├── .gitignore ├── LICENSE ├── README.md ├── examples ├── example_aip_panda.py ├── example_aip_parallel.py └── example_key.py ├── pyproject.toml ├── scripts ├── reactive_tamp.py └── sim.py ├── src └── m3p2i_aip │ ├── __init__.py │ ├── assets │ ├── images │ │ ├── m3p2i_1corner.gif │ │ ├── m3p2i_pick_with_obs.gif │ │ ├── mppi_push_dyn.gif │ │ └── mppi_reactive_pick.gif │ └── urdf │ │ ├── albert │ │ ├── .gitignore │ │ ├── albert.urdf │ │ └── meshes │ │ │ ├── collision │ │ │ ├── chassis_link.STL │ │ │ ├── extrusion.stl │ │ │ ├── finger.stl │ │ │ ├── hand.stl │ │ │ ├── internal_link.STL │ │ │ ├── lift_link.STL │ │ │ ├── link0.stl │ │ │ ├── link1.stl │ │ │ ├── link2.stl │ │ │ ├── link3.stl │ │ │ ├── link4.stl │ │ │ ├── link5.stl │ │ │ ├── link6.stl │ │ │ ├── link7.stl │ │ │ ├── rotacastor_left_link.STL │ │ │ ├── rotacastor_right_link.STL │ │ │ ├── top_plate.stl │ │ │ ├── top_plate_collision.stl │ │ │ ├── wheel_left_link.STL │ │ │ └── wheel_right_link.STL │ │ │ ├── plane.obj │ │ │ └── visual │ │ │ ├── chassis_link.dae │ │ │ ├── finger.dae │ │ │ ├── hand.dae │ │ │ ├── internal_link.dae │ │ │ ├── lift_link.dae │ │ │ ├── link0.dae │ │ │ ├── link1.dae │ │ │ ├── link2.dae │ │ │ ├── link3.dae │ │ │ ├── link4.dae │ │ │ ├── link5.dae │ │ │ ├── link6.dae │ │ │ └── link7.dae │ │ ├── boxer │ │ ├── .gitignore │ │ ├── boxer.urdf │ │ └── meshes │ │ │ ├── collision │ │ │ ├── chassis_link.STL │ │ │ ├── extrusion.stl │ │ │ ├── internal_link.STL │ │ │ ├── lift_link.STL │ │ │ ├── rotacastor_left_link.STL │ │ │ ├── rotacastor_right_link.STL │ │ │ ├── top_plate.stl │ │ │ ├── top_plate_collision.stl │ │ │ ├── wheel_left_link.STL │ │ │ └── wheel_right_link.STL │ │ │ └── visual │ │ │ ├── chassis_link.dae │ │ │ ├── internal_link.dae │ │ │ └── lift_link.dae │ │ ├── franka_description │ │ ├── meshes │ │ │ ├── collision │ │ │ │ ├── finger.obj │ │ │ │ ├── finger.stl │ │ │ │ ├── hand.obj │ │ │ │ ├── hand.stl │ │ │ │ ├── link0.obj │ │ │ │ ├── link0.stl │ │ │ │ ├── link1.obj │ │ │ │ ├── link1.stl │ │ │ │ ├── link2.obj │ │ │ │ ├── link2.stl │ │ │ │ ├── link3.obj │ │ │ │ ├── link3.stl │ │ │ │ ├── link4.obj │ │ │ │ ├── link4.stl │ │ │ │ ├── link5.obj │ │ │ │ ├── link5.stl │ │ │ │ ├── link6.obj │ │ │ │ ├── link6.stl │ │ │ │ ├── link7.obj │ │ │ │ ├── link7.stl │ │ │ │ ├── stltoobj.bat │ │ │ │ └── stltoobj.mlx │ │ │ └── visual │ │ │ │ ├── daetoobj.bat │ │ │ │ ├── daetoobj.mlx │ │ │ │ ├── finger.dae │ │ │ │ ├── finger.mtl │ │ │ │ ├── finger.obj │ │ │ │ ├── hand.dae │ │ │ │ ├── hand.mtl │ │ │ │ ├── hand.obj │ │ │ │ ├── link0.dae │ │ │ │ ├── link0.mtl │ │ │ │ ├── link0.obj │ │ │ │ ├── link1.dae │ │ │ │ ├── link1.mtl │ │ │ │ ├── link1.obj │ │ │ │ ├── link2.dae │ │ │ │ ├── link2.mtl │ │ │ │ ├── link2.obj │ │ │ │ ├── link3.dae │ │ │ │ ├── link3.mtl │ │ │ │ ├── link3.obj │ │ │ │ ├── link4.dae │ │ │ │ ├── link4.mtl │ │ │ │ ├── link4.obj │ │ │ │ ├── link5.dae │ │ │ │ ├── link5.mtl │ │ │ │ ├── link5.obj │ │ │ │ ├── link6.dae │ │ │ │ ├── link6.mtl │ │ │ │ ├── link6.obj │ │ │ │ ├── link7.dae │ │ │ │ ├── link7.mtl │ │ │ │ └── link7.obj │ │ └── robots │ │ │ └── franka_panda.urdf │ │ ├── heijn.urdf │ │ ├── husky_description │ │ ├── accessories │ │ │ ├── intel_realsense.urdf.xacro │ │ │ ├── sensor_arch.urdf.xacro │ │ │ ├── sick_lms1xx_mount.urdf.xacro │ │ │ └── vlp16_mount.urdf.xacro │ │ ├── custom_description.urdf │ │ ├── custom_description.urdf.xacro │ │ ├── decorations.urdf │ │ ├── decorations.urdf.xacro │ │ ├── empty.urdf │ │ ├── husky.urdf │ │ ├── husky.urdf.xacro │ │ ├── husky_circular_bumper.urdf │ │ ├── husky_empty.urdf │ │ ├── husky_for_copying.urdf │ │ ├── husky_no_bumper.urdf │ │ ├── husky_rectangular_bumper.urdf │ │ ├── meshes │ │ │ ├── accessories │ │ │ │ ├── 300_mm_sensor_arch.dae │ │ │ │ ├── 300_mm_sensor_arch.stl │ │ │ │ ├── 510_mm_sensor_arch.dae │ │ │ │ ├── 510_mm_sensor_arch.stl │ │ │ │ ├── lidar_mount.stl │ │ │ │ ├── lms1xx_mount.dae │ │ │ │ └── lms1xx_mount.stl │ │ │ ├── base_link.dae │ │ │ ├── base_link.stl │ │ │ ├── base_link_dae.obj │ │ │ ├── base_link_stl.obj │ │ │ ├── bowler.stl │ │ │ ├── bowler_stl.obj │ │ │ ├── bumper.dae │ │ │ ├── bumper_dae.obj │ │ │ ├── bumper_extension.dae │ │ │ ├── bumper_extension_dae.obj │ │ │ ├── circle_bumper.SLDPRT │ │ │ ├── circle_bumper.STL │ │ │ ├── circle_bumper_stl.obj │ │ │ ├── large_top_plate.dae │ │ │ ├── large_top_plate_collision.stl │ │ │ ├── large_top_plate_collision_stl.obj │ │ │ ├── large_top_plate_dae.obj │ │ │ ├── planar_bumper.SLDPRT │ │ │ ├── planar_bumper.STL │ │ │ ├── planar_bumper_stl.obj │ │ │ ├── red_bowler.dae │ │ │ ├── red_bowler_dae.obj │ │ │ ├── top_chassis.dae │ │ │ ├── top_chassis.stl │ │ │ ├── top_chassis_dae.obj │ │ │ ├── top_chassis_stl.obj │ │ │ ├── top_plate.dae │ │ │ ├── top_plate.stl │ │ │ ├── top_plate_dae.obj │ │ │ ├── top_plate_stl.obj │ │ │ ├── user_rail.dae │ │ │ ├── user_rail.stl │ │ │ ├── user_rail_dae.obj │ │ │ ├── user_rail_stl.obj │ │ │ ├── wheel.dae │ │ │ ├── wheel.stl │ │ │ ├── wheel_dae.obj │ │ │ └── wheel_stl.obj │ │ ├── wheel.urdf │ │ └── wheel.urdf.xacro │ │ └── pointRobot.urdf │ ├── config │ ├── config_panda.yaml │ ├── config_point.yaml │ ├── config_store.py │ ├── isaacgym │ │ ├── panda.yaml │ │ └── point.yaml │ ├── mppi │ │ ├── panda.yaml │ │ └── point.yaml │ ├── panda_env │ │ ├── 1_table.yaml │ │ ├── 2_table_stand.yaml │ │ ├── 3_shelf_stand.yaml │ │ ├── 4_obs.yaml │ │ ├── 5_cubeA.yaml │ │ ├── 6_cubeB.yaml │ │ └── panda.yaml │ └── point_env │ │ ├── 0_point_robot.yaml │ │ ├── 10_xaxis.yaml │ │ ├── 1_wall.yaml │ │ ├── 2_wall.yaml │ │ ├── 3_wall.yaml │ │ ├── 4_wall.yaml │ │ ├── 5_obs.yaml │ │ ├── 6_dyn_obs.yaml │ │ ├── 7_box.yaml │ │ ├── 8_goal.yaml │ │ └── 9_yaxis.yaml │ ├── planners │ ├── motion_planner │ │ ├── cost_functions.py │ │ ├── m3p2i.py │ │ └── mppi.py │ └── task_planner │ │ ├── adaptive_action_selection.py │ │ ├── ai_agent.py │ │ ├── isaac_state_action_templates.py │ │ ├── parallel_action_selection.py │ │ └── task_planner.py │ ├── plot │ ├── data_battery.csv │ ├── panda │ │ ├── normal_pick.npy │ │ ├── normal_rl_pick_1500_64.npy │ │ ├── normal_rl_pick_2000_64.npy │ │ ├── reactive_pick.npy │ │ ├── reactive_rl_pick_1500_64.npy │ │ └── reactive_rl_pick_2000_64.npy │ ├── plot_class.py │ ├── plot_panda.py │ ├── plot_point.py │ └── point │ │ ├── case2_halton_pull_coll.npy │ │ ├── case2_halton_push_coll.npy │ │ ├── corner1_hybrid.npy │ │ ├── corner1_pull.npy │ │ ├── corner1_push.npy │ │ ├── corner2_hybrid.npy │ │ ├── corner2_pull.npy │ │ └── corner2_push.npy │ └── utils │ ├── data_transfer.py │ ├── isaacgym_utils │ ├── actor_utils.py │ └── isaacgym_wrapper.py │ ├── mppi_utils.py │ ├── path_utils.py │ └── skill_utils.py └── thirdparty └── README.md /.gitignore: -------------------------------------------------------------------------------- 1 | __pycache__/ 2 | thirdparty/ 3 | *.egg-info 4 | */outputs -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 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