├── .gitignore ├── .gitmodules ├── README.md ├── assets ├── 4d_viewer.png ├── dig_cluster.png ├── dig_crop1.png ├── dig_crop2.png └── dig_gui.png ├── data ├── robot_init_obs │ ├── bear.svo2 │ ├── light.svo2 │ ├── nerfgun.svo2 │ ├── red_box.svo2 │ ├── scissors.svo2 │ ├── stapler.svo2 │ ├── sunglasses.svo2 │ ├── usb_plug.svo2 │ └── wirecutter.svo2 ├── yumi_description │ ├── README.md │ ├── meshes │ │ ├── body.stl │ │ ├── coarse │ │ │ ├── .gitignore │ │ │ ├── body.stl │ │ │ ├── link_1.stl │ │ │ ├── link_2.stl │ │ │ ├── link_3.stl │ │ │ ├── link_4.stl │ │ │ ├── link_5.stl │ │ │ ├── link_6.stl │ │ │ └── link_7.stl │ │ ├── gripper │ │ │ ├── base.stl │ │ │ ├── coarse │ │ │ │ ├── base.stl │ │ │ │ └── finger.stl │ │ │ ├── finger.stl │ │ │ ├── yumi_finray_finger.stl │ │ │ └── yumi_finray_fingertip.stl │ │ ├── link_1.stl │ │ ├── link_2.stl │ │ ├── link_3.stl │ │ ├── link_4.stl │ │ ├── link_5.stl │ │ ├── link_6.stl │ │ └── link_7.stl │ └── urdf │ │ ├── materials.urdf │ │ ├── materials.xacro │ │ ├── utilities.urdf │ │ ├── utilities.xacro │ │ ├── yumi.gazebo.urdf │ │ ├── yumi.gazebo.xacro │ │ ├── yumi.transmission.urdf │ │ ├── yumi.transmission.xacro │ │ ├── yumi.urdf │ │ ├── yumi.urdf.xacro │ │ ├── yumi.xacro │ │ ├── yumi_pos.urdf.urdf │ │ ├── yumi_pos.urdf.xacro │ │ ├── yumi_servo_gripper.gazebo.urdf │ │ ├── yumi_servo_gripper.gazebo.xacro │ │ ├── yumi_servo_gripper.transmission.urdf │ │ ├── yumi_servo_gripper.transmission.xacro │ │ ├── yumi_servo_gripper.urdf │ │ └── yumi_servo_gripper.xacro └── zed │ ├── ZED2.stl │ └── zed_to_world.tf ├── pyproject.toml ├── rsrd ├── extras │ ├── cam_helpers.py │ ├── viser_rsrd.py │ └── zed.py ├── motion │ ├── atap_loss.py │ ├── motion_optimizer.py │ └── observation.py ├── robot │ ├── graspable_obj.py │ ├── motion_plan_yumi.py │ ├── planner.py │ └── yumi_coll_mat.py ├── transforms │ ├── __init__.py │ ├── _base.py │ ├── _se3.py │ ├── _so3.py │ └── utils │ │ ├── __init__.py │ │ └── _utils.py └── util │ ├── common.py │ ├── frame_detectors.py │ 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