├── .gitignore ├── LICENSE.md ├── burg_toolkit ├── __init__.py ├── constants.py ├── core.py ├── grasp.py ├── gripper.py ├── io.py ├── mesh_processing.py ├── metrics.py ├── printout.py ├── render.py ├── sampling.py ├── scene_sim.py ├── sim.py ├── util.py └── visualization.py ├── data ├── gripper │ ├── dummy_robot.urdf │ ├── dummy_xyz_robot.urdf │ └── robotiq-2f-85 │ │ ├── README.md │ │ ├── robotiq-2f-base.mtl │ │ ├── robotiq-2f-base.obj │ │ ├── robotiq-2f-base.stl │ │ ├── robotiq-2f-coupler.mtl │ │ ├── robotiq-2f-coupler.obj │ │ ├── robotiq-2f-coupler.stl │ │ ├── robotiq-2f-driver.mtl │ │ ├── robotiq-2f-driver.obj │ │ ├── robotiq-2f-driver.stl │ │ ├── robotiq-2f-follower.mtl │ │ ├── robotiq-2f-follower.obj │ │ ├── robotiq-2f-follower.stl │ │ ├── robotiq-2f-pad.stl │ │ ├── robotiq-2f-spring_link.mtl │ │ ├── robotiq-2f-spring_link.obj │ │ ├── robotiq-2f-spring_link.stl │ │ ├── robotiq_2f_85.urdf │ │ └── textures │ │ ├── gripper-2f_BaseColor.jpg │ │ ├── gripper-2f_Metallic.jpg │ │ ├── gripper-2f_Normal.jpg │ │ └── gripper-2f_Roughness.jpg └── samples │ └── flathead-screwdriver │ ├── flatheadScrewdriver.png │ └── flatheadScrewdriverMediumResolution.ply ├── docs ├── Makefile ├── conf.py ├── index.rst └── make.bat ├── readme.md ├── scripts ├── fix_ycb_mtl_files.py ├── scene_visualizer.py └── setup_scenes_example.py ├── setup.py └── tests ├── grasp_testing.py ├── quick_tests.py └── rendering.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/LICENSE.md -------------------------------------------------------------------------------- /burg_toolkit/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/burg_toolkit/__init__.py -------------------------------------------------------------------------------- /burg_toolkit/constants.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/burg_toolkit/constants.py -------------------------------------------------------------------------------- /burg_toolkit/core.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/burg_toolkit/core.py -------------------------------------------------------------------------------- /burg_toolkit/grasp.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/burg_toolkit/grasp.py -------------------------------------------------------------------------------- /burg_toolkit/gripper.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/burg_toolkit/gripper.py -------------------------------------------------------------------------------- /burg_toolkit/io.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/burg_toolkit/io.py -------------------------------------------------------------------------------- /burg_toolkit/mesh_processing.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/burg_toolkit/mesh_processing.py -------------------------------------------------------------------------------- /burg_toolkit/metrics.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/burg_toolkit/metrics.py -------------------------------------------------------------------------------- /burg_toolkit/printout.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/burg_toolkit/printout.py -------------------------------------------------------------------------------- /burg_toolkit/render.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/burg_toolkit/render.py -------------------------------------------------------------------------------- /burg_toolkit/sampling.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/burg_toolkit/sampling.py -------------------------------------------------------------------------------- /burg_toolkit/scene_sim.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/burg_toolkit/scene_sim.py -------------------------------------------------------------------------------- /burg_toolkit/sim.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/burg_toolkit/sim.py -------------------------------------------------------------------------------- /burg_toolkit/util.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/burg_toolkit/util.py -------------------------------------------------------------------------------- /burg_toolkit/visualization.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/burg_toolkit/visualization.py -------------------------------------------------------------------------------- /data/gripper/dummy_robot.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/data/gripper/dummy_robot.urdf -------------------------------------------------------------------------------- /data/gripper/dummy_xyz_robot.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/data/gripper/dummy_xyz_robot.urdf -------------------------------------------------------------------------------- /data/gripper/robotiq-2f-85/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/data/gripper/robotiq-2f-85/README.md -------------------------------------------------------------------------------- /data/gripper/robotiq-2f-85/robotiq-2f-base.mtl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/data/gripper/robotiq-2f-85/robotiq-2f-base.mtl -------------------------------------------------------------------------------- /data/gripper/robotiq-2f-85/robotiq-2f-base.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/data/gripper/robotiq-2f-85/robotiq-2f-base.obj -------------------------------------------------------------------------------- /data/gripper/robotiq-2f-85/robotiq-2f-base.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/data/gripper/robotiq-2f-85/robotiq-2f-base.stl -------------------------------------------------------------------------------- /data/gripper/robotiq-2f-85/robotiq-2f-coupler.mtl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/data/gripper/robotiq-2f-85/robotiq-2f-coupler.mtl -------------------------------------------------------------------------------- /data/gripper/robotiq-2f-85/robotiq-2f-coupler.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/data/gripper/robotiq-2f-85/robotiq-2f-coupler.obj -------------------------------------------------------------------------------- /data/gripper/robotiq-2f-85/robotiq-2f-coupler.