├── .clang-format ├── .clang-tidy ├── .github └── workflows │ ├── build_and_test.yaml │ └── format.yaml ├── .gitignore ├── .pre-commit-config.yaml ├── README.md ├── hybrid_planning_demo ├── CMakeLists.txt ├── config │ ├── common_hybrid_planning_params.yaml │ ├── global_planner.yaml │ ├── hybrid_planning_manager.yaml │ ├── local_planner.yaml │ └── servo_solver.yaml ├── include │ └── hybrid_planning_demo │ │ ├── global_mtc_planner.h │ │ ├── global_planner_component.h │ │ ├── servo_solver.h │ │ └── simple_servo_sampler.h ├── package.xml ├── plugins.xml └── src │ ├── global_mtc_planner.cpp │ ├── hybrid_planning_test_node.cpp │ ├── servo_solver.cpp │ └── simple_servo_sampler.cpp ├── ipa_bringup ├── CMakeLists.txt ├── config │ └── ur_controllers.yaml ├── launch │ ├── hybrid_planning_demo.launch.py │ ├── send_hybrid_goal.launch.py │ ├── ur10e.launch.py │ ├── ur5e.launch.py │ └── ur_control.launch.py ├── package.xml └── src │ └── keyboard_input.cpp ├── ipa_demo_cell_description ├── CMakeLists.txt ├── calibration │ └── calibration_welding_gun_lorch_scancontrol_3000.yaml ├── config │ ├── ur10e │ │ ├── calibrated_kinematics.yaml │ │ ├── cartesian_limits.yaml │ │ ├── joint_limits.yaml │ │ ├── physical_parameters.yaml │ │ ├── pilz_joint_limits.yaml │ │ ├── ros2_control_initial_positions.yaml │ │ └── visual_parameters.yaml │ └── ur5e │ │ ├── calibrated_kinematics.yaml │ │ ├── joint_limits.yaml │ │ ├── physical_parameters.yaml │ │ ├── ros2_control_initial_positions.yaml │ │ └── visual_parameters.yaml ├── launch │ └── view_demo.launch.py ├── meshes │ ├── env_link.STL │ ├── welding_gun_lorch_scancontrol_3000.STL │ └── welding_gun_lorch_scancontrol_3000_collision.STL ├── package.xml ├── rviz │ └── view_robot.rviz └── urdf │ ├── ipa_demo_env.urdf.xacro │ ├── ipa_ur_demo.urdf.xacro │ └── welding_gun_lorch_scancontrol_3000.urdf.xacro ├── ipa_demo_support ├── CMakeLists.txt ├── package.xml └── workpieces │ ├── Workpiece_Demo_deviated │ ├── Workpiece_Demo_deviated.STEP │ ├── Workpiece_Demo_deviated.STL │ ├── Workpiece_Demo_deviated.scene │ └── Workpiece_Demo_deviated.xml │ └── Workpiece_Demo_nominal │ ├── Workpiece_Demo_nominal.STEP │ ├── Workpiece_Demo_nominal.STL │ ├── Workpiece_Demo_nominal.scene │ └── Workpiece_Demo_nominal.xml ├── ipa_moveit_config ├── CMakeLists.txt ├── config │ ├── controllers.yaml │ ├── kinematics.yaml │ └── ompl_planning.yaml ├── package.xml └── srdf │ ├── ur.srdf.xacro │ └── ur_macro.srdf.xacro ├── processit_cax ├── CMakeLists.txt ├── include │ ├── TaskDescription │ │ ├── Contour.h │ │ ├── TaskDefinition.h │ │ ├── Templates.h │ │ └── WeldSegment.h │ └── plugin_task_description.h ├── package.xml └── src │ ├── TaskDescription │ ├── Contour.cpp │ ├── TaskDefinition.cpp │ └── WeldSegment.cpp │ ├── plugin_task_description.cpp │ └── plugin_task_description_test_node.cpp ├── processit_msgs ├── CMakeLists.txt ├── msg │ └── WeldSeam.msg ├── package.xml └── srv │ ├── AddPoseMarker.srv │ ├── EditPoseMarker.srv │ └── LoadTaskDescription.srv 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