├── .github └── workflows │ └── test_ros2_humble.yml ├── .gitignore ├── .pre-commit-config.yaml ├── LICENSE ├── README.md ├── hazmat_signs ├── placard-1.1-explosives.png ├── placard-1.5-blasting-agents.png ├── placard-2-flammable-gas.png ├── placard-2-non-flammable-gas.png ├── placard-2-oxygen.png ├── placard-3-fuel-oil.png ├── placard-4-dangerous-when-wet.png ├── placard-4-flammable-solid.png ├── placard-4-spontaneously-combustible.png ├── placard-5.1-oxidizer.png ├── placard-5.2-organic-peroxide.png ├── placard-6-inhalation-hazard.png ├── placard-6-poison.png ├── placard-7-radioactive.png └── placard-8-corrosive.png ├── launch ├── blocksworld_launch.py ├── moveit_launch.py ├── nav_launch.py ├── slam_launch.py └── spot_launch.py ├── map ├── map.pgm ├── map.yaml ├── map_arena3.pgm └── map_arena3.yaml ├── package.xml ├── params └── nav2_params.yaml ├── protos ├── ImageBox.proto ├── Spot.proto ├── SpotArm.proto ├── SpotArm │ └── meshes │ │ ├── spotarm_base_link.obj │ │ ├── spotarm_link1.obj │ │ ├── spotarm_link2.obj │ │ ├── spotarm_link3.obj │ │ ├── spotarm_link4.obj │ │ ├── spotarm_link5.obj │ │ ├── spotarm_link6.obj │ │ └── spotarm_link7.obj ├── SpotLeg.proto ├── icons │ └── Spot.png ├── meshes │ ├── back_cover.obj │ ├── back_screws.obj │ ├── black_box_1.obj │ ├── black_box_1_screw.obj │ ├── black_box_2.obj │ ├── black_box_2_screw.obj │ ├── bottom_side.obj │ ├── cover_elbow.obj │ ├── cover_leg.obj │ ├── cover_motor.obj │ ├── foot.obj │ ├── foot_rubber.obj │ ├── forearm_sh.obj │ ├── front_shoulder_cover.obj │ ├── head_background_holes.obj │ ├── head_cam_l1.obj │ ├── head_cam_l2.obj │ ├── head_cam_l3.obj │ ├── head_cam_r1.obj │ ├── head_cam_r2.obj │ ├── head_cam_r3.obj │ ├── head_cover.obj │ ├── left_flank_cam_1.obj │ ├── left_flank_cam_2.obj │ ├── left_flank_cam_3.obj │ ├── left_flank_cam_4.obj │ ├── left_flank_cover.obj │ ├── left_flank_holes.obj │ ├── left_flank_rubber.obj │ ├── metal_strip.obj │ ├── motor.obj │ ├── motor_ring.obj │ ├── motor_support.obj │ ├── rear_0.obj │ ├── rear_1.obj │ ├── rear_2.obj │ ├── rear_3.obj │ ├── rear_buttons.obj │ ├── rear_buttons_blue_1.obj │ ├── rear_buttons_blue_2.obj │ ├── rear_buttons_red_1.obj │ ├── rear_buttons_red_2.obj │ ├── rear_cam_1.obj │ ├── rear_cam_2.obj │ ├── rear_cam_3.obj │ ├── rear_cover.obj │ ├── rear_shoulder_cover.obj │ ├── right_flank_cam_1.obj │ ├── right_flank_cam_2.obj │ ├── right_flank_cam_3.obj │ ├── right_flank_cam_4.obj │ ├── right_flank_cover.obj │ ├── right_flank_holes.obj │ ├── right_flank_rubber.obj │ ├── square_screw_1.obj │ ├── square_screw_2.obj │ ├── tendon.obj │ ├── upperarm_inside.obj │ └── upperarm_sh.obj └── textures │ ├── camera_2_lens_base_color.jpg │ ├── camera_big_lens_base_color.jpg │ ├── camera_lens_base_color.jpg │ └── startup.png ├── resource ├── moveit_controllers.yaml ├── moveit_kinematics.yaml ├── moveit_movegroup.yaml ├── moveit_spot_arm.srdf ├── moveit_visualization.rviz ├── nav2.rviz ├── slam.rviz ├── spot.urdf ├── spot_control.urdf ├── spotarm_control.urdf ├── spotarm_ros2_controllers.yaml ├── webots_blocksworld.gpp └── webots_spot ├── scripts ├── coco_classes.yaml ├── lie_down_service.py ├── moveit_action_client.py ├── moveit_ik.py ├── nav2.py ├── yolov8_openvino.py └── yolov8n.onnx ├── setup.cfg ├── setup.py ├── spot.jpg ├── tests ├── test_webots_moveit.py └── test_webots_nav2.py ├── webots_ros2_spot.repos ├── webots_spot ├── Bezier.py ├── LegKinematics.py ├── LieAlgebra.py ├── SpotKinematics.py ├── __init__.py ├── arena_modifier.py ├── gpp_stacker.py ├── point_cloud2.py ├── retract_manipulator.py ├── set_initial_pose.py ├── spot_driver.py └── spot_pointcloud2.py ├── worlds ├── meshes │ ├── 50mm_pipe v1.stl │ ├── Emergency stop.stl │ └── Omniboard.stl ├── spot.wbt └── tags │ ├── A.png │ ├── B.png │ ├── C.png │ ├── P.png │ └── aruco.png └── yolo_images ├── airplane.jpeg ├── bird.jpeg ├── bottle.jpeg ├── bus.jpeg ├── car.jpeg ├── clock.jpeg ├── cow.jpeg ├── dog.jpeg ├── elephant.jpeg ├── 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