├── code ├── .gitignore ├── LICENSE ├── README.md ├── compile_proto.sh ├── experiments │ ├── cube_and_bowl_mrcnn │ │ ├── __init__.py │ │ ├── agent_bullet.py │ │ ├── configs.py │ │ ├── hyperparams.py │ │ └── log.txt │ ├── pouring_with_grasp_pos_control_lacan │ │ ├── __init__.py │ │ ├── agent_baxter.py │ │ ├── configs.py │ │ └── hyperparams.py │ ├── pouring_with_grasp_vel_control_lacan │ │ ├── __init__.py │ │ ├── agent_baxter.py │ │ ├── configs.py │ │ ├── hyperparams.py │ │ └── playback.py │ ├── pushing_with_grasp_pos_control_hexagon │ │ ├── __init__.py │ │ ├── agent_baxter.py │ │ ├── configs.py │ │ └── hyperparams.py │ └── stacking_with_grasp_pos_control_hexagon │ │ ├── __init__.py │ │ ├── agent_baxter.py │ │ ├── configs.py │ │ └── hyperparams.py ├── imgui.ini ├── python │ ├── .run_pipeline.py.swp │ ├── __init__.py │ ├── data_collection │ │ ├── collect_data_for_visual_features.py │ │ ├── collect_demo_prerecorded.py │ │ ├── collect_new_trajectory.py │ │ └── collect_new_trajectory_w_gps_agent.py │ ├── gps │ │ ├── __init__.py │ │ ├── agent │ │ │ ├── __init__.py │ │ │ ├── agent.py │ │ │ ├── agent_utils.py │ │ │ ├── baxter │ │ │ │ ├── .tmux.conf │ │ │ │ ├── __init__.py │ │ │ │ ├── agent_baxter.py │ │ │ │ ├── agent_baxter_rcnn.py │ │ │ │ ├── agent_baxter_tcn.py │ │ │ │ ├── agent_baxter_tcn_depth.py │ │ │ │ ├── baxter_utils.py │ │ │ │ ├── bell.wav │ │ │ │ ├── plans.py │ │ │ │ └── tcn.py │ │ │ ├── box2d │ │ │ │ ├── __init__.py │ │ │ │ ├── agent_box2d.py │ │ │ │ ├── arm_world.py │ │ │ │ ├── framework.py │ │ │ │ ├── point_mass_world.py │ │ │ │ ├── pygame_framework.py │ │ │ │ └── settings.py │ │ │ ├── bullet │ │ │ │ ├── __init__.py │ │ │ │ ├── agent_bullet.py │ │ │ │ ├── agent_bullet_mrcnn.py │ │ │ │ └── bullet_utils.py │ │ │ ├── config.py │ │ │ ├── mjc │ │ │ │ ├── __init__.py │ │ │ │ └── agent_mjc.py │ │ │ └── ros │ │ │ │ ├── __init__.py │ │ │ │ ├── agent_ros.py │ │ │ │ └── ros_utils.py │ │ ├── algorithm │ │ │ ├── __init__.py │ │ │ ├── algorithm.py │ │ │ ├── algorithm_badmm.py │ │ │ ├── algorithm_mdgps.py │ │ │ ├── algorithm_mdgps_pilqr.py │ │ │ ├── algorithm_pigps.py │ │ │ ├── algorithm_traj_opt.py │ │ │ ├── algorithm_traj_opt_pi2.py │ │ │ ├── algorithm_traj_opt_pilqr.py │ │ │ ├── algorithm_utils.py │ │ │ ├── config.py │ │ │ ├── cost │ │ │ │ ├── __init__.py │ │ │ │ ├── config.py │ │ │ │ ├── cost.py │ │ │ │ ├── cost_action.py │ │ │ │ ├── cost_binary_region.py │ │ │ │ ├── cost_fk.py │ │ │ │ ├── cost_fk_blocktouch.py │ │ │ │ ├── cost_lin_wp.py │ │ │ │ ├── cost_obj_trajectory.py │ │ │ │ ├── cost_obs.py │ │ │ │ ├── cost_state.py │ │ │ │ ├── cost_sum.py │ │ │ │ ├── cost_utils.py │ │ │ │ └── cost_visual.py │ │ │ ├── dynamics │ │ │ │ ├── __init__.py │ │ │ │ ├── config.py │ │ │ │ ├── dynamics.py │ │ │ │ ├── dynamics_lr.py │ │ │ │ ├── dynamics_lr_prior.py │ │ │ │ ├── dynamics_prior_gmm.py │ │ │ │ └── dynamics_utils.py │ │ │ ├── policy │ │ │ │ ├── __init__.py │ │ │ │ ├── caffe_policy.py │ │ │ │ ├── config.py │ │ │ │ ├── lin_gauss_init.py │ │ │ │ ├── lin_gauss_policy.py │ │ │ │ ├── policy.py │ │ │ │ ├── policy_prior.py │ │ │ │ ├── policy_prior_gmm.py │ │ │ │ └── tf_policy.py │ │ │ ├── policy_opt │ │ │ │ ├── __init__.py │ │ │ │ ├── config.py │ │ │ │ ├── policy_layers.py │ │ │ │ ├── policy_opt.py │ │ │ │ ├── policy_opt_caffe.py │ │ │ │ ├── policy_opt_tf.py │ │ │ │ ├── policy_opt_utils.py │ │ │ │ ├── tf_checkpoint │ │ │ │ │ └── .gitkeep │ │ │ │ ├── tf_model_example.py │ │ │ │ └── tf_utils.py │ │ │ └── traj_opt │ │ │ │ ├── __init__.py │ │ │ │ ├── config.py │ │ │ │ ├── traj_opt.py │ │ │ │ ├── traj_opt_lqr.py │ │ │ │ ├── traj_opt_lqr_python.py │ │ │ │ ├── traj_opt_pi2.py │ │ │ │ ├── traj_opt_pilqr.py │ │ │ │ └── traj_opt_utils.py │ │ ├── gps_main.py │ │ ├── gui │ │ │ ├── __init__.py │ │ │ ├── action_panel.py │ │ │ ├── config.py │ │ │ ├── gps_training_gui.py │ │ │ ├── image_visualizer.py │ │ │ ├── mean_plotter.py │ │ │ ├── plotter_3d.py │ │ │ ├── ps3_config.py │ │ │ ├── realtime_plotter.py │ │ │ ├── target_setup_gui.py │ │ │ ├── textbox.py │ │ │ └── util.py │ │ ├── proto │ │ │ ├── __init__.py │ │ │ └── gps_pb2.py │ │ ├── sample │ │ │ ├── __init__.py │ │ │ ├── sample.py │ │ │ └── sample_list.py │ │ └── utility │ │ │ ├── __init__.py │ │ │ ├── data_logger.py │ │ │ ├── feature_utils.py │ │ │ ├── general_utils.py │ │ │ ├── gmm.py │ │ │ ├── mrcnn_utils │ │ │ ├── plot_utils.py │ │ │ ├── tcn_utils.py │ │ │ └── utils.py │ ├── pixel-feature-learning-master │ │ ├── LICENSE.txt │ │ ├── README.md │ │ ├── __MACOSX │ │ │ ├── ._pixel-feature-learning-master │ │ │ └── pixel-feature-learning-master │ │ │ │ ├── ._.DS_Store │ │ │ │ ├── ._.gitignore │ │ │ │ ├── ._LICENSE.txt │ │ │ │ ├── ._README.md │ │ │ │ ├── ._config │ │ │ │ ├── ._data_generation │ │ │ │ ├── ._dense_correspondence │ │ │ │ ├── ._modules │ │ │ │ ├── ._nearest-neighbour-visualization │ │ │ │ ├── config │ │ │ │ ├── ._defaults.yaml │ │ │ │ ├── ._dense_correspondence │ │ │ │ ├── ._docker_run_config.yaml │ │ │ │ ├── ._download_pdc_data.py │ │ │ │ ├── ._setup_environment.sh │ │ │ │ └── dense_correspondence │ │ │ │ │ ├── ._dataset │ │ │ │ │ ├── ._evaluation │ │ │ │ │ ├── ._heatmap_vis │ │ │ │ │ ├── ._training │ │ │ │ │ ├── dataset │ │ │ │ │ ├── ._composite │ │ │ │ │ ├── ._multi_object │ │ │ │ │ ├── ._salad │ │ │ │ │ ├── ._single_object │ │ │ │ │ ├── composite │ │ │ │ │ │ ├── ._4_shoes_all.yaml │ │ │ │ │ │ ├── ._all_3.yaml │ │ │ │ │ │ ├── ._baymax_1_train.yaml │ │ │ │ │ │ ├── ._baymax_front_only.yaml │ │ │ │ │ │ ├── ._baymax_only.yaml │ │ │ │ │ │ ├── ._brown_boot_shoe_only.yaml │ │ │ │ │ │ ├── ._caterpillar_baymax.yaml │ │ │ │ │ │ ├── ._caterpillar_baymax_starbot_all.yaml │ │ │ │ │ │ ├── ._caterpillar_baymax_starbot_all_front.yaml │ │ │ │ │ │ ├── ._caterpillar_baymax_starbot_all_front_single_only.yaml │ │ │ │ │ │ ├── ._caterpillar_baymax_starbot_onlymulti.yaml │ │ │ │ │ │ ├── ._caterpillar_baymax_starbot_onlymulti_front.yaml │ │ │ │ │ │ ├── ._caterpillar_only.yaml │ │ │ │ │ │ ├── ._caterpillar_only_9.yaml │ │ │ │ │ │ ├── ._cooking.yaml │ │ │ │ │ │ ├── ._cooking_march.yaml │ │ │ │ │ │ ├── ._destroyer.yaml │ │ │ │ │ │ ├── ._duck_only.yaml │ │ │ │ │ │ ├── ._duck_robot.yaml │ │ │ │ │ │ ├── ._entire_dataset.yaml │ │ │ │ │ │ ├── ._example.yaml │ │ │ │ │ │ ├── ._gray_nike_only.yaml │ │ │ │ │ │ ├── ._green_nike_only.yaml │ │ │ │ │ │ ├── ._hat_mit_black_only.yaml │ │ │ │ │ │ ├── ._hat_mit_red_only.yaml │ │ │ │ │ │ ├── ._hat_princeton_orange_only.yaml │ │ │ │ │ │ ├── ._hat_train_6.yaml │ │ │ │ │ │ ├── ._jalapeno_pepper_only.yaml │ │ │ │ │ │ ├── ._mugs_all.yaml │ │ │ │ │ │ ├── ._pepper_chilli.yaml │ │ │ │ │ │ ├── ._red_bowl_only.yaml │ │ │ │ │ │ ├── ._red_nike_only.yaml │ │ │ │ │ │ ├── ._shoe_train_4_shoes.yaml │ │ │ │ │ │ ├── ._shoes_all.yaml │ │ │ │ │ │ ├── ._six_objects_and_multi.yaml │ │ │ │ │ │ ├── ._star_bot_front_only.yaml │ │ │ │ │ │ ├── ._star_bot_only.yaml │ │ │ │ │ │ ├── ._starbot_1_train.yaml │ │ │ │ │ │ ├── ._toy.yaml │ │ │ │ │ │ └── ._toy_old.yaml │ │ │ │ │ ├── multi_object │ │ │ │ │ │ ├── ._4_shoes.yaml │ │ │ │ │ │ ├── ._caterpillar_baymax_starbot.yaml │ │ │ │ │ │ ├── ._caterpillar_baymax_starbot_front_only.yaml │ │ │ │ │ │ └── ._multi_object.yaml │ │ │ │ │ ├── salad │ │ │ │ │ │ ├── ._salad.yaml │ │ │ │ │ │ └── ._salad_multilabel.yaml │ │ │ │ │ └── single_object │ │ │ │ │ │ ├── ._10_caterpillar_scenes.yaml │ │ │ │ │ │ ├── ._10_drill_scenes.yaml │ │ │ │ │ │ ├── ._Broccoli.yaml │ │ │ │ │ │ ├── ._Cucumber.yaml │ │ │ │ │ │ ├── ._Cucumber_Slice_convert.yaml │ │ │ │ │ │ ├── ._Jalapeno_Pepper.yaml │ │ │ │ │ │ ├── ._Sliced_Cucumber.yaml │ │ │ │ │ │ ├── ._Tomato.yaml │ │ │ │ │ │ ├── ._Tomato_Slice_convert.yaml │ │ │ │ │ │ ├── ._baymax.yaml │ │ │ │ │ │ ├── ._baymax_1_train.yaml │ │ │ │ │ │ ├── ._baymax_front.yaml │ │ │ │ │ │ ├── ._cabbage.yaml │ │ │ │ │ │ ├── ._caterpillar_17_scenes.yaml │ │ │ │ │ │ ├── ._caterpillar_9_train.yaml │ │ │ │ │ │ ├── ._cheese_01.yaml │ │ │ │ │ │ ├── ._cheese_03.yaml │ │ │ │ │ │ ├── ._chilli_pepper_on_white_plate_custom_1_train.yaml │ │ │ │ │ │ ├── ._chilli_pepper_on_white_plate_custom_2_train.yaml │ │ │ │ │ │ ├── ._cooking.yaml │ │ │ │ │ │ ├── ._destroyer.yaml │ │ │ │ │ │ ├── ._dr_duck.yaml │ │ │ │ │ │ ├── ._dr_robot.yaml │ │ │ │ │ │ ├── ._dramamine.yaml │ │ │ │ │ │ ├── ._duck_train.yaml │ │ │ │ │ │ ├── ._egg.yaml │ │ │ │ │ │ ├── ._entire_dataset.yaml │ │ │ │ │ │ ├── ._example.yaml │ │ │ │ │ │ ├── ._gopro_box.yaml │ │ │ │ │ │ ├── ._hat_banjo_camp_north.yaml │ │ │ │ │ │ ├── ._hat_boston_red_sox.yaml │ │ │ │ │ │ ├── ._hat_ihmc_black.yaml │ │ │ │ │ │ ├── ._hat_mit_black.yaml │ │ │ │ │ │ ├── ._hat_mit_red.yaml │ │ │ │ │ │ ├── ._hat_princeton_orange.yaml │ │ │ │ │ │ ├── ._hat_san_francisco_giants.yaml │ │ │ │ │ │ ├── ._hat_warriors_black.yaml │ │ │ │ │ │ ├── ._headphones.yaml │ │ │ │ │ │ ├── ._jalapeno_pepper_train.yaml │ │ │ │ │ │ ├── ._mugs.yaml │ │ │ │ │ │ ├── ._red_bowl.yaml │ │ │ │ │ │ ├── ._shoe_brown_boot.yaml │ │ │ │ │ │ ├── ._shoe_gray_nike.yaml │ │ │ │ │ │ ├── ._shoe_green_nike.yaml │ │ │ │ │ │ ├── ._shoe_red_nike.yaml │ │ │ │ │ │ ├── ._shoes.yaml │ │ │ │ │ │ ├── ._star_bot.yaml │ │ │ │ │ │ ├── ._star_bot_front.yaml │ │ │ │ │ │ ├── ._starbot_1_train.yaml │ │ │ │ │ │ ├── ._toy.yaml │ │ │ │ │ │ ├── ._toy_old.yaml │ │ │ │ │ │ └── ._yellow_robot.yaml │ │ │ │ │ ├── evaluation │ │ │ │ │ └── ._evaluation.yaml │ │ │ │ │ ├── heatmap_vis │ │ │ │ │ ├── ._heatmap.yaml │ │ │ │ │ └── ._heatmap_test.yaml │ │ │ │ │ └── training │ │ │ │ │ ├── ._cooking_march_training.yaml │ │ │ │ │ ├── ._cooking_march_training_pi.yaml │ │ │ │ │ ├── ._cooking_march_training_pi_nocross.yaml │ │ │ │ │ ├── ._cooking_training.yaml │ │ │ │ │ ├── ._destroyer_training.yaml │ │ │ │ │ ├── ._duck_robot_training.yaml │ │ │ │ │ ├── ._example_training.yaml │ │ │ │ │ ├── ._salad_multilabel_cotraining.yaml │ │ │ │ │ ├── ._salad_training.yaml │ │ │ │ │ ├── ._star_bot_training.yaml │ │ │ │ │ ├── ._toy_old_training.yaml │ │ │ │ │ ├── ._toy_training.yaml │ │ │ │ │ ├── ._training.yaml │ │ │ │ │ └── ._training_test.yaml │ │ │ │ ├── data_generation │ │ │ │ ├── .___init__.py │ │ │ │ ├── ._collect_data.py │ │ │ │ ├── ._process_traj.py │ │ │ │ ├── ._spartan_utils.py │ │ │ │ ├── ._subscribers.py │ │ │ │ ├── ._trajs │ │ │ │ ├── ._utils.py │ │ │ │ └── trajs │ │ │ │ │ ├── ._traj.csv │ │ │ │ │ └── ._traj_processed.csv │ │ │ │ ├── dense_correspondence │ │ │ │ ├── .___init__.py │ │ │ │ ├── ._correspondence_tools │ │ │ │ ├── ._dataset │ │ │ │ ├── ._evaluation │ │ │ │ ├── ._experiments │ │ │ │ ├── ._loss_functions │ │ │ │ ├── ._network │ │ │ │ ├── ._paper_figures │ │ │ │ ├── ._salad_multilabel_cotraining │ │ │ │ ├── ._salad_training │ │ │ │ ├── ._test │ │ │ │ ├── ._training │ │ │ │ ├── correspondence_tools │ │ │ │ │ ├── .___init__.py │ │ │ │ │ ├── ._correspondence_augmentation.py │ │ │ │ │ ├── ._correspondence_finder.py │ │ │ │ │ ├── ._correspondence_plotter.py │ │ │ │ │ └── ._pytorch-finding-correspondences.ipynb │ │ │ │ ├── dataset │ │ │ │ │ ├── .___init__.py │ │ │ │ │ ├── ._compute_dataset_img_mean.ipynb │ │ │ │ │ ├── ._dense_correspondence_dataset_masked.py │ │ │ │ │ ├── ._labelfusion_masked.py │ │ │ │ │ ├── ._multilabel_dataset.py │ │ │ │ │ ├── ._salad_dataset.py │ │ │ │ │ ├── ._simple_datasets_test.ipynb │ │ │ │ │ └── ._spartan_dataset_masked.py │ │ │ │ ├── evaluation │ │ │ │ │ ├── ._SIFT_comparison.ipynb │ │ │ │ │ ├── .___init__.py │ │ │ │ │ ├── ._compute_descriptor_dataset_statistics.ipynb │ │ │ │ │ ├── ._evaluation.py │ │ │ │ │ ├── ._evaluation_clusters_2d.ipynb │ │ │ │ │ ├── ._evaluation_qualitative_cross_scene.ipynb │ │ │ │ │ ├── ._evaluation_qualitative_tutorial.ipynb │ │ │ │ │ ├── ._evaluation_quantitative.ipynb │ │ │ │ │ ├── ._evaluation_quantitative_across_object.ipynb │ │ │ │ │ ├── ._evaluation_quantitative_cross_scene.ipynb │ │ │ │ │ ├── ._evaluation_quantitative_tutorial.ipynb │ │ │ │ │ ├── ._make_video.ipynb │ │ │ │ │ └── ._plotting.py │ │ │ │ ├── experiments │ │ │ │ │ ├── ._M_background_sweep │ │ │ │ │ ├── ._bag_of_tricks │ │ │ │ │ ├── ._baymax │ │ │ │ │ ├── ._caterpillar │ │ │ │ │ ├── ._domain_randomization │ │ │ │ │ ├── ._hats │ │ │ │ │ ├── ._mugs │ │ │ │ │ ├── ._multi_object │ │ │ │ │ ├── ._shoes │ │ │ │ │ ├── ._starbot │ │ │ │ │ ├── M_background_sweep │ │ │ │ │ │ ├── ._eval_M_background.ipynb │ │ │ │ │ │ └── ._training_M_background.ipynb │ │ │ │ │ ├── bag_of_tricks │ │ │ │ │ │ ├── ._eval_bag_of_tricks.ipynb │ │ │ │ │ │ ├── ._qualitative_plots.ipynb │ │ │ │ │ │ └── ._training_bag_of_tricks.ipynb │ │ │ │ │ ├── baymax │ │ │ │ │ │ └── ._training_baymax.ipynb │ │ │ │ │ ├── caterpillar │ │ │ │ │ │ ├── ._eval_caterpillar.ipynb │ │ │ │ │ │ └── ._training_caterpillar.ipynb │ │ │ │ │ ├── domain_randomization │ │ │ │ │ │ ├── ._eval_domain_randomization.ipynb │ │ │ │ │ │ └── ._training_domain_randomization.ipynb │ │ │ │ │ ├── hats │ │ │ │ │ │ ├── ._eval_hats_consistent.ipynb │ │ │ │ │ │ ├── ._eval_hats_specific.ipynb │ │ │ │ │ │ └── ._training_hats.ipynb │ │ │ │ │ ├── mugs │ │ │ │ │ │ ├── ._mugs_qualitative_plots.ipynb │ │ │ │ │ │ └── ._training_mugs.ipynb │ │ │ │ │ ├── multi_object │ │ │ │ │ │ ├── ._eval_multi_object.ipynb │ │ │ │ │ │ ├── ._training_multi_object-Copy1.ipynb │ │ │ │ │ │ ├── ._training_multi_object-Copy2.ipynb │ │ │ │ │ │ └── ._training_multi_object.ipynb │ │ │ │ │ ├── shoes │ │ │ │ │ │ ├── ._eval_shoes_consistent.ipynb │ │ │ │ │ │ ├── ._eval_shoes_specific.ipynb │ │ │ │ │ │ ├── ._shoes_qualitative_plots.ipynb │ │ │ │ │ │ └── ._training_shoes.ipynb │ │ │ │ │ └── starbot │ │ │ │ │ │ └── ._training_starbot.ipynb │ │ │ │ ├── loss_functions │ │ │ │ │ ├── .___init__.py │ │ │ │ │ ├── ._loss_composer.py │ │ │ │ │ ├── ._loss_functions.ipynb │ │ │ │ │ └── ._pixelwise_contrastive_loss.py │ │ │ │ ├── network │ │ │ │ │ ├── .___init__.py │ │ │ │ │ ├── ._dense_correspondence_network.py │ │ │ │ │ └── ._dense_correspondence_network_pretrained.py │ │ │ │ ├── paper_figures │ │ │ │ │ ├── ._.gitignore │ │ │ │ │ ├── ._bag_of_tricks_paper_figure.ipynb │ │ │ │ │ └── ._multi_object_descriptor_dim.ipynb │ │ │ │ ├── salad_multilabel_cotraining │ │ │ │ │ ├── .___init__.py │ │ │ │ │ ├── ._run_training.py │ │ │ │ │ └── ._training.py │ │ │ │ ├── salad_training │ │ │ │ │ ├── .___init__.py │ │ │ │ │ ├── ._run_training.py │ │ │ │ │ ├── ._run_training_pretrained.py │ │ │ │ │ ├── ._training.py │ │ │ │ │ └── ._training_pretrained.py │ │ │ │ ├── test │ │ │ │ │ ├── .___init__.py │ │ │ │ │ └── ._numpy_correspondence_finder.py │ │ │ │ └── training │ │ │ │ │ ├── .___init__.py │ │ │ │ │ ├── ._imgui.ini │ │ │ │ │ ├── ._run_training_cooking_march.py │ │ │ │ │ ├── ._run_training_cooking_march_pi.py │ │ │ │ │ ├── ._run_training_cooking_march_pi_nocross.py │ │ │ │ │ ├── ._run_training_example.py │ │ │ │ │ ├── ._training.py │ │ │ │ │ ├── ._training_param_sweep.ipynb │ │ │ │ │ ├── ._training_tutorial.ipynb │ │ │ │ │ ├── ._training_tutorial.py │ │ │ │ │ ├── ._training_tutorial_cooking.py │ │ │ │ │ ├── ._training_tutorial_destroyer.py │ │ │ │ │ ├── ._training_tutorial_duck_robot.py │ │ │ │ │ ├── ._training_tutorial_salad.py │ │ │ │ │ ├── ._training_tutorial_test.py │ │ │ │ │ └── ._training_tutorial_toy.py │ │ │ │ ├── modules │ │ │ │ ├── .___init__.py │ │ │ │ ├── ._dense_correspondence_manipulation │ │ │ │ ├── ._matching_comparisons │ │ │ │ ├── ._simple-pixel-correspondence-labeler │ │ │ │ ├── ._user-interaction-heatmap-visualization │ │ │ │ ├── dense_correspondence_manipulation │ │ │ │ │ ├── .___init__.py │ │ │ │ │ ├── ._change_detection │ │ │ │ │ ├── ._fusion │ │ │ │ │ ├── ._scripts │ │ │ │ │ ├── ._utils │ │ │ │ │ ├── change_detection │ │ │ │ │ │ ├── ._README.md │ │ │ │ │ │ ├── .___init__.py │ │ │ │ │ │ ├── ._change_detection.py │ │ │ │ │ │ ├── ._depthscanner.py │ │ │ │ │ │ ├── ._mesh_processing.py │ │ │ │ │ │ └── ._tsdf_converter.py │ │ │ │ │ ├── fusion │ │ │ │ │ │ ├── .___init__.py │ │ │ │ │ │ └── ._fusion_reconstruction.py │ │ │ │ │ ├── scripts │ │ │ │ │ │ ├── .___init__.py │ │ │ │ │ │ ├── ._batch_run_change_detection_pipeline.py │ │ │ │ │ │ ├── ._convertPlyToVtp.py │ │ │ │ │ │ ├── ._convert_data_to_new_format.py │ │ │ │ │ │ ├── ._convert_ply_to_vtp.py │ │ │ │ │ │ ├── ._director_dev_app.py │ │ │ │ │ │ ├── ._mesh_processing_app.py │ │ │ │ │ │ ├── ._render_depth_images.py │ │ │ │ │ │ ├── ._run_change_detection.py │ │ │ │ │ │ ├── ._run_change_detection_pipeline.py │ │ │ │ │ │ └── ._tsdf_to_mesh.py │ │ │ │ │ └── utils │ │ │ │ │ │ ├── .