Initial commit

.dockerignore

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+*/node_modules
+*.log

.gitignore

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+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+*.pyc
+**/.idea/*
+**/cmake-build-debug/*
+
+# models
+*.pth
+*.th
+locobot_navigation/orb_slam2_ros/cfg/default.yaml
+thirdparty/ORB_SLAM2/tools/bin_vocabulary
+thirdparty/ORB_SLAM2/Vocabulary/ORBvoc.txt
+*.npz
+*.bin
+
+# tmp files for testing
+tmp/*
+
+# docusaurus
+node_modules

.gitmodules

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+[submodule "robots/LoCoBot/thirdparty/create_autonomy"]
+	path = robots/LoCoBot/thirdparty/create_autonomy
+	url = https://github.com/AutonomyLab/create_autonomy
+[submodule "robots/LoCoBot/thirdparty/dynamixel-workbench"]
+	path = robots/LoCoBot/thirdparty/dynamixel-workbench
+	url = https://github.com/ROBOTIS-GIT/dynamixel-workbench.git
+[submodule "robots/LoCoBot/thirdparty/DynamixelSDK"]
+	path = robots/LoCoBot/thirdparty/DynamixelSDK
+	url = https://github.com/ROBOTIS-GIT/DynamixelSDK.git
+[submodule "robots/LoCoBot/thirdparty/dynamixel-workbench-msgs"]
+	path = robots/LoCoBot/thirdparty/dynamixel-workbench-msgs
+	url = https://github.com/ROBOTIS-GIT/dynamixel-workbench-msgs.git
+[submodule "robots/LoCoBot/thirdparty/ros_control"]
+	path = robots/LoCoBot/thirdparty/ros_control
+	url = https://github.com/ros-controls/ros_control.git
+[submodule "robots/LoCoBot/thirdparty/ORB_SLAM2"]
+	path = robots/LoCoBot/thirdparty/ORB_SLAM2
+	url = https://github.com/taochenshh/ORB_SLAM2.git
+[submodule "robots/LoCoBot/thirdparty/ar_track_alvar"]
+	path = robots/LoCoBot/thirdparty/ar_track_alvar
+	url = https://github.com/s-gupta/ar_track_alvar.git

CHANGELOG.md

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+Initial release

CODE_OF_CONDUCT.md

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+# Code of Conduct
+
+Facebook has adopted a Code of Conduct that we expect project participants to adhere to. Please read the [full text](https://code.fb.com/codeofconduct/) so that you can understand what actions will and will not be tolerated.

CONTRIBUTING.md

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+---
+id: contributing
+title: Contributing to PyRobot
+sidebar_label: Contributing to PyRobot
+---
+
+Thank you for your interest in contributing to PyRobot! Your contributions will probably fall into two categories:
+
+1. You want to implement a feature or bug-fix for an outstanding issue.
+    - You can search for existing issues here: [https://github.com/facebookresearch/pyrobot/issues](https://github.com/facebookresearch/pyrobot/issues)
+    - Pick an issue and comment on the task that you want to work on this feature.
+    - If you need more context on a particular issue, please ask and we shall provide.
+2. You would like to propose a new feature and implement it.
+    - Post about your intended feature as a Github issue, and we shall discuss the design and
+    implementation. Once we agree that the plan looks good, go ahead and implement it. Note that any core changes such as to the core PyRobot code or LoCoBot driver code will take a longer review process.
+
+Once you finish implementing a feature or bug-fix, please send a Pull Request to
+[https://github.com/facebookresearch/pyrobot](https://github.com/facebookresearch/pyrobot)
+
+For more best practices on how to contribute, please see [Contributing Guide](https://github.com/pytorch/pytorch/blob/master/docs/source/community/contribution_guide.rst) from the [PyTorch](https://pytorch.org) repo. The following document covers some of the more technical aspects of contributing to PyRobot.
+
+## Issues
+We use GitHub issues to track public bugs. Please ensure your description is
+clear and has sufficient instructions to be able to reproduce the issue.
+
+Facebook has a [bounty program](https://www.facebook.com/whitehat/) for the safe
+disclosure of security bugs. In those cases, please go through the process
+outlined on that page and do not file a public issue.
+
+## Codebase Structure
+
+* [docs](docs) This folder is for tutorial documentation
+	* [website/docs](docs/website/docs) Contains the tutorial markdown files for each tutorial in [pyrobot.org](https://www.pyrobot.org/docs/overview).
+* [examples](examples)
+	* [locobot](examples/locobot) Examples for commanding low level primitive actions for LoCobot
+	* [sawyer](examples/sawyer) Commanding low level primitive actions for the sawyer arm
+	* Contains other robot learning examples like [grasping](examples/grasping) and [sim2real](examples/sim2real)
+* [robots](robots)
+	* [LoCoBot](robots/LoCoBot) Drivers and ROS packages for the real LoCoBot and Gazebo simulator
+		* [install](robots/LoCoBot/install) bash scripts for easy installation
+		* [locobot_calibration](robots/LoCoBot/locobot_calibration) ROS package for hand-eye camera calibration for LoCoBot
+		* [locobot_control](robots/LoCoBot/locobot_control) ROS package for LoCoBot drivers, teleoperation, inverse kinematics, etc.
+		* [locobot_description](robots/LoCoBot/locobot_description) ROS package with LoCoBot urdf, mesh files, etc.
+		* [locobot_gazebo](robots/LoCoBot/locobot_gazebo) ROS package for LoCoBot gazebo interface
+		* [locobot_lite_moveit_config](robots/LoCoBot/locobot_lite_moveit_config) MoveIt package specific to full LoCoBot hardware setup (arm+base+camera mount)
+		* [locobot_moveit_config](robots/LoCoBot/locobot_moveit_config) MoveIt package specific to full LoCoBot-lite hardware setup
+		* [locobot_navigation](robots/LoCoBot/locobot_navigation)
+			* [orb_slam2_ros](robots/LoCoBot/locobot_navigation/orb_slam2_ros) ROS package for ORB-SLAM2
+			* [base_navigation](robots/LoCoBot/locobot_navigation/base_navigation) MoveBase package specific to LoCoBot
+		* [thirdparty](robots/LoCoBot/thirdpart) Folder for LoCoBot specific external submodules
+* [tests](tests) Tests for the core PyRobot API
+
+## Pull Requests
+Contributions will be managed through pull requests. This [article](https://gist.github.com/Chaser324/ce0505fbed06b947d962) is good resource for the pull request workflow.
+
+1. Fork the repo and create your branch from `master`.
+2. If you've changed APIs, update the documentation.
+3. Follow the steps in the section below section on [Testing](#testing)
+4. Make sure your code lints.
+5. Please consider adding tutorials to better explain your feature. See section on [Tutorials](#tutorials)
+6. If you haven't already, complete the Contributor License Agreement ("CLA").
+
+## Testing
+If you've added code that should be tested, please add tests. You can either add to existing test files or create new ones in the [tests](tests/) folder. The [tests/run_tests.py](tests/run_tests.py) script will launch and run the tests on a gazebo instance of the LoCoBot robot. Please also run existing tests and add new ones for the real robot (you can pass in *test_real* flag to the script). If you do not have any tests, please explain the reason.
+
+## Tutorials
+Please also consider adding tutorials if you are planning to submit a major feature, application or algorithm. Almost all the scripts in the [examples](examples) folder have their associated [tutorials](https://www.pyrobot.org/docs/overview) synced with [pyrobot.org](https://www.pyrobot.org/docs/overview). To add a new tutorial, first create a markdown file in [docs/website/docs](docs/website/docs) or add a symlink to wherever you have added it in the repo (we suggest having a single location for this markdown file for better management). If you want to add a tutorial, you also need to declare the markdown file *id* in [docs/website/website/sidebars.json](docs/website/website/sidebars.json) so that it shows up on the website.
+
+## Contributor License Agreement ("CLA")
+In order to accept your pull request, we need you to submit a CLA. You only need
+to do this once to work on any of Facebook's open source projects.
+
+Complete your CLA here: <https://code.facebook.com/cla>
+
+## Community
+Please consider joining our forum (start a google group?)
+
+## Coding Style
+
+The python code uses [Flake8](https://pypi.org/project/flake8/) style. [autopep8](https://github.com/hhatto/autopep8) will come in handy.
+
+## License
+By contributing to **PyRobot**, you agree that your contributions will be licensed
+under the LICENSE file in the root directory of this source tree.

LICENSE

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+MIT License
+
+Copyright (c) Facebook, Inc. and its affiliates.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.