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/data/gripper/robotiq-2f-85/robotiq-2f-coupler.stl -------------------------------------------------------------------------------- /data/gripper/robotiq-2f-85/robotiq-2f-driver.mtl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/data/gripper/robotiq-2f-85/robotiq-2f-driver.mtl -------------------------------------------------------------------------------- /data/gripper/robotiq-2f-85/robotiq-2f-driver.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/data/gripper/robotiq-2f-85/robotiq-2f-driver.obj -------------------------------------------------------------------------------- /data/gripper/robotiq-2f-85/robotiq-2f-driver.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/data/gripper/robotiq-2f-85/robotiq-2f-driver.stl -------------------------------------------------------------------------------- /data/gripper/robotiq-2f-85/robotiq-2f-follower.mtl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/data/gripper/robotiq-2f-85/robotiq-2f-follower.mtl -------------------------------------------------------------------------------- /data/gripper/robotiq-2f-85/robotiq-2f-follower.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/data/gripper/robotiq-2f-85/robotiq-2f-follower.obj -------------------------------------------------------------------------------- /data/gripper/robotiq-2f-85/robotiq-2f-follower.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/data/gripper/robotiq-2f-85/robotiq-2f-follower.stl -------------------------------------------------------------------------------- /data/gripper/robotiq-2f-85/robotiq-2f-pad.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/data/gripper/robotiq-2f-85/robotiq-2f-pad.stl -------------------------------------------------------------------------------- /data/gripper/robotiq-2f-85/robotiq-2f-spring_link.mtl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/data/gripper/robotiq-2f-85/robotiq-2f-spring_link.mtl -------------------------------------------------------------------------------- /data/gripper/robotiq-2f-85/robotiq-2f-spring_link.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/data/gripper/robotiq-2f-85/robotiq-2f-spring_link.obj -------------------------------------------------------------------------------- /data/gripper/robotiq-2f-85/robotiq-2f-spring_link.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/data/gripper/robotiq-2f-85/robotiq-2f-spring_link.stl -------------------------------------------------------------------------------- /data/gripper/robotiq-2f-85/robotiq_2f_85.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/data/gripper/robotiq-2f-85/robotiq_2f_85.urdf -------------------------------------------------------------------------------- /data/gripper/robotiq-2f-85/textures/gripper-2f_BaseColor.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/data/gripper/robotiq-2f-85/textures/gripper-2f_BaseColor.jpg -------------------------------------------------------------------------------- /data/gripper/robotiq-2f-85/textures/gripper-2f_Metallic.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/data/gripper/robotiq-2f-85/textures/gripper-2f_Metallic.jpg -------------------------------------------------------------------------------- /data/gripper/robotiq-2f-85/textures/gripper-2f_Normal.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/data/gripper/robotiq-2f-85/textures/gripper-2f_Normal.jpg -------------------------------------------------------------------------------- /data/gripper/robotiq-2f-85/textures/gripper-2f_Roughness.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/data/gripper/robotiq-2f-85/textures/gripper-2f_Roughness.jpg -------------------------------------------------------------------------------- /data/samples/flathead-screwdriver/flatheadScrewdriver.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/data/samples/flathead-screwdriver/flatheadScrewdriver.png -------------------------------------------------------------------------------- /data/samples/flathead-screwdriver/flatheadScrewdriverMediumResolution.ply: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/data/samples/flathead-screwdriver/flatheadScrewdriverMediumResolution.ply -------------------------------------------------------------------------------- /docs/Makefile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/docs/Makefile -------------------------------------------------------------------------------- /docs/conf.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/docs/conf.py -------------------------------------------------------------------------------- /docs/index.rst: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/docs/index.rst -------------------------------------------------------------------------------- /docs/make.bat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/docs/make.bat -------------------------------------------------------------------------------- /readme.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/readme.md -------------------------------------------------------------------------------- /scripts/fix_ycb_mtl_files.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/scripts/fix_ycb_mtl_files.py -------------------------------------------------------------------------------- /scripts/scene_visualizer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/scripts/scene_visualizer.py -------------------------------------------------------------------------------- /scripts/setup_scenes_example.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/scripts/setup_scenes_example.py -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/setup.py -------------------------------------------------------------------------------- /tests/grasp_testing.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/tests/grasp_testing.py -------------------------------------------------------------------------------- /tests/quick_tests.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/tests/quick_tests.py -------------------------------------------------------------------------------- /tests/rendering.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mrudorfer/burg-toolkit/HEAD/tests/rendering.py --------------------------------------------------------------------------------