├── .gitignore ├── IRM.png ├── README.md ├── RMap.png ├── maps ├── 3D_base_placement_map_arm_left_tool_link_0.05_2022.h5 └── 3D_reachability_map_arm_left_tool_link_0.05_2022.h5 ├── pytorch_kinematics ├── README.md ├── __init__.py ├── chain.py ├── frame.py ├── jacobian.py ├── mjcf.py ├── mjcf_parser │ ├── __init__.py │ ├── attribute.py │ ├── base.py │ ├── constants.py │ ├── copier.py │ ├── debugging.py │ ├── element.py │ ├── io.py │ ├── namescope.py │ ├── parser.py │ ├── schema.py │ ├── schema.xml │ └── util.py ├── sdf.py ├── transforms │ ├── __init__.py │ ├── math.py │ ├── rotation_conversions.py │ ├── se3.py │ ├── so3.py │ └── transform3d.py ├── urdf.py └── urdf_parser_py │ ├── __init__.py │ ├── sdf.py │ ├── urdf.py │ └── xml_reflection │ ├── __init__.py │ ├── basics.py │ └── core.py ├── scripts ├── create_base_placement_map_for_goal_pose.py ├── create_fk_reachability_map.py ├── create_ik_reachability_map.py ├── invert_reachability_map.py ├── tiago_dual.urdf └── tiago_dual_reduced.urdf ├── setup.py └── tests ├── __init__.py ├── ant.xml ├── humanoid.xml ├── kuka_iiwa.urdf ├── meshes ├── link_0.obj ├── link_1.obj ├── link_2.obj ├── link_3.obj ├── link_4.obj ├── link_5.obj ├── link_6.obj └── link_7.obj ├── prismatic_robot.urdf ├── simple_arm.sdf ├── test_jacobian.py ├── test_kinematics.py ├── test_tiago.py ├── test_transform.py └── tiago_dual.urdf /.gitignore: -------------------------------------------------------------------------------- 1 | .idea 2 | *.egg-info 3 | __pycache__ 4 | temp* 5 | maps/ -------------------------------------------------------------------------------- /IRM.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pearl-robot-lab/sampled_reachability_maps/HEAD/IRM.png -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 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