├── .gitignore ├── CMakeLists.txt ├── COPYING.md ├── README.md ├── cad-models ├── ensenso-mount.fcstd ├── ensenso-mount.stl ├── gripper.fcstd └── gripper.stl ├── cmake ├── FindEnsenso.cmake └── FindTensorFlow.cmake ├── config.yaml ├── database ├── app.py ├── static │ ├── assets │ │ ├── bootstrap.bundle.min.js │ │ ├── bootstrap.bundle.min.js.map │ │ ├── bootstrap.min.css │ │ ├── bootstrap.min.css.map │ │ ├── jquery-3.2.1.min.js │ │ ├── socket.io.min.js │ │ ├── tether.min.js │ │ ├── vue-resource.min.js │ │ └── vue.min.js │ ├── overview-app.js │ └── overview-style.css └── templates │ ├── live.html │ └── overview.html ├── doc ├── database-screenshot.png └── overall-system-wide.jpg ├── include ├── bin_picking │ ├── action.hpp │ ├── agent.hpp │ ├── bin.hpp │ ├── config.hpp │ ├── depth_image.hpp │ ├── epoch.hpp │ ├── image_utils.hpp │ ├── inference.hpp │ ├── inference_result.hpp │ ├── io.hpp │ └── parameter.hpp ├── ensenso │ ├── config.hpp │ └── ensenso.hpp ├── frankr │ ├── geometry.hpp │ ├── gripper.hpp │ ├── motion.hpp │ ├── robot.hpp │ └── waypoint.hpp ├── grasping │ ├── grasp.hpp │ └── grasp_converter.hpp ├── pushing │ ├── push.hpp │ └── push_converter.hpp └── realsense │ ├── config.hpp │ └── realsense.hpp ├── jupyter ├── nn-default.ipynb ├── nn-push.ipynb ├── tensorflow_loader.py ├── tensorflow_model.py └── tensorflow_utils.py ├── launch ├── bin_picking.launch ├── ensenso.launch └── pushing.launch ├── models ├── grasping │ ├── saved_model.pb │ └── variables │ │ ├── variables.data-00000-of-00001 │ │ └── variables.index └── pushing │ ├── saved_model.pb │ └── variables │ ├── variables.data-00000-of-00001 │ └── variables.index ├── package.xml ├── scripts ├── action.py ├── camera.py ├── depth_image.py ├── depth_image_transformation.py ├── generate_input.py ├── generate_input_planar_pose.py ├── helper.py └── serializer.py ├── src ├── ensenso │ ├── ensenso.cpp │ └── ensenso_node.cpp ├── frankr │ ├── gripper.cpp │ └── robot.cpp ├── grasping.cpp ├── inference.cpp ├── pushing.cpp └── realsense │ ├── realsense.cpp │ └── realsense_node.cpp └── srv ├── GetDepthImage.srv └── GetImages.srv /.gitignore: -------------------------------------------------------------------------------- 1 | __pycache__ 2 | .ipynb_checkpoints 3 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pantor/learning-shifting-for-grasping/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /COPYING.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pantor/learning-shifting-for-grasping/HEAD/COPYING.md -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 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