.csv │ │ │ ├── trial_11_1445267384100.csv │ │ │ ├── trial_11_1445267486682.csv │ │ │ ├── trial_12_1445267298761.csv │ │ │ ├── trial_1_1445267200953.csv │ │ │ ├── trial_1_1445267308009.csv │ │ │ ├── trial_1_1445267407967.csv │ │ │ ├── trial_2_1445267206181.csv │ │ │ ├── trial_2_1445267313284.csv │ │ │ ├── trial_2_1445267413841.csv │ │ │ ├── trial_3_1445267211473.csv │ │ │ ├── trial_3_1445267319776.csv │ │ │ ├── trial_3_1445267419670.csv │ │ │ ├── trial_4_1445267232537.csv │ │ │ ├── trial_4_1445267329373.csv │ │ │ ├── trial_4_1445267428986.csv │ │ │ ├── trial_5_1445267241007.csv │ │ │ ├── trial_5_1445267337856.csv │ │ │ ├── trial_5_1445267437571.csv │ │ │ ├── trial_5_1445267449108.csv │ │ │ ├── trial_6_1445267249376.csv │ │ │ ├── trial_6_1445267346384.csv │ │ │ ├── trial_6_1445267457374.csv │ │ │ ├── trial_7_1445267256063.csv │ │ │ ├── trial_7_1445267351144.csv │ │ │ ├── trial_7_1445267462902.csv │ │ │ ├── trial_8_1445267262162.csv │ │ │ ├── trial_8_1445267356649.csv │ │ │ ├── trial_8_1445267468184.csv │ │ │ ├── trial_9_1445267270299.csv │ │ │ ├── trial_9_1445267278354.csv │ │ │ ├── trial_9_1445267363733.csv │ │ │ ├── trial_9_1445267371821.csv │ │ │ └── trial_9_1445267473997.csv │ ├── simple_q_learning.py │ └── tensorflow │ │ └── mnist.py ├── setup.py └── tests │ ├── analyze_robot_multi_data.py │ ├── cem_test.py │ ├── function_cem_test.py │ ├── function_reinforce_test.py │ ├── mnist_gan_test.py │ ├── sampler_test.py │ ├── task_test.py │ └── tom_test_util │ └── publish_oranges.py ├── ctp_integration ├── CMakeLists.txt ├── Readme.md ├── launch │ ├── alvar.launch │ ├── bringup.launch │ ├── collect.launch │ ├── objects.launch │ ├── perception.launch │ └── robot.launch ├── package.xml ├── python │ └── ctp_integration │ │ ├── __init__.py │ │ ├── arm_policies.py │ │ ├── collector.py │ │ ├── constants.py │ │ ├── detect_objects.py │ │ ├── gripper.py │ │ ├── launcher.py │ │ ├── motion.py │ │ ├── observer.py │ │ ├── ros_geometry.py │ │ ├── service_caller.py │ │ ├── stack.py │ │ ├── stack_manager.py │ │ └── util.py ├── scripts │ ├── costar_hyper_prediction.py │ ├── plot_graph.py │ ├── plot_trajectory.py │ ├── run.py │ ├── stack_player.py │ └── view_convert_dataset.py └── setup.py ├── ctp_tom ├── CMakeLists.txt ├── Readme.md ├── data │ ├── About.md │ └── tom │ │ ├── feature_models │ │ ├── box_gmm.yml │ │ ├── move_gmm.yml │ │ ├── pickup_gmm.yml │ │ ├── test_gmm.yml │ │ └── trash_gmm.yml │ │ ├── skill_models │ │ ├── box00.yml │ │ ├── box01.yml │ │ ├── box02.yml │ │ ├── box03.yml │ │ ├── box04.yml │ │ ├── box05.yml │ │ ├── move00.yml │ │ ├── move01.yml │ │ ├── move02.yml │ │ ├── move03.yml │ │ ├── move04.yml │ │ ├── move05.yml │ │ ├── move06.yml │ │ ├── move07.yml │ │ ├── move08.yml │ │ ├── move09.yml │ │ ├── move10.yml │ │ ├── move11.yml │ │ ├── pickup00.yml │ │ ├── pickup01.yml │ │ ├── pickup02.yml │ │ ├── pickup03.yml │ │ ├── pickup04.yml │ │ ├── pickup05.yml │ │ ├── pickup06.yml │ │ ├── pickup07.yml │ │ ├── pickup08.yml │ │ ├── pickup09.yml │ │ ├── pickup10.yml │ │ ├── pickup11.yml │ │ ├── test00.yml │ │ ├── test01.yml │ │ ├── test02.yml │ │ ├── test03.yml │ │ ├── test04.yml │ │ ├── test05.yml │ │ ├── test06.yml │ │ ├── test07.yml │ │ ├── test08.yml │ │ ├── test09.yml │ │ ├── test10.yml │ │ ├── test11.yml │ │ ├── trash00.yml │ │ ├── trash01.yml │ │ ├── trash02.yml │ │ ├── trash03.yml │ │ ├── trash04.yml │ │ └── trash05.yml │ │ └── skills.yml ├── launch │ ├── collect_color_data.launch │ ├── collect_table_data.launch │ ├── fake_perception.launch │ ├── handeye.launch │ ├── moveit_conf │ │ └── tom_sim_controllers.yml │ ├── oranges.launch │ ├── perception.launch │ ├── planner.launch │ ├── rviz_conf │ │ ├── tom_perception.rviz │ │ └── tom_robot.rviz │ ├── scene.launch │ ├── segmenter.launch │ ├── simple_sim.launch │ └── train_color_nn.launch ├── package.xml ├── python │ └── ctp_tom │ │ ├── __init__.py │ │ ├── experiment.py │ │ ├── manager.py │ │ └── parse.py └── scripts │ ├── __init__.py │ ├── fake_objects.py │ ├── fake_scene.py │ ├── optimize_tom_actions.py │ ├── parse.py │ ├── plot_obj_traj_bag.py │ ├── plot_ontology_bag.py │ ├── table_integrator.py │ ├── tom_goto.py │ ├── tom_oranges.py │ ├── tom_sim.py │ └── tom_test.py ├── ctp_visual ├── CMakeLists.txt ├── Readme.md ├── package.xml ├── python │ └── ctp_visual │ │ ├── __init__.py │ │ └── search.py ├── scripts │ ├── gui_run.py │ ├── run.py │ └── run_husky.py └── setup.py ├── docs ├── README.md ├── add_a_robot.md ├── autoencoder_example.png ├── blocks_data.png ├── blocks_task_1.png ├── camera_image.jpeg ├── collect_data.md ├── costar_bullet.md ├── costar_real_robot.md ├── costar_ui.png ├── ctp_tom_basics.png ├── custom.png ├── description.md ├── design.md ├── development.md ├── docker_instructions.md ├── domains.md ├── experimental_travis.md ├── fake_tom.png ├── generate_task_model.md ├── grabbing_block.png ├── hidden1.png ├── hidden2.png ├── husky.md ├── install.md ├── introduction.md ├── learning.md ├── learning_gan.md ├── lstm.png ├── marcc.md ├── predictor_intermediate_results.png ├── pybullet.md ├── pybullet_ur5.png ├── segmentation.md ├── simulation.md ├── slurm_utils.md ├── startup.md ├── task_learning.md ├── task_learning_experiments.md ├── tests.md ├── tom.md ├── tom_data.md ├── tom_fake_robot.md ├── tom_high_table_workspace.png ├── tom_real_robot.md └── validation_notes.md ├── husky ├── Readme.md ├── husky │ ├── README.md │ ├── husky_control │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ ├── control.yaml │ │ │ ├── control_ur5.yaml │ │ │ ├── localization.yaml │ │ │ ├── teleop.yaml │ │ │ └── twist_mux.yaml │ │ ├── launch │ │ │ ├── control.launch │ │ │ └── teleop.launch │ │ ├── package.xml │ │ └── scripts │ │ │ └── stow_ur5 │ ├── husky_description │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── env-hooks │ │ │ └── 50.husky_description.sh │ │ ├── launch │ │ │ └── description.launch │ │ ├── meshes │ │ │ ├── accessories │ │ │ │ ├── 300_mm_sensor_arch.dae │ │ │ │ ├── 300_mm_sensor_arch.stl │ │ │ │ ├── 510_mm_sensor_arch.dae │ │ │ │ ├── 510_mm_sensor_arch.stl │ │ │ │ ├── kinect.dae │ │ │ │ ├── kinect.jpg │ │ │ │ ├── kinect.tga │ │ │ │ ├── lidar_mount.stl │ │ │ │ ├── lms1xx_mount.dae │ │ │ │ └── lms1xx_mount.stl │ │ │ ├── base_link.dae │ │ │ ├── base_link.stl │ │ │ ├── bumper.dae │ │ │ ├── bumper.stl │ │ │ ├── top_chassis.dae │ │ │ ├── top_chassis.stl │ │ │ ├── top_plate.dae │ │ │ ├── top_plate.stl │ │ │ ├── user_rail.dae │ │ │ ├── user_rail.stl │ │ │ ├── wheel.dae │ │ │ └── wheel.stl │ │ ├── package.xml │ │ └── urdf │ │ │ ├── accessories │ │ │ ├── kinect_camera.urdf.xacro │ │ │ ├── sensor_arch.urdf.xacro │ │ │ └── sick_lms1xx_mount.urdf.xacro │ │ │ ├── decorations.urdf.xacro │ │ │ ├── description.xacro │ │ │ ├── husky.urdf.xacro │ │ │ └── wheel.urdf.xacro │ ├── husky_msgs │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── msg │ │ │ └── HuskyStatus.msg │ │ └── package.xml │ ├── husky_navigation │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ ├── costmap_common.yaml │ │ │ ├── costmap_exploration.yaml │ │ │ ├── costmap_global_laser.yaml │ │ │ ├── costmap_global_static.yaml │ │ │ ├── costmap_local.yaml │ │ │ └── planner.yaml │ │ ├── launch │ │ │ ├── amcl.launch │ │ │ ├── amcl_demo.launch │ │ │ ├── exploration.launch │ │ │ ├── exploration_demo.launch │ │ │ ├── gmapping.launch │ │ │ ├── gmapping_demo.launch │ │ │ ├── move_base.launch │ │ │ └── move_base_mapless_demo.launch │ │ ├── maps │ │ │ ├── playpen_map.pgm │ │ │ └── playpen_map.yaml │ │ └── package.xml │ └── husky_ur5_moveit_config │ │ ├── .setup_assistant │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── config │ │ ├── fake_controllers.yaml │ │ ├── husky_ur5.srdf │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ ├── padding.yaml │ │ ├── real_controllers.yaml │ │ ├── sensors_rgbd.yaml │ │ └── sim_controllers.yaml │ │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── husky_ur5_moveit_controller_manager.launch.xml │ │ ├── husky_ur5_moveit_sensor_manager.launch.xml │ │ ├── husky_ur5_planning_execution.launch │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.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 ├── husky_desktop │ ├── README.md │ ├── husky_desktop │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ └── package.xml │ └── husky_viz │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── launch │ │ ├── view_model.launch │ │ └── view_robot.launch │ │ ├── package.xml │ │ └── rviz │ │ ├── model.rviz │ │ └── robot.rviz └── husky_simulator │ ├── README.md │ ├── husky_gazebo │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── env-hooks │ │ └── 50.husky_gazebo.sh │ ├── launch │ │ ├── husky_circuit2.launch │ │ ├── husky_empty_world.launch │ │ ├── husky_playpen.launch │ │ └── spawn_husky.launch │ ├── package.xml │ ├── urdf │ │ ├── accessories │ │ │ └── kinect_camera.gazebo.xacro │ │ ├── description.gazebo.xacro │ │ └── husky.gazebo.xacro │ └── worlds │ │ ├── clearpath_playpen.world │ │ └── clearpath_playpen_with_camera.world │ └── husky_simulator │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── learning_planning_msgs ├── CMakeLists.txt ├── msg │ ├── Alias.msg │ ├── DemonstrationInfo.msg │ ├── HandInfo.msg │ ├── ObjectInfo.msg │ ├── Status.msg │ ├── TaskInfo.msg │ ├── Transition.msg │ └── TransitionParameters.msg └── package.xml ├── ontology_msgs ├── CMakeLists.txt ├── README.md ├── msg │ ├── Activity.msg │ ├── DebugVRLearning.msg │ ├── DisplayLabel.msg │ ├── Graph.msg │ ├── GraphNode.msg │ ├── GraphUpdate.msg │ ├── HandUpdate.msg │ ├── ObjUpdate.msg │ ├── ObjectData.msg │ ├── OntoProperty.msg │ ├── OntoPropertyList.msg │ ├── PropertyChanged.msg │ └── SimulationStateChange.msg └── package.xml ├── setup.py ├── setup ├── costar_models_module │ └── 0.0.1.lua ├── experimental.sh ├── experimental_travis_tests.sh ├── init_marcc.sh ├── python3.sh ├── reinstall_ros_indigo.sh ├── reset_ros.sh ├── setup_docker.sh ├── setup_indigo.sh ├── setup_indigo_test.sh ├── setup_kinetic.sh ├── setup_marcc.sh ├── setup_tom.sh └── 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