├── .gitignore ├── LICENSE ├── MANIFEST.in ├── README.md ├── device_requirements.txt ├── learning_requirements.txt ├── manipulator_learning ├── __init__.py ├── learning │ ├── __init__.py │ ├── agents │ │ ├── __init__.py │ │ └── tf │ │ │ ├── __init__.py │ │ │ ├── assets │ │ │ ├── cafferesnet_layer1_weights.npy │ │ │ └── cafferesnet_layer1_weights.pkl │ │ │ ├── bc_policy.py │ │ │ ├── cnn_models.py │ │ │ ├── common.py │ │ │ └── ensemble_actors.py │ ├── algorithms │ │ ├── __init__.py │ │ ├── bc │ │ │ ├── __init__.py │ │ │ └── tf │ │ │ │ ├── __init__.py │ │ │ │ └── bc.py │ │ └── fire │ │ │ ├── __init__.py │ │ │ └── failure_predictors │ │ │ ├── __init__.py │ │ │ ├── failure_prediction.py │ │ │ ├── failure_prediction_heuristic.py │ │ │ └── failure_prediction_statistical.py │ ├── data │ │ ├── __init__.py │ │ ├── img_depth_dataset.py │ │ └── tf │ │ │ ├── __init__.py │ │ │ ├── img_replay_buffer.py │ │ │ └── replay_buffer.py │ ├── eval │ │ ├── __init__.py │ │ ├── data_recording.py │ │ └── plot │ │ │ ├── __init__.py │ │ │ └── utils.py │ ├── imitation │ │ ├── __init__.py │ │ ├── collect_demos.py │ │ ├── collect_utils.py │ │ ├── device_utils.py │ │ ├── devices │ │ │ ├── __init__.py │ │ │ ├── gamepad_control.py │ │ │ ├── keyboard_control.py │ │ │ └── vr_control.py │ │ └── intervenor.py │ └── utils │ │ ├── __init__.py │ │ ├── absorbing_state.py │ │ ├── tf │ │ ├── __init__.py │ │ ├── general.py │ │ └── rollouts.py │ │ └── zfilter.py └── sim │ ├── __init__.py │ ├── envs │ ├── __init__.py │ ├── configs │ │ ├── __init__.py │ │ ├── all_default.py │ │ ├── panda_default.py │ │ └── thing_default.py │ ├── manipulator_env_generic.py │ ├── panda_pick_and_place.py │ ├── panda_play.py │ ├── panda_reaching.py │ ├── panda_stack.py │ ├── pb_env.py │ ├── rewards │ │ ├── __init__.py │ │ ├── bring.py │ │ ├── generic.py │ │ ├── lift.py │ │ ├── move.py │ │ ├── reach.py │ │ └── stack.py │ ├── thing_door.py │ ├── thing_insert.py │ ├── thing_pick_and_place.py │ ├── thing_pushing.py │ ├── thing_reaching.py │ └── thing_stack.py │ ├── objects │ └── models │ │ ├── meshes │ │ ├── cube.obj │ │ ├── cube1.obj │ │ ├── cube2.obj │ │ ├── kinect.dae │ │ └── kinect.jpg │ │ └── urdf │ │ ├── coaster.urdf │ │ ├── cube_black.urdf │ │ ├── cube_blue.urdf │ │ ├── cube_blue_light.urdf │ │ ├── cube_blue_long.urdf │ │ ├── cube_blue_low_fric.urdf │ │ ├── cube_blue_small.urdf │ │ ├── cube_blue_tall.urdf │ │ ├── cube_blue_tall_narrow.urdf │ │ ├── cube_blue_vis_only.urdf │ │ ├── cube_green.urdf │ │ ├── cube_green_small.urdf │ │ ├── cube_green_tall_narrow.urdf │ │ ├── cube_red.urdf │ │ ├── cube_white.urdf │ │ ├── cylinder_upright.urdf │ │ ├── dinnerware │ │ ├── cup │ │ │ ├── Cup │ │ │ │ ├── cup_vhacd.mtl │ │ │ │ ├── cup_vhacd.obj │ │ │ │ ├── textured-0008192-diffuse_map.jpg │ │ │ │ ├── textured-0008192.mtl │ │ │ │ └── textured-0008192.obj │ │ │ └── cup_small.urdf │ │ ├── dinnerware.mtl │ │ ├── generate.py │ │ ├── pan_tefal-collision01.obj │ │ ├── pan_tefal-collision02.obj │ │ ├── pan_tefal-collision03.obj │ │ ├── pan_tefal-collision04.obj │ │ ├── pan_tefal-collision05.obj │ │ ├── pan_tefal-collision06.obj │ │ ├── pan_tefal.jpg │ │ ├── pan_tefal.obj │ │ ├── pan_tefal.urdf │ │ ├── plate-collision01.obj │ │ ├── plate-collision02.obj │ │ ├── plate-collision03.obj │ │ ├── plate-collision04.obj │ │ ├── plate-collision05.obj │ │ ├── plate-collision06.obj │ │ ├── plate.obj │ │ ├── plate.urdf │ │ ├── plate_blue.urdf │ │ ├── plate_green.urdf │ │ ├── plate_small.urdf │ │ ├── plate_wide.urdf │ │ └── teal.png │ │ ├── door.urdf │ │ ├── door_back.urdf │ │ ├── insertion_box.urdf │ │ ├── insertion_box │ │ ├── insertion_block.obj │ │ ├── insertion_block.stl │ │ └── insertion_block.urdf │ │ ├── kinect.urdf │ │ ├── rod.urdf │ │ ├── rod_long.urdf │ │ ├── sphere_no_col_fit_small_cube.urdf │ │ ├── sphere_no_col_fit_small_cube_bigger.urdf │ │ ├── sphere_no_col_no_mass.urdf │ │ ├── table │ │ ├── table.mtl │ │ ├── table.obj │ │ ├── table.png │ │ ├── table.urdf │ │ ├── table_short.urdf │ │ ├── table_small.urdf │ │ └── table_small_square.urdf │ │ ├── table_with_mark │ │ ├── table-with-circle.png │ │ ├── table-with-dot.png │ │ ├── table-with-mark.png │ │ ├── table.mtl │ │ ├── table.obj │ │ ├── table.png │ │ └── table.urdf │ │ └── tray │ │ ├── tray.obj │ │ ├── tray.urdf │ │ ├── tray_with_inserts.obj │ │ └── tray_with_inserts.urdf │ ├── robots │ ├── __init__.py │ ├── cameras.py │ ├── manipulator.py │ ├── manipulator_wrapper.py │ └── models │ │ ├── franka_panda │ │ ├── LICENSE.txt │ │ ├── meshes │ │ │ ├── collision │ │ │ │ ├── finger.obj │ │ │ │ ├── hand.obj │ │ │ │ ├── link0.obj │ │ │ │ ├── link1.obj │ │ │ │ ├── link2.obj │ │ │ │ ├── link3.obj │ │ │ │ ├── link4.obj │ │ │ │ ├── link5.obj │ │ │ │ ├── link6.mtl │ │ │ │ ├── link6.obj │ │ │ │ └── link7.obj │ │ │ └── visual │ │ │ │ ├── colors.png │ │ │ │ ├── finger.mtl │ │ │ │ ├── finger.obj │ │ │ │ ├── hand.mtl │ │ │ │ ├── hand.obj │ │ │ │ ├── link1.mtl │ │ │ │ ├── link1.obj │ │ │ │ ├── link2.mtl │ │ │ │ ├── link2.obj │ │ │ │ ├── link3.mtl │ │ │ │ ├── link3.obj │ │ │ │ ├── link4.mtl │ │ │ │ ├── link4.obj │ │ │ │ ├── link5.mtl │ │ │ │ ├── link5.obj │ │ │ │ ├── link6.mtl │ │ │ │ ├── link6.obj │ │ │ │ └── visualShapeBench.json_0.json │ │ └── panda.urdf │ │ ├── kinova │ │ ├── meshes │ │ │ ├── arm.SLDPRT │ │ │ ├── arm.STL │ │ │ ├── arm.dae │ │ │ ├── arm_half_1.STL │ │ │ ├── arm_half_1.dae │ │ │ ├── arm_half_2.STL │ │ │ ├── arm_half_2.dae │ │ │ ├── arm_mico.STL │ │ │ ├── arm_mico.dae │ │ │ ├── base.STL │ │ │ ├── base.dae │ │ │ ├── finger_base_left.stl │ │ │ ├── finger_base_right.stl │ │ │ ├── finger_distal.STL │ │ │ ├── finger_distal.dae │ │ │ ├── finger_proximal.STL │ │ │ ├── finger_proximal.dae │ │ │ ├── finger_tip_left.stl │ │ │ ├── finger_tip_right.stl │ │ │ ├── forearm.STL │ │ │ ├── forearm.dae │ │ │ ├── forearm_mico.STL │ │ │ ├── forearm_mico.dae │ │ │ ├── hand_2finger.STL │ │ │ ├── hand_2finger.dae │ │ │ ├── hand_3finger.STL │ │ │ ├── hand_3finger.dae │ │ │ ├── ring_big.STL │ │ │ ├── ring_small.STL │ │ │ ├── shoulder.STL │ │ │ ├── shoulder.dae │ │ │ ├── wrist.STL │ │ │ ├── wrist.dae │ │ │ ├── wrist_spherical_1.STL │ │ │ ├── wrist_spherical_1.dae │ │ │ ├── wrist_spherical_2.STL │ │ │ └── wrist_spherical_2.dae │ │ └── urdf │ │ │ ├── gripper_only.sdf │ │ │ ├── j2n4s300.xacro │ │ │ ├── j2n4s300_standalone.xacro │ │ │ ├── j2n6s200.xacro │ │ │ ├── j2n6s200_standalone.xacro │ │ │ ├── j2n6s300.xacro │ │ │ ├── j2n6s300_no_rings.xacro │ │ │ ├── j2n6s300_standalone.xacro │ │ │ ├── j2n7s300.xacro │ │ │ ├── j2n7s300_standalone.xacro │ │ │ ├── j2s6s300.xacro │ │ │ ├── j2s6s300_standalone.xacro │ │ │ ├── j2s7s300.xacro │ │ │ ├── j2s7s300_standalone.xacro │ │ │ ├── jaco.urdf │ │ │ ├── jaco_no_rings.urdf │ │ │ ├── kinova.gazebo │ │ │ ├── kinova_common.xacro │ │ │ ├── kinova_finger_set.xacro │ │ │ ├── kinova_inertial.xacro │ │ │ ├── m1n4s200.xacro │ │ │ ├── m1n4s200_standalone.xacro │ │ │ ├── m1n6s200.xacro │ │ │ ├── m1n6s200_standalone.xacro │ │ │ ├── m1n6s300.xacro │ │ │ ├── m1n6s300_standalone.xacro │ │ │ └── two_arm_robot_example_standalone.xacro │ │ └── thing │ │ └── assets │ │ ├── __init__.py │ │ ├── combined_urdf │ │ ├── ridgeback_ur10.urdf │ │ ├── ridgeback_ur10_pandagrip.urdf │ │ ├── ridgeback_ur10_pandagrip_fake_cam_mount.urdf │ │ ├── ridgeback_ur10_pandagrip_no_collision.urdf │ │ ├── ridgeback_ur10_pr2grip.urdf │ │ ├── ridgeback_ur10_pr2grip_fixed.urdf │ │ ├── ridgeback_ur10_robotiq3.urdf │ │ ├── ridgeback_ur10_rod.urdf │ │ ├── ridgeback_ur10_rod_fixed.urdf │ │ └── ur10_with_pr2grip.urdf │ │ ├── panda_gripper │ │ ├── finger.dae │ │ └── hand.dae │ │ ├── panda_meshes │ │ ├── collision │ │ │ ├── finger.obj │ │ │ ├── hand.obj │ │ │ ├── link0.obj │ │ │ ├── link1.obj │ │ │ ├── link2.obj │ │ │ ├── link3.obj │ │ │ ├── link4.obj │ │ │ ├── link5.obj │ │ │ ├── link6.mtl │ │ │ ├── link6.obj │ │ │ └── link7.obj │ │ └── visual │ │ │ ├── colors.png │ │ │ ├── finger.mtl │ │ │ ├── finger.obj │ │ │ ├── hand.mtl │ │ │ ├── hand.obj │ │ │ ├── link1.mtl │ │ │ ├── link1.obj │ │ │ ├── link2.mtl │ │ │ ├── link2.obj │ │ │ ├── link3.mtl │ │ │ ├── link3.obj │ │ │ ├── link4.mtl │ │ │ ├── link4.obj │ │ │ ├── link5.mtl │ │ │ ├── link5.obj │ │ │ ├── link6.mtl │ │ │ ├── link6.obj │ │ │ └── visualShapeBench.json_0.json │ │ ├── pr2_gripper │ │ ├── l_finger.stl │ │ ├── l_finger_collision.stl │ │ └── l_finger_tip.stl │ │ ├── ridgeback.urdf │ │ ├── ridgeback_description │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ └── description.launch │ │ ├── meshes │ │ │ ├── 3dm-gxX.stl │ │ │ ├── axle.stl │ │ │ ├── body-collision.stl │ │ │ ├── body.stl │ │ │ ├── end-cover.stl │ │ │ ├── lights.stl │ │ │ ├── rocker.stl │ │ │ ├── side-cover.stl │ │ │ ├── top.stl │ │ │ ├── tor11_mech.dae │ │ │ ├── tor11_mech.stl │ │ │ ├── ust-10lx.stl │ │ │ └── wheel.stl │ │ ├── package.xml │ │ ├── scripts │ │ │ └── env_run │ │ └── urdf │ │ │ ├── accessories.urdf.xacro │ │ │ ├── accessories │ │ │ ├── hokuyo_ust-10lx_mount.urdf.xacro │ │ │ ├── microstrain_imu.urdf.xacro │ │ │ ├── sick_lms1xx_mount.urdf.xacro │ │ │ └── sick_s300_mount.urdf.xacro │ │ │ ├── configs │ │ │ ├── base │ │ │ ├── base_sick │ │ │ ├── dual_hokuyo_lasers │ │ │ ├── dual_sick_lasers │ │ │ └── empty │ │ │ ├── empty.urdf │ │ │ ├── ridgeback.gazebo │ │ │ ├── ridgeback.urdf │ │ │ └── ridgeback.urdf.xacro │ │ ├── robotiq_s_model_visualization │ │ ├── CMakeLists.txt │ │ ├── cfg │ │ │ ├── robotiq_hand_macro.urdf.xacro │ │ │ ├── s-model_articulated.urdf │ │ │ ├── s-model_articulated.xacro │ │ │ ├── s-model_articulated_macro.xacro │ │ │ ├── s-model_finger_articulated_macro.xacro │ │ │ ├── s-model_mesh.urdf │ │ │ ├── s-model_mesh.xacro │ │ │ ├── s-model_mesh.xml │ │ │ └── s-model_mesh_macro.xacro │ │ ├── mainpage.dox │ │ ├── meshes │ │ │ ├── s-model │ │ │ │ ├── collision │ │ │ │ │ ├── GRIPPER_CLOSED.stl │ │ │ │ │ ├── GRIPPER_OPEN.stl │ │ │ │ │ ├── GRIPPER_OPEN_FINGER_1.stl │ │ │ │ │ ├── GRIPPER_OPEN_FINGER_2.stl │ │ │ │ │ ├── GRIPPER_OPEN_FINGER_3.stl │ │ │ │ │ └── GRIPPER_OPEN_PALM.stl │ │ │ │ └── visual │ │ │ │ │ ├── GRIPPER_CLOSED.stl │ │ │ │ │ ├── GRIPPER_OPEN.stl │ │ │ │ │ ├── GRIPPER_OPEN_FINGER_1.stl │ │ │ │ │ ├── GRIPPER_OPEN_FINGER_2.stl │ │ │ │ │ ├── GRIPPER_OPEN_FINGER_3.stl │ │ │ │ │ └── GRIPPER_OPEN_PALM.stl │ │ │ └── s-model_articulated │ │ │ │ ├── collision │ │ │ │ ├── link_0.STL │ │ │ │ ├── link_1.STL │ │ │ │ ├── link_2.STL │ │ │ │ ├── link_3.STL │ │ │ │ └── palm.STL │ │ │ │ └── visual │ │ │ │ ├── link_0.STL │ │ │ │ ├── link_1.STL │ │ │ │ ├── link_2.STL │ │ │ │ ├── link_3.STL │ │ │ │ └── palm.STL │ │ └── package.xml │ │ ├── ur10.urdf │ │ ├── ur10_free.urdf │ │ └── ur_description │ │ ├── meshes │ │ ├── ur10 │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upper_arm.stl │ │ │ │ ├── wrist_1.stl │ │ │ │ ├── wrist_2.stl │ │ │ │ └── wrist_3.stl │ │ │ └── visual │ │ │ │ ├── Base.dae │ │ │ │ ├── Base.mtl │ │ │ │ ├── Base.obj │ │ │ │ ├── Forearm.dae │ │ │ │ ├── Forearm.mtl │ │ │ │ ├── Forearm.obj │ │ │ │ ├── Shoulder.dae │ │ │ │ ├── Shoulder.mtl │ │ │ │ ├── Shoulder.obj │ │ │ │ ├── UpperArm.dae │ │ │ │ ├── UpperArm.mtl │ │ │ │ ├── UpperArm.obj │ │ │ │ ├── Wrist1.dae │ │ │ │ ├── Wrist1.mtl │ │ │ │ ├── Wrist1.obj │ │ │ │ ├── Wrist2.dae │ │ │ │ ├── Wrist2.mtl │ │ │ │ ├── Wrist2.obj │ │ │ │ ├── Wrist3.dae │ │ │ │ ├── Wrist3.mtl │ │ │ │ └── Wrist3.obj │ │ └── ur5 │ │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upper_arm.stl │ │ │ ├── wrist_1.stl │ │ │ ├── wrist_2.stl │ │ │ └── wrist_3.stl │ │ │ └── visual │ │ │ ├── Base.dae │ │ │ ├── Forearm.dae │ │ │ ├── Shoulder.dae │ │ │ ├── UpperArm.dae │ │ │ ├── Wrist1.dae │ │ │ ├── Wrist2.dae │ │ │ └── Wrist3.dae │ │ └── urdf │ │ ├── gazebo.urdf.xacro │ │ ├── ur10.gazebo.xacro │ │ ├── ur10.transmission.xacro │ │ ├── ur10.urdf.xacro │ │ ├── ur10_joint_limited_robot.urdf │ │ ├── ur10_joint_limited_robot.urdf.xacro │ │ ├── ur10_robot.urdf │ │ ├── ur10_robot.urdf.xacro │ │ ├── ur5.gazebo.xacro │ │ ├── ur5.transmission.xacro │ │ ├── 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