├── .dockerignore ├── .gitignore ├── CMakeLists.txt ├── CMakeModules ├── FindLIBGP.cmake └── LIBGPConfig.cmake ├── Dockerfile ├── Ellipse_modulation_models ├── gp_centerX_inner ├── gp_centerX_outer ├── gp_centerY_inner ├── gp_centerY_outer ├── gp_phi_cos_inner ├── gp_phi_cos_outer ├── gp_phi_sin_inner ├── gp_phi_sin_outer ├── gp_radiiX_inner ├── gp_radiiX_outer ├── gp_radiiY_inner ├── gp_radiiY_outer ├── knnAngle1 ├── knnDataAngle.csv └── knnDataAperture.csv ├── GMM_models ├── GMM_grasp_KallaxDrawer.csv ├── GMM_grasp_KallaxTuer.csv ├── GMM_grasp_muesliChoco.csv ├── GMM_move_KallaxDrawer.csv ├── GMM_move_KallaxTuer.csv ├── GMM_move_muesliChoco.csv ├── GMM_release_KallaxTuer.csv └── GMM_release_muesliChoco.csv ├── LICENSE ├── docker_build.sh ├── environment.yml ├── environment_docker.yml ├── gazebo_world ├── hsr │ ├── bringup_hsrb_empty_world.launch │ ├── hsr_move_group.launch │ ├── hsrb.xml │ ├── hsrb4s.urdf.xacro │ ├── hsrb_empty_world.launch │ ├── hsrb_gazebo_common.xml │ ├── hsrb_no_controllers.xml │ ├── modified_CMakeLists.txt │ ├── modified_hsrb_kinematics.yaml │ ├── upload_hsrb.launch │ └── upload_urdf_hsrb.xml ├── models │ ├── Kallax │ │ ├── meshes │ │ │ ├── Kallax.dae │ │ │ ├── KallaxDrawer1.dae │ │ │ ├── KallaxDrawer1_tex_0.jpg │ │ │ ├── KallaxDrawer2.dae │ │ │ ├── KallaxDrawer2_tex_0.jpg │ │ │ └── Kallax_tex_0.jpg │ │ ├── model.config │ │ └── model.sdf │ ├── Kallax2 │ │ ├── meshes │ │ │ ├── Kallax.dae │ │ │ ├── Kallax_Tuer.dae │ │ │ ├── Kallax_Tuer_tex_0.jpg │ │ │ └── Kallax_tex_0.jpg │ │ ├── model.config │ │ └── model.sdf │ ├── KallaxDrawer1 │ │ ├── meshes │ │ │ ├── KallaxDrawer1.dae │ │ │ └── KallaxDrawer1_tex_0.jpg │ │ ├── model.config │ │ └── model.sdf │ ├── muesli2 │ │ ├── meshes │ │ │ ├── muesli1_tex_0.jpg │ │ │ └── muesli2.dae │ │ ├── model.config │ │ └── model.sdf │ ├── pal_kitchen_table │ │ ├── kitchen_table.sdf │ │ ├── meshes │ │ │ └── kitchen_table.stl │ │ └── model.config │ ├── reemc_table_low │ │ ├── model.config │ │ └── table.sdf │ └── tim_bowl │ │ ├── meshes │ │ ├── bowl.dae │ │ └── bowl_tex_0.jpg │ │ ├── model.config │ │ └── model.sdf ├── plugins │ └── libgazebo_ros_moveit_planning_scene.so ├── pr2 │ ├── modified_pr2_kinematics.yaml │ ├── pr2.launch │ ├── pr2.urdf.xacro │ ├── pr2_bringup.launch │ ├── pr2_default_controllers.launch │ ├── pr2_empty_world.launch │ ├── pr2_no_controllers.launch │ └── upload_pr2.launch ├── rosconsole.config ├── tiago │ ├── modified_gripper.urdf.xacro │ ├── modified_tiago.srdf.em │ ├── modified_tiago_kinematics_kdl.yaml │ ├── modified_tiago_pal-gripper.srdf │ ├── modified_wsg_gripper.urdf.xacro │ ├── pal_gazebo.launch │ ├── tiago.urdf.xacro │ ├── tiago_gazebo.launch │ ├── tiago_spawn.launch │ └── upload.launch └── worlds │ ├── fast_empty.world │ └── modulation_tasks.world ├── include └── modulation_rl │ ├── base_gripper_planner.h │ ├── dynamic_system_base.h │ ├── dynamic_system_hsr.h │ ├── dynamic_system_pr2.h │ ├── dynamic_system_tiago.h │ ├── ellipse.h │ ├── gaussian_mixture_model.h │ ├── gmm_planner.h │ ├── linear_planner.h │ ├── modulation.h │ ├── modulation_ellipses.h │ ├── utils.h │ └── worlds.h ├── package.xml ├── readme.md ├── ros_startup.sh ├── ros_startup_incl_train.sh ├── rviz_config.rviz ├── rviz_config_hsr_tiago.rviz ├── scripts ├── configs │ └── best_defaults.yaml ├── main.py ├── model_checkpoints │ ├── hsr │ │ ├── config.yaml │ │ └── last_model.zip │ ├── pr2 │ │ ├── config.yaml │ │ └── last_model.zip │ └── tiago │ │ ├── config.yaml │ │ └── last_model.zip └── modulation │ ├── __init__.py │ ├── envs │ ├── __init__.py │ ├── env_utils.py │ ├── modulationEnv.py │ ├── myGazebo.py │ └── tasks.py │ ├── handle_launchfiles.py │ ├── stableBLCallbacks.py │ ├── utils.py │ └── visualise.py └── src ├── base_gripper_planner.cpp ├── dynamic_system_base.cpp ├── dynamic_system_hsr.cpp ├── dynamic_system_pr2.cpp ├── dynamic_system_py.cpp ├── dynamic_system_tiago.cpp ├── ellipse.cpp ├── gaussian_mixture_model.cpp ├── gmm_planner.cpp ├── linear_planner.cpp ├── modulation.cpp 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