___init__.py │ │ │ │ │ │ ├── ._constants.py │ │ │ │ │ │ ├── ._director_utils.py │ │ │ │ │ │ ├── ._segmentation.py │ │ │ │ │ │ ├── ._transformations.py │ │ │ │ │ │ └── ._utils.py │ │ │ │ ├── matching_comparisons │ │ │ │ │ ├── ._simple_target_img.png │ │ │ │ │ ├── ._simple_test_img.png │ │ │ │ │ └── ._visual_matching_comparisons.ipynb │ │ │ │ ├── simple-pixel-correspondence-labeler │ │ │ │ │ ├── ._README.md │ │ │ │ │ ├── ._annotate_correspondences.py │ │ │ │ │ ├── ._saved_annotated_data │ │ │ │ │ ├── ._visualize_saved_correspondences.py │ │ │ │ │ └── saved_annotated_data │ │ │ │ │ │ ├── ._couple_caterpillar_pairs.yaml │ │ │ │ │ │ └── ._new_annotated_pairs.yaml │ │ │ │ └── user-interaction-heatmap-visualization │ │ │ │ │ ├── ._clicked_point.yaml │ │ │ │ │ └── ._live_heatmap_visualization.py │ │ │ │ └── nearest-neighbour-visualization │ │ │ │ ├── ._generate_feature_data.py │ │ │ │ ├── ._visualize_nn_pca_pretrained_salad.py │ │ │ │ └── ._visualize_nn_salad.py │ │ ├── config │ │ │ ├── defaults.yaml │ │ │ ├── dense_correspondence │ │ │ │ ├── dataset │ │ │ │ │ ├── composite │ │ │ │ │ │ ├── 4_shoes_all.yaml │ │ │ │ │ │ ├── all_3.yaml │ │ │ │ │ │ ├── baymax_1_train.yaml │ │ │ │ │ │ ├── baymax_front_only.yaml │ │ │ │ │ │ ├── baymax_only.yaml │ │ │ │ │ │ ├── brown_boot_shoe_only.yaml │ │ │ │ │ │ ├── caterpillar_baymax.yaml │ │ │ │ │ │ ├── caterpillar_baymax_starbot_all.yaml │ │ │ │ │ │ ├── caterpillar_baymax_starbot_all_front.yaml │ │ │ │ │ │ ├── caterpillar_baymax_starbot_all_front_single_only.yaml │ │ │ │ │ │ ├── caterpillar_baymax_starbot_onlymulti.yaml │ │ │ │ │ │ ├── caterpillar_baymax_starbot_onlymulti_front.yaml │ │ │ │ │ │ ├── caterpillar_only.yaml │ │ │ │ │ │ ├── caterpillar_only_9.yaml │ │ │ │ │ │ ├── cooking.yaml │ │ │ │ │ │ ├── cooking_march.yaml │ │ │ │ │ │ ├── destroyer.yaml │ │ │ │ │ │ ├── duck_only.yaml │ │ │ │ │ │ ├── duck_robot.yaml │ │ │ │ │ │ ├── entire_dataset.yaml │ │ │ │ │ │ ├── example.yaml │ │ │ │ │ │ ├── gray_nike_only.yaml │ │ │ │ │ │ ├── green_nike_only.yaml │ │ │ │ │ │ ├── hat_mit_black_only.yaml │ │ │ │ │ │ ├── hat_mit_red_only.yaml │ │ │ │ │ │ ├── hat_princeton_orange_only.yaml │ │ │ │ │ │ ├── hat_train_6.yaml │ │ │ │ │ │ ├── jalapeno_pepper_only.yaml │ │ │ │ │ │ ├── mugs_all.yaml │ │ │ │ │ │ ├── pepper_chilli.yaml │ │ │ │ │ │ ├── red_bowl_only.yaml │ │ │ │ │ │ ├── red_nike_only.yaml │ │ │ │ │ │ ├── shoe_train_4_shoes.yaml │ │ │ │ │ │ ├── shoes_all.yaml │ │ │ │ │ │ ├── six_objects_and_multi.yaml │ │ │ │ │ │ ├── star_bot_front_only.yaml │ │ │ │ │ │ ├── star_bot_only.yaml │ │ │ │ │ │ ├── starbot_1_train.yaml │ │ │ │ │ │ ├── toy.yaml │ │ │ │ │ │ └── toy_old.yaml │ │ │ │ │ ├── multi_object │ │ │ │ │ │ ├── 4_shoes.yaml │ │ │ │ │ │ ├── caterpillar_baymax_starbot.yaml │ │ │ │ │ │ ├── caterpillar_baymax_starbot_front_only.yaml │ │ │ │ │ │ └── multi_object.yaml │ │ │ │ │ ├── salad │ │ │ │ │ │ ├── salad.yaml │ │ │ │ │ │ └── salad_multilabel.yaml │ │ │ │ │ └── single_object │ │ │ │ │ │ ├── 10_caterpillar_scenes.yaml │ │ │ │ │ │ ├── 10_drill_scenes.yaml │ │ │ │ │ │ ├── Broccoli.yaml │ │ │ │ │ │ ├── Cucumber.yaml │ │ │ │ │ │ ├── Cucumber_Slice_convert.yaml │ │ │ │ │ │ ├── Jalapeno_Pepper.yaml │ │ │ │ │ │ ├── Sliced_Cucumber.yaml │ │ │ │ │ │ ├── Tomato.yaml │ │ │ │ │ │ ├── Tomato_Slice_convert.yaml │ │ │ │ │ │ ├── baymax.yaml │ │ │ │ │ │ ├── baymax_1_train.yaml │ │ │ │ │ │ ├── baymax_front.yaml │ │ │ │ │ │ ├── cabbage.yaml │ │ │ │ │ │ ├── caterpillar_17_scenes.yaml │ │ │ │ │ │ ├── caterpillar_9_train.yaml │ │ │ │ │ │ ├── cheese_01.yaml │ │ │ │ │ │ ├── cheese_03.yaml │ │ │ │ │ │ ├── chilli_pepper_on_white_plate_custom_1_train.yaml │ │ │ │ │ │ ├── chilli_pepper_on_white_plate_custom_2_train.yaml │ │ │ │ │ │ ├── cooking.yaml │ │ │ │ │ │ ├── destroyer.yaml │ │ │ │ │ │ ├── dr_duck.yaml │ │ │ │ │ │ ├── dr_robot.yaml │ │ │ │ │ │ ├── dramamine.yaml │ │ │ │ │ │ ├── duck_train.yaml │ │ │ │ │ │ ├── egg.yaml │ │ │ │ │ │ ├── entire_dataset.yaml │ │ │ │ │ │ ├── example.yaml │ │ │ │ │ │ ├── gopro_box.yaml │ │ │ │ │ │ ├── hat_banjo_camp_north.yaml │ │ │ │ │ │ ├── hat_boston_red_sox.yaml │ │ │ │ │ │ ├── hat_ihmc_black.yaml │ │ │ │ │ │ ├── hat_mit_black.yaml │ │ │ │ │ │ ├── hat_mit_red.yaml │ │ │ │ │ │ ├── hat_princeton_orange.yaml │ │ │ │ │ │ ├── hat_san_francisco_giants.yaml │ │ │ │ │ │ ├── hat_warriors_black.yaml │ │ │ │ │ │ ├── headphones.yaml │ │ │ │ │ │ ├── jalapeno_pepper_train.yaml │ │ │ │ │ │ ├── mugs.yaml │ │ │ │ │ │ ├── red_bowl.yaml │ │ │ │ │ │ ├── shoe_brown_boot.yaml │ │ │ │ │ │ ├── shoe_gray_nike.yaml │ │ │ │ │ │ ├── shoe_green_nike.yaml │ │ │ │ │ │ ├── shoe_red_nike.yaml │ │ │ │ │ │ ├── shoes.yaml │ │ │ │ │ │ ├── star_bot.yaml │ │ │ │ │ │ ├── star_bot_front.yaml │ │ │ │ │ │ ├── starbot_1_train.yaml │ │ │ │ │ │ ├── toy.yaml │ │ │ │ │ │ ├── toy_old.yaml │ │ │ │ │ │ └── yellow_robot.yaml │ │ │ │ ├── evaluation │ │ │ │ │ └── evaluation.yaml │ │ │ │ ├── heatmap_vis │ │ │ │ │ ├── heatmap.yaml │ │ │ │ │ └── heatmap_test.yaml │ │ │ │ └── training │ │ │ │ │ ├── cooking_march_training.yaml │ │ │ │ │ ├── cooking_march_training_pi.yaml │ │ │ │ │ ├── cooking_march_training_pi_nocross.yaml │ │ │ │ │ ├── cooking_training.yaml │ │ │ │ │ ├── destroyer_training.yaml │ │ │ │ │ ├── duck_robot_training.yaml │ │ │ │ │ ├── example_training.yaml │ │ │ │ │ ├── salad_multilabel_cotraining.yaml │ │ │ │ │ ├── salad_training.yaml │ │ │ │ │ ├── star_bot_training.yaml │ │ │ │ │ ├── toy_old_training.yaml │ │ │ │ │ ├── toy_training.yaml │ │ │ │ │ ├── training.yaml │ │ │ │ │ └── training_test.yaml │ │ │ ├── docker_run_config.yaml │ │ │ ├── download_pdc_data.py │ │ │ └── setup_environment.sh │ │ ├── data_generation │ │ │ ├── __init__.py │ │ │ ├── collect_data.py │ │ │ ├── process_traj.py │ │ │ ├── spartan_utils.py │ │ │ ├── subscribers.py │ │ │ ├── trajs │ │ │ │ ├── traj.csv │ │ │ │ └── traj_processed.csv │ │ │ └── utils.py │ │ ├── dense_correspondence │ │ │ ├── __init__.py │ │ │ ├── correspondence_tools │ │ │ │ ├── __init__.py │ │ │ │ ├── correspondence_augmentation.py │ │ │ │ ├── correspondence_finder.py │ │ │ │ ├── correspondence_plotter.py │ │ │ │ └── pytorch-finding-correspondences.ipynb │ │ │ ├── dataset │ │ │ │ ├── __init__.py │ │ │ │ ├── compute_dataset_img_mean.ipynb │ │ │ │ ├── dense_correspondence_dataset_masked.py │ │ │ │ ├── labelfusion_masked.py │ │ │ │ ├── multilabel_dataset.py │ │ │ │ ├── salad_dataset.py │ │ │ │ ├── simple_datasets_test.ipynb │ │ │ │ └── spartan_dataset_masked.py │ │ │ ├── evaluation │ │ │ │ ├── SIFT_comparison.ipynb │ │ │ │ ├── __init__.py │ │ │ │ ├── compute_descriptor_dataset_statistics.ipynb │ │ │ │ ├── evaluation.py │ │ │ │ ├── evaluation_clusters_2d.ipynb │ │ │ │ ├── evaluation_qualitative_cross_scene.ipynb │ │ │ │ ├── evaluation_qualitative_tutorial.ipynb │ │ │ │ ├── evaluation_quantitative.ipynb │ │ │ │ ├── evaluation_quantitative_across_object.ipynb │ │ │ │ ├── evaluation_quantitative_cross_scene.ipynb │ │ │ │ ├── evaluation_quantitative_tutorial.ipynb │ │ │ │ ├── make_video.ipynb │ │ │ │ └── plotting.py │ │ │ ├── experiments │ │ │ │ ├── M_background_sweep │ │ │ │ │ ├── eval_M_background.ipynb │ │ │ │ │ └── training_M_background.ipynb │ │ │ │ ├── bag_of_tricks │ │ │ │ │ ├── eval_bag_of_tricks.ipynb │ │ │ │ │ ├── qualitative_plots.ipynb │ │ │ │ │ └── training_bag_of_tricks.ipynb │ │ │ │ ├── baymax │ │ │ │ │ └── training_baymax.ipynb │ │ │ │ ├── caterpillar │ │ │ │ │ ├── eval_caterpillar.ipynb │ │ │ │ │ └── training_caterpillar.ipynb │ │ │ │ ├── domain_randomization │ │ │ │ │ ├── eval_domain_randomization.ipynb │ │ │ │ │ └── training_domain_randomization.ipynb │ │ │ │ ├── hats │ │ │ │ │ ├── eval_hats_consistent.ipynb │ │ │ │ │ ├── eval_hats_specific.ipynb │ │ │ │ │ └── training_hats.ipynb │ │ │ │ ├── mugs │ │ │ │ │ ├── mugs_qualitative_plots.ipynb │ │ │ │ │ └── training_mugs.ipynb │ │ │ │ ├── multi_object │ │ │ │ │ ├── eval_multi_object.ipynb │ │ │ │ │ ├── training_multi_object-Copy1.ipynb │ │ │ │ │ ├── training_multi_object-Copy2.ipynb │ │ │ │ │ └── training_multi_object.ipynb │ │ │ │ ├── shoes │ │ │ │ │ ├── eval_shoes_consistent.ipynb │ │ │ │ │ ├── eval_shoes_specific.ipynb │ │ │ │ │ ├── shoes_qualitative_plots.ipynb │ │ │ │ │ └── training_shoes.ipynb │ │ │ │ └── starbot │ │ │ │ │ └── training_starbot.ipynb │ │ │ ├── loss_functions │ │ │ │ ├── __init__.py │ │ │ │ ├── loss_composer.py │ │ │ │ ├── loss_functions.ipynb │ │ │ │ └── pixelwise_contrastive_loss.py │ │ │ ├── network │ │ │ │ ├── __init__.py │ │ │ │ ├── dense_correspondence_network.py │ │ │ │ └── dense_correspondence_network_pretrained.py │ │ │ ├── paper_figures │ │ │ │ ├── .gitignore │ │ │ │ ├── bag_of_tricks_paper_figure.ipynb │ │ │ │ └── multi_object_descriptor_dim.ipynb │ │ │ ├── salad_multilabel_cotraining │ │ │ │ ├── __init__.py │ │ │ │ ├── run_training.py │ │ │ │ └── training.py │ │ │ ├── salad_training │ │ │ │ ├── __init__.py │ │ │ │ ├── run_training.py │ │ │ │ ├── run_training_pretrained.py │ │ │ │ ├── training.py │ │ │ │ └── training_pretrained.py │ │ │ ├── test │ │ │ │ ├── __init__.py │ │ │ │ └── numpy_correspondence_finder.py │ │ │ └── training │ │ │ │ ├── __init__.py │ │ │ │ ├── imgui.ini │ │ │ │ ├── run_training_cooking_march.py │ │ │ │ ├── run_training_cooking_march_pi.py │ │ │ │ ├── run_training_cooking_march_pi_nocross.py │ │ │ │ ├── run_training_example.py │ │ │ │ ├── training.py │ │ │ │ ├── training_param_sweep.ipynb │ │ │ │ ├── training_tutorial.ipynb │ │ │ │ ├── training_tutorial.py │ │ │ │ ├── training_tutorial_cooking.py │ │ │ │ ├── training_tutorial_destroyer.py │ │ │ │ ├── training_tutorial_duck_robot.py │ │ │ │ ├── training_tutorial_salad.py │ │ │ │ ├── training_tutorial_test.py │ │ │ │ └── training_tutorial_toy.py │ │ ├── modules │ │ │ ├── __init__.py │ │ │ ├── dense_correspondence_manipulation │ │ │ │ ├── __init__.py │ │ │ │ ├── change_detection │ │ │ │ │ ├── README.md │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── change_detection.py │ │ │ │ │ ├── depthscanner.py │ │ │ │ │ ├── mesh_processing.py │ │ │ │ │ └── tsdf_converter.py │ │ │ │ ├── fusion │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── fusion_reconstruction.py │ │ │ │ ├── scripts │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── batch_run_change_detection_pipeline.py │ │ │ │ │ ├── convertPlyToVtp.py │ │ │ │ │ ├── convert_data_to_new_format.py │ │ │ │ │ ├── convert_ply_to_vtp.py │ │ │ │ │ ├── director_dev_app.py │ │ │ │ │ ├── mesh_processing_app.py │ │ │ │ │ ├── render_depth_images.py │ │ │ │ │ ├── run_change_detection.py │ │ │ │ │ ├── run_change_detection_pipeline.py │ │ │ │ │ └── tsdf_to_mesh.py │ │ │ │ └── utils │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── constants.py │ │ │ │ │ ├── director_utils.py │ │ │ │ │ ├── segmentation.py │ │ │ │ │ ├── transformations.py │ │ │ │ │ └── utils.py │ │ │ ├── matching_comparisons │ │ │ │ ├── simple_target_img.png │ │ │ │ ├── simple_test_img.png │ │ │ │ └── visual_matching_comparisons.ipynb │ │ │ ├── simple-pixel-correspondence-labeler │ │ │ │ ├── README.md │ │ │ │ ├── annotate_correspondences.py │ │ │ │ ├── saved_annotated_data │ │ │ │ │ ├── couple_caterpillar_pairs.yaml │ │ │ │ │ └── new_annotated_pairs.yaml │ │ │ │ └── visualize_saved_correspondences.py │ │ │ └── user-interaction-heatmap-visualization │ │ │ │ ├── clicked_point.yaml │ │ │ │ └── live_heatmap_visualization.py │ │ └── nearest-neighbour-visualization │ │ │ ├── generate_feature_data.py │ │ │ ├── visualize_nn_pca_pretrained_salad.py │ │ │ └── visualize_nn_salad.py │ ├── run_pipeline.py │ └── tests │ │ ├── tests_gui │ │ └── gui_demos.py │ │ └── tests_tensorflow │ │ ├── test_data │ │ ├── bias_npy.npy │ │ ├── obs.npy │ │ ├── scale_npy.npy │ │ ├── tgt_mu.npy │ │ ├── tgt_prc.npy │ │ └── tgt_wt.npy │ │ └── test_policy_opt_tf.py └── src │ ├── 3rdparty │ ├── Boost.NumPy │ │ ├── .gitignore │ │ ├── CMake-init.sh │ │ ├── CMakeLists.txt │ │ ├── Jamroot │ │ ├── LICENSE_1_0.txt │ │ ├── README │ │ ├── SConscript │ │ ├── SConstruct │ │ ├── boost │ │ │ ├── numpy.hpp │ │ │ └── numpy │ │ │ │ ├── dtype.hpp │ │ │ │ ├── internal.hpp │ │ │ │ ├── invoke_matching.hpp │ │ │ │ ├── matrix.hpp │ │ │ │ ├── ndarray.hpp │ │ │ │ ├── numpy_object_mgr_traits.hpp │ │ │ │ ├── scalars.hpp │ │ │ │ └── ufunc.hpp │ │ └── libs │ │ │ └── numpy │ │ │ ├── cmake │ │ │ ├── FindNumPy.cmake │ │ │ ├── FindPythonLibsNew.cmake │ │ │ └── README.txt │ │ │ ├── doc │ │ │ ├── CMakeLists.txt │ │ │ ├── Jamfile │ │ │ ├── _static │ │ │ │ ├── boost.css │ │ │ │ └── style.css │ │ │ ├── _templates │ │ │ │ └── layout.html │ │ │ ├── cmakeBuild.rst │ │ │ ├── conf.py │ │ │ ├── index.rst │ │ │ ├── make.bat │ │ │ ├── reference │ │ │ │ ├── Jamfile │ │ │ │ ├── binary_ufunc.rst │ │ │ │ ├── dtype.rst │ │ │ │ ├── index.rst │ │ │ │ ├── multi_iter.rst │ │ │ │ ├── ndarray.rst │ │ │ │ └── unary_ufunc.rst │ │ │ ├── rst.css │ │ │ └── tutorial │ │ │ │ ├── dtype.rst │ │ │ │ ├── fromdata.rst │ │ │ │ ├── index.rst │ │ │ │ ├── ndarray.rst │ │ │ │ ├── simple.rst │ │ │ │ └── ufunc.rst │ │ │ ├── example │ │ │ ├── CMakeLists.txt │ │ │ ├── Jamfile │ │ │ ├── SConscript │ │ │ ├── demo_gaussian.py │ │ │ ├── dtype.cpp │ │ │ ├── fromdata.cpp │ │ │ ├── gaussian.cpp │ │ │ ├── ndarray.cpp │ │ │ ├── simple.cpp │ │ │ ├── ufunc.cpp │ │ │ └── wrap.cpp │ │ │ ├── src │ │ │ ├── CMakeLists.txt │ │ │ ├── Jamfile │ │ │ ├── SConscript │ │ │ ├── dtype.cpp │ │ │ ├── matrix.cpp │ │ │ ├── ndarray.cpp │ │ │ ├── numpy.cpp │ │ │ ├── scalars.cpp │ │ │ └── ufunc.cpp │ │ │ └── test │ │ │ ├── CMakeLists.txt │ │ │ ├── Jamfile │ │ │ ├── SConscript │ │ │ ├── dtype.py │ │ │ ├── dtype_mod.cpp │ │ │ ├── indexing.py │ │ │ ├── indexing_mod.cpp │ │ │ ├── ndarray.py │ │ │ ├── ndarray_mod.cpp │ │ │ ├── runCmakeTest.bat.in │ │ │ ├── runCmakeTest.sh.in │ │ │ ├── shapes.py │ │ │ ├── shapes_mod.cpp │ │ │ ├── templates.py │ │ │ ├── templates_mod.cpp │ │ │ ├── ufunc.py │ │ │ └── ufunc_mod.cpp │ ├── CMakeLists.txt │ ├── cmake │ │ ├── FindNumpy.cmake │ │ └── boost-python.cmake │ ├── macros.h │ └── mjcpy2 │ │ ├── CMakeLists.txt │ │ ├── mj_struct_codegen.py │ │ ├── mjcpy2.cpp │ │ ├── mjcpy2_getdata_autogen.i │ │ ├── mjcpy2_getmodel_autogen.i │ │ ├── mjcpy2_setdata_autogen.i │ │ ├── mjcpy2_setmodel_autogen.i │ │ ├── mujoco_osg_viewer.cpp │ │ ├── mujoco_osg_viewer.hpp │ │ └── test_mujoco_osg.cpp │ ├── gps_agent_pkg │ ├── .gitignore │ ├── CMakeLists.txt │ ├── controller_plugins.xml │ ├── encoder_filter_params.txt │ ├── include │ │ ├── gps │ │ │ └── proto │ │ │ │ ├── gps.pb.cc │ │ │ │ └── gps.pb.h │ │ └── gps_agent_pkg │ │ │ ├── caffenncontroller.h │ │ │ ├── camerasensor.h │ │ │ ├── controller.h │ │ │ ├── encoderfilter.h │ │ │ ├── encodersensor.h │ │ │ ├── lingausscontroller.h │ │ │ ├── neuralnetwork.h │ │ │ ├── neuralnetworkcaffe.h │ │ │ ├── options.h │ │ │ ├── positioncontroller.h │ │ │ ├── pr2plugin.h │ │ │ ├── robotplugin.h │ │ │ ├── rostopicsensor.h │ │ │ ├── sample.h │ │ │ ├── sensor.h │ │ │ ├── tfcontroller.h │ │ │ ├── trialcontroller.h │ │ │ └── util.h │ ├── launch │ │ ├── kinect_publish.launch │ │ ├── pr2_gazebo.launch │ │ ├── pr2_gazebo_no_controller.launch │ │ ├── pr2_left_controller.yaml │ │ ├── pr2_only_controller.launch │ │ └── pr2_real.launch │ ├── manifest.xml │ ├── msg │ │ ├── CaffeParams.msg │ │ ├── ControllerParams.msg │ │ ├── DataRequest.msg │ │ ├── DataType.msg │ │ ├── LinGaussParams.msg │ │ ├── PositionCommand.msg │ │ ├── RelaxCommand.msg │ │ ├── SampleResult.msg │ │ ├── TfActionCommand.msg │ │ ├── TfObsData.msg │ │ ├── TfParams.msg │ │ └── TrialCommand.msg │ ├── scripts │ │ └── pid_pub.py │ ├── src │ │ ├── caffenncontroller.cpp │ │ ├── camerasensor.cpp │ │ ├── controller.cpp │ │ ├── encoderfilter.cpp │ │ ├── encodersensor.cpp │ │ ├── lingausscontroller.cpp │ │ ├── neuralnetwork.cpp │ │ ├── neuralnetworkcaffe.cpp │ │ ├── positioncontroller.cpp │ │ ├── pr2plugin.cpp │ │ ├── robotplugin.cpp │ │ ├── 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