├── README.md ├── descartes_light ├── CMakeLists.txt ├── include │ └── descartes_light │ │ ├── collision_checker.h │ │ ├── descartes_light.h │ │ ├── edge_sampler.h │ │ ├── external_axis_sampler.h │ │ ├── kinematic_interface.h │ │ ├── ladder_graph.h │ │ ├── ladder_graph_dag_search.h │ │ ├── position_sampler.h │ │ └── rail_position_sampler.h ├── package.xml └── src │ ├── descartes_light │ ├── collision_checker.cpp │ ├── descartes_light.cpp │ ├── edge_sampler.cpp │ ├── external_axis_sampler.cpp │ ├── kinematic_interface.cpp │ ├── ladder_graph_dag_search.cpp │ ├── position_sampler.cpp │ └── rail_position_sampler.cpp │ └── descartes_light_node.cpp ├── docs ├── demo1.png ├── demo2.png ├── demo3.png └── demo4.png ├── hybrid.rosinstall ├── hybrid.rviz ├── hybrid_planning_common ├── CMakeLists.txt ├── include │ └── hybrid_planning_common │ │ ├── abb_4600_kinematic_params.h │ │ ├── conversions.h │ │ ├── eigen_typedefs.h │ │ ├── load_environment.h │ │ ├── path_execution.h │ │ ├── path_types.h │ │ ├── path_visualization.h │ │ └── simple_hybrid_planner.h ├── package.xml └── src │ └── hybrid_planning_common │ ├── conversions.cpp │ ├── load_environment.cpp │ ├── path_execution.cpp │ ├── path_types.cpp │ ├── path_visualization.cpp │ └── simple_hybrid_planner.cpp ├── workcell1 ├── README ├── workcell1_demos │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ └── workcell1_demo.cpp ├── workcell1_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── fake_controllers.yaml │ │ ├── irb4600_workspace.srdf │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ └── ompl_planning.yaml │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── irb4600_workspace_moveit_controller_manager.launch.xml │ │ ├── irb4600_workspace_moveit_sensor_manager.launch.xml │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ └── package.xml └── workcell1_support │ ├── CMakeLists.txt │ ├── launch │ └── simulation.launch │ ├── meshes │ └── visual │ │ ├── sander_body.stl │ │ ├── sander_disk.stl │ │ └── sander_shaft.stl │ ├── package.xml │ └── urdf │ ├── sander.xacro │ └── workcell.xacro ├── workcell2 ├── workcell2_demos │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ └── workcell2_demo.cpp ├── workcell2_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── fake_controllers.yaml │ │ ├── irb4600_workspace.srdf │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ └── ompl_planning.yaml │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── irb4600_workspace_moveit_controller_manager.launch.xml │ │ ├── irb4600_workspace_moveit_sensor_manager.launch.xml │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ └── package.xml └── workcell2_support │ ├── CMakeLists.txt │ ├── launch │ └── simulation.launch │ ├── package.xml │ └── urdf │ ├── sander.xacro │ └── workcell.xacro ├── workcell3 ├── workcell3_demos │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ └── workcell3_demo.cpp ├── workcell3_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── fake_controllers.yaml │ │ ├── irb4600_workspace.srdf │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ └── ompl_planning.yaml │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── irb4600_workspace_moveit_controller_manager.launch.xml │ │ ├── irb4600_workspace_moveit_sensor_manager.launch.xml │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ └── package.xml └── workcell3_support │ ├── CMakeLists.txt │ ├── launch │ └── simulation.launch │ ├── package.xml │ └── urdf │ ├── sander.xacro │ └── workcell.xacro └── workcell4 ├── workcell4_demos ├── CMakeLists.txt ├── package.xml └── src │ └── workcell4_demo.cpp ├── workcell4_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── fake_controllers.yaml │ ├── irb4600_workspace.srdf │ ├── joint_limits.yaml │ ├── kinematics.yaml │ └── ompl_planning.yaml ├── launch │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── irb4600_workspace_moveit_controller_manager.launch.xml │ ├── irb4600_workspace_moveit_sensor_manager.launch.xml │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── run_benchmark_ompl.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── trajectory_execution.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml └── package.xml └── workcell4_support ├── CMakeLists.txt ├── launch └── simulation.launch ├── meshes └── visual │ ├── cyl.stl │ ├── welder_body.stl │ ├── welder_shaft.stl │ └── welder_tip.stl ├── 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