├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── media ├── hardware_cockpit_setup.png └── vito_gazebo.png ├── vito_controllers ├── CMakeLists.txt ├── include │ ├── utils │ │ ├── geometries_utilities.h │ │ ├── kuka_lwr_utilities.h │ │ ├── pf_utilities.h │ │ ├── pseudo_inversion.h │ │ ├── pseudo_inversion_rank_update.h │ │ ├── ros_desperate_housewife_utilities.h │ │ └── skew_symmetric.h │ └── vito_controllers │ │ ├── DualArms.h │ │ ├── KinematicChainControllerBase.h │ │ ├── cartesian_impedance_vito_controller.h │ │ ├── cartesian_impedance_vito_controller_NOTWORKING.h │ │ ├── dual_arm_manager.h │ │ ├── teleoperation_controller.h │ │ └── vito_bridge_controller.h ├── launch │ └── dual_arm.launch ├── msg │ └── README ├── package.xml ├── src │ ├── DualArms.cpp │ ├── KinematicChainControllerBase.cpp │ ├── cartesian_command_vito.cpp │ ├── cartesian_gains_mat.txt │ ├── cartesian_impedance_vito_controller.cpp │ ├── cartesian_impedance_vito_controller_NOTWORKING.cpp │ ├── dual_arm_manager.cpp │ ├── teleoperation_controller.cpp │ └── vito_bridge_controller.cpp ├── srv │ └── README └── vito_controllers_plugins.xml ├── vito_description ├── CMakeLists.txt ├── README.md ├── config │ ├── hardware_interfaces.yaml │ ├── left_arm_names.yaml │ ├── left_hand_names.yaml │ ├── right_arm_names.yaml │ ├── right_hand_names.yaml │ └── vito_controllers.yaml ├── launch │ ├── display.launch │ ├── display_for_calibration.launch │ ├── fake_calibration.launch.xml │ ├── grasp_db_generation.launch.xml │ ├── rviz_calib_config.rviz │ ├── rviz_config.rviz │ └── spawn_object.launch.xml ├── meshes │ ├── camera_robot_calibrator.stl │ ├── gazebo_assieme.stl │ ├── gripper.stl │ ├── table.stl │ ├── torso._oldstl │ ├── torso.stl │ └── torso_b.stl ├── model │ ├── calibrator.urdf.xacro │ ├── cylinder.urdf.xacro │ ├── materials.urdf │ ├── table.urdf.xacro │ ├── torso.urdf.xacro │ └── velvet.urdf.xacro ├── package.xml ├── robot │ ├── environment.urdf.xacro │ ├── vito.urdf.xacro │ ├── vito_calib.urdf.xacro │ └── vito_iliad.urdf.xacro └── worlds │ └── simple_environment.world ├── vito_moveit_configuration ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── controllers.yaml │ ├── environment.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── sensors_rgbd.yaml │ └── vito.srdf ├── launch │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── demo_dual_manipulation.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── joystick_control.launch │ ├── move_group.launch │ ├── move_group_dual_manipulation.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── pacman_demo.launch │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── run_benchmark_ompl.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── trajectory_execution.launch.xml │ ├── vito_moveit_controller_manager.launch.xml │ ├── vito_moveit_sensor_manager.launch.xml │ 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