├── .documentation ├── build ├── docs │ ├── index.md │ ├── license.md │ ├── python_api │ │ ├── pcg_gazebo.generators.constraints.md │ │ ├── pcg_gazebo.generators.engines.md │ │ ├── pcg_gazebo.generators.md │ │ ├── pcg_gazebo.md │ │ ├── pcg_gazebo.parsers.md │ │ ├── pcg_gazebo.parsers.sdf.md │ │ ├── pcg_gazebo.parsers.sdf_config.md │ │ ├── pcg_gazebo.parsers.types.md │ │ ├── pcg_gazebo.parsers.urdf.md │ │ ├── pcg_gazebo.simulation.md │ │ ├── pcg_gazebo.simulation.physics.md │ │ ├── pcg_gazebo.simulation.properties.md │ │ └── pcg_gazebo.simulation.sensors.md │ └── tutorials │ │ ├── parsers │ │ ├── sdf │ │ │ ├── collisions.md │ │ │ ├── convert_from_sdf_file.md │ │ │ ├── geometries.md │ │ │ ├── index.md │ │ │ ├── links_joints_sensors.md │ │ │ ├── materials.md │ │ │ ├── models.md │ │ │ ├── physics_engines.md │ │ │ ├── plugins.md │ │ │ ├── visuals.md │ │ │ └── world.md │ │ └── urdf │ │ │ ├── collision.md │ │ │ ├── geometries.md │ │ │ ├── index.md │ │ │ ├── links_joints_sensors.md │ │ │ ├── robots.md │ │ │ └── visual.md │ │ ├── simulation │ │ ├── building_a_model.md │ │ ├── images │ │ │ ├── friction_test.png │ │ │ ├── gazebo_materials.png │ │ │ ├── generating_objects.png │ │ │ ├── mobile_robot.png │ │ │ ├── model_generator_boxes.png │ │ │ ├── model_generator_cylinders.png │ │ │ ├── model_generator_meshes.png │ │ │ ├── model_generator_spheres.png │ │ │ ├── sensors.png │ │ │ ├── transparency.png │ │ │ └── xkcd_materials.png │ │ ├── materials.md │ │ ├── meshes.md │ │ ├── meshes_files │ │ │ ├── meshes_12_0.png │ │ │ ├── meshes_12_1.png │ │ │ ├── meshes_13_0.png │ │ │ ├── meshes_13_1.png │ │ │ ├── meshes_15_0.png │ │ │ ├── meshes_15_1.png │ │ │ ├── meshes_16_0.png │ │ │ ├── meshes_16_1.png │ │ │ ├── meshes_20_0.png │ │ │ ├── meshes_20_1.png │ │ │ ├── meshes_21_0.png │ │ │ ├── meshes_21_1.png │ │ │ ├── meshes_23_0.png │ │ │ ├── meshes_23_1.png │ │ │ ├── meshes_24_0.png │ │ │ ├── meshes_24_1.png │ │ │ ├── meshes_4_0.png │ │ │ ├── meshes_4_1.png │ │ │ ├── meshes_5_0.png │ │ │ ├── meshes_5_1.png │ │ │ ├── meshes_7_0.png │ │ │ ├── meshes_7_1.png │ │ │ ├── meshes_8_0.png │ │ │ └── meshes_8_1.png │ │ ├── model_generator.md │ │ ├── objects.md │ │ ├── physics_engines.md │ │ ├── sensors.md │ │ └── surface_collision_properties.md │ │ └── task_manager │ │ ├── gazebo_proxy.md │ │ ├── process_manager.md │ │ └── stage_conditions.md ├── init_venv ├── mkdocs.yml └── requirements.txt ├── .github ├── issue-branch.yml └── workflows │ └── create_issue_branch.yml ├── .gitignore ├── .travis.yml ├── .vscode └── pcg.vscode.code-snippets ├── 3rd-party-licenses.txt ├── LICENSE ├── NOTICE ├── README.md ├── docs ├── 404.html ├── assets │ ├── fonts │ │ ├── font-awesome.css │ │ ├── material-icons.css │ │ └── specimen │ │ │ ├── FontAwesome.ttf │ │ │ ├── FontAwesome.woff │ │ │ ├── FontAwesome.woff2 │ │ │ ├── MaterialIcons-Regular.ttf │ │ │ ├── MaterialIcons-Regular.woff │ │ │ └── MaterialIcons-Regular.woff2 │ ├── images │ │ ├── favicon.png │ │ └── icons │ │ │ ├── bitbucket.1b09e088.svg │ │ │ ├── github.f0b8504a.svg │ │ │ └── gitlab.6dd19c00.svg │ ├── javascripts │ │ ├── application.267712eb.js │ │ ├── lunr │ │ │ ├── lunr.da.js │ │ │ ├── lunr.de.js │ │ │ ├── lunr.du.js │ │ │ ├── lunr.es.js │ │ │ ├── lunr.fi.js │ │ │ ├── lunr.fr.js │ │ │ ├── lunr.hu.js │ │ │ ├── lunr.it.js │ │ │ ├── lunr.ja.js │ │ │ ├── lunr.jp.js │ │ │ ├── lunr.multi.js │ │ │ ├── lunr.nl.js │ │ │ ├── lunr.no.js │ │ │ ├── lunr.pt.js │ │ │ ├── lunr.ro.js │ │ │ ├── lunr.ru.js │ │ │ ├── lunr.stemmer.support.js │ │ │ ├── lunr.sv.js │ │ │ ├── lunr.th.js │ │ │ ├── lunr.tr.js │ │ │ ├── tinyseg.js │ │ │ └── wordcut.js │ │ └── modernizr.01ccdecf.js │ └── stylesheets │ │ ├── application-palette.224b79ff.css │ │ └── application.3020aac5.css ├── index.html ