├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── __init__.py ├── data ├── __init__.py ├── generate_data_iiwa_hitting.py ├── generate_data_iiwa_kinodynamic.py ├── generate_data_iiwa_maximal_velocity_hitting.py └── generate_data_iiwa_universal_planner.py ├── docker ├── Dockerfile ├── build.sh ├── demo.sh ├── enter.sh └── run.sh ├── download_datasets.sh ├── download_models.sh ├── download_results.sh ├── examples ├── air_hockey_hitting.py └── heavy_object.py ├── iiwa.urdf ├── iiwa_cup.urdf ├── iiwa_striker.urdf ├── losses ├── constraint_functions.py ├── feasibility.py ├── hittting.py ├── kinodynamic.py └── utils.py ├── media └── hitting.gif ├── models └── iiwa_planner_boundaries.py ├── plots_and_stats ├── plot_air_hockey_hitting_real.py ├── plot_air_hockey_hitting_simulation.py ├── plot_air_hockey_hitting_simulation_control_points.py ├── plot_air_hockey_hitting_simulation_table_height.py ├── plot_air_hockey_hitting_simulation_trainingdata.py ├── plot_heavy_object_simulation.py ├── plot_heavy_object_simulation_masses.py ├── plot_heavy_object_simulation_neurons.py ├── plot_obstacle_avoidance_simulation.py ├── stats_air_hockey_hitting_real.py ├── stats_air_hockey_hitting_simulation.py └── stats_heavy_object_simulation.py ├── train_kinodynamic.py ├── train_striker.py └── utils ├── __init__.py ├── bspline.py ├── collisions.py ├── constants.py ├── data.py ├── dataset.py ├── execution.py ├── feasibility.py ├── get_hpo.sh ├── hpo_interface.py ├── hpo_opt_new.so ├── interpolation.py ├── manipulator.py ├── model.py ├── normalize.py ├── spo.py ├── spoo.py ├── table.py └── velocity_projection.py /.gitignore: -------------------------------------------------------------------------------- 1 | *.tsv 2 | *.pyc 3 | trainings 4 | -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/.gitmodules -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/README.md -------------------------------------------------------------------------------- /__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /data/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /data/generate_data_iiwa_hitting.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/data/generate_data_iiwa_hitting.py -------------------------------------------------------------------------------- /data/generate_data_iiwa_kinodynamic.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/data/generate_data_iiwa_kinodynamic.py -------------------------------------------------------------------------------- /data/generate_data_iiwa_maximal_velocity_hitting.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/data/generate_data_iiwa_maximal_velocity_hitting.py -------------------------------------------------------------------------------- /data/generate_data_iiwa_universal_planner.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/data/generate_data_iiwa_universal_planner.py -------------------------------------------------------------------------------- /docker/Dockerfile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/docker/Dockerfile -------------------------------------------------------------------------------- /docker/build.sh: -------------------------------------------------------------------------------- 1 | docker build -t pkic/ros_tf . 2 | -------------------------------------------------------------------------------- /docker/demo.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/docker/demo.sh -------------------------------------------------------------------------------- /docker/enter.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/docker/enter.sh -------------------------------------------------------------------------------- /docker/run.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/docker/run.sh -------------------------------------------------------------------------------- /download_datasets.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/download_datasets.sh -------------------------------------------------------------------------------- /download_models.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/download_models.sh -------------------------------------------------------------------------------- /download_results.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/download_results.sh -------------------------------------------------------------------------------- /examples/air_hockey_hitting.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/examples/air_hockey_hitting.py -------------------------------------------------------------------------------- /examples/heavy_object.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/examples/heavy_object.py -------------------------------------------------------------------------------- /iiwa.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/iiwa.urdf -------------------------------------------------------------------------------- /iiwa_cup.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/iiwa_cup.urdf -------------------------------------------------------------------------------- /iiwa_striker.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/iiwa_striker.urdf -------------------------------------------------------------------------------- /losses/constraint_functions.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/losses/constraint_functions.py -------------------------------------------------------------------------------- /losses/feasibility.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/losses/feasibility.py -------------------------------------------------------------------------------- /losses/hittting.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/losses/hittting.py -------------------------------------------------------------------------------- /losses/kinodynamic.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/losses/kinodynamic.py -------------------------------------------------------------------------------- /losses/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/losses/utils.py -------------------------------------------------------------------------------- /media/hitting.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/media/hitting.gif -------------------------------------------------------------------------------- /models/iiwa_planner_boundaries.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/models/iiwa_planner_boundaries.py -------------------------------------------------------------------------------- /plots_and_stats/plot_air_hockey_hitting_real.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/plots_and_stats/plot_air_hockey_hitting_real.py -------------------------------------------------------------------------------- /plots_and_stats/plot_air_hockey_hitting_simulation.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/plots_and_stats/plot_air_hockey_hitting_simulation.py -------------------------------------------------------------------------------- /plots_and_stats/plot_air_hockey_hitting_simulation_control_points.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/plots_and_stats/plot_air_hockey_hitting_simulation_control_points.py -------------------------------------------------------------------------------- /plots_and_stats/plot_air_hockey_hitting_simulation_table_height.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/plots_and_stats/plot_air_hockey_hitting_simulation_table_height.py -------------------------------------------------------------------------------- /plots_and_stats/plot_air_hockey_hitting_simulation_trainingdata.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/plots_and_stats/plot_air_hockey_hitting_simulation_trainingdata.py -------------------------------------------------------------------------------- /plots_and_stats/plot_heavy_object_simulation.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/plots_and_stats/plot_heavy_object_simulation.py -------------------------------------------------------------------------------- /plots_and_stats/plot_heavy_object_simulation_masses.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/plots_and_stats/plot_heavy_object_simulation_masses.py -------------------------------------------------------------------------------- /plots_and_stats/plot_heavy_object_simulation_neurons.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/plots_and_stats/plot_heavy_object_simulation_neurons.py -------------------------------------------------------------------------------- /plots_and_stats/plot_obstacle_avoidance_simulation.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/plots_and_stats/plot_obstacle_avoidance_simulation.py -------------------------------------------------------------------------------- /plots_and_stats/stats_air_hockey_hitting_real.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/plots_and_stats/stats_air_hockey_hitting_real.py -------------------------------------------------------------------------------- /plots_and_stats/stats_air_hockey_hitting_simulation.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/plots_and_stats/stats_air_hockey_hitting_simulation.py -------------------------------------------------------------------------------- /plots_and_stats/stats_heavy_object_simulation.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/plots_and_stats/stats_heavy_object_simulation.py -------------------------------------------------------------------------------- /train_kinodynamic.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/train_kinodynamic.py -------------------------------------------------------------------------------- /train_striker.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/train_striker.py -------------------------------------------------------------------------------- /utils/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /utils/bspline.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/utils/bspline.py -------------------------------------------------------------------------------- /utils/collisions.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/utils/collisions.py -------------------------------------------------------------------------------- /utils/constants.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/utils/constants.py -------------------------------------------------------------------------------- /utils/data.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/utils/data.py -------------------------------------------------------------------------------- /utils/dataset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/utils/dataset.py -------------------------------------------------------------------------------- /utils/execution.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/utils/execution.py -------------------------------------------------------------------------------- /utils/feasibility.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/utils/feasibility.py -------------------------------------------------------------------------------- /utils/get_hpo.sh: -------------------------------------------------------------------------------- 1 | cp hitting_point_optimization/build/hpo_opt_new.so . 2 | -------------------------------------------------------------------------------- /utils/hpo_interface.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/utils/hpo_interface.py -------------------------------------------------------------------------------- /utils/hpo_opt_new.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/utils/hpo_opt_new.so -------------------------------------------------------------------------------- /utils/interpolation.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/utils/interpolation.py -------------------------------------------------------------------------------- /utils/manipulator.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/utils/manipulator.py -------------------------------------------------------------------------------- /utils/model.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/utils/model.py -------------------------------------------------------------------------------- /utils/normalize.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/utils/normalize.py -------------------------------------------------------------------------------- /utils/spo.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/utils/spo.py -------------------------------------------------------------------------------- /utils/spoo.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/utils/spoo.py -------------------------------------------------------------------------------- /utils/table.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/utils/table.py -------------------------------------------------------------------------------- /utils/velocity_projection.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pkicki/cnp-b/HEAD/utils/velocity_projection.py --------------------------------------------------------------------------------