├── .gitignore ├── CODEOWNERS ├── IK_debug.py ├── IK_server.py ├── LICENSE ├── README.md ├── TASKS.md ├── gazebo_grasp_plugin ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── include │ └── gazebo_grasp_plugin │ │ ├── GazeboGraspFix.h │ │ └── GazeboGraspGripper.h ├── package.xml └── src │ ├── GazeboGraspFix.cpp │ └── GazeboGraspGripper.cpp ├── images ├── 001.jpg ├── 002.jpg ├── 003.jpg ├── Screenshot from 2017-09-24 15-27-42.png ├── Screenshot from 2017-09-24 15-30-45.png ├── Screenshot from 2017-09-24 15-31-08.png ├── Screenshot from 2017-09-24 15-31-18.png ├── Screenshot from 2017-09-24 15-31-33.png ├── Screenshot from 2017-09-24 15-32-11.png ├── Screenshot from 2017-09-24 15-32-57.png ├── Screenshot from 2017-09-24 15-35-04.png ├── Screenshot from 2017-09-24 15-36-24.png ├── Screenshot from 2017-09-24 15-37-36.png ├── Screenshot from 2017-09-24 15-37-45.png ├── Screenshot from 2017-09-24 15-39-39.png ├── misc1.png └── temp ├── kr210_claw_moveit ├── CMakeLists.txt ├── config │ ├── controllers.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── kuka_arm.srdf │ └── ompl_planning.yaml ├── launch │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── joystick_control.launch │ ├── kuka_arm_moveit_controller_manager.launch.xml │ ├── kuka_arm_moveit_sensor_manager.launch.xml │ ├── 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 ├── kuka_arm ├── CMakeLists.txt ├── config │ ├── forward_kinematics.rviz │ ├── kr210_controllers.yaml │ ├── kuka_arm.rviz │ └── target_spawn_locations.yaml ├── include │ └── kuka_arm │ │ └── trajectory_sampler.h ├── launch │ ├── cafe.launch │ ├── empty_world.launch │ ├── forward_kinematics.launch │ ├── inverse_kinematics.launch │ ├── load_urdf.launch │ ├── robot_control.launch │ ├── robot_description.launch │ ├── spawn_target.launch │ └── target_description.launch ├── meshes │ ├── gripper │ │ ├── finger_left.dae │ │ ├── finger_left_collision.dae │ │ ├── finger_right.dae │ │ ├── finger_right_collision.dae │ │ └── gripper_base.dae │ └── kr210l150 │ │ ├── README.md │ │ ├── collision │ │ ├── base_link.stl │ │ ├── link_1.stl │ │ ├── link_2.stl │ │ ├── link_3.stl │ │ ├── link_4.stl │ │ ├── link_5.stl │ │ └── link_6.stl │ │ └── visual │ │ ├── base_link.dae │ │ ├── link_1.dae │ │ ├── link_2.dae │ │ ├── link_3.dae │ │ ├── link_4.dae │ │ ├── link_5.dae │ │ └── link_6.dae ├── models │ ├── kinematics_bin │ │ ├── kinematics_bin.dae │ │ ├── model.config │ │ └── model.sdf │ └── kinematics_shelf │ │ ├── kinematics_shelf.dae │ │ ├── model.config │ │ └── model.sdf ├── package.xml ├── scripts │ ├── IK_server.py │ ├── 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