baxter-generative-model-moveit

Learning collision-free space on the Baxter robot, with application to motion planning. This package contains the modules for interacting with ROS.

The learning modules is contained in this package: https://github.com/jamesdi1993/baxter-generative-learning

Main directories and files

• experiments/ experiments for the project. -- vae_motion_planning: main file and experiment for the project
• data_collections/ various scripts for dataset generation and validation;
• env/ environments to generate dataset and run experiments on;
• forward_kinematics/ client for computing forward kin
• objects/ stl files for objects in environment
• sampler/ sampler for generating samples in free space
• state_validity_check/ state validity checkers; Only check for joint limits and collision checks in this project
• utils/ utility files;
• visualization/ clients and helpers for interacting with Rviz to visualize motion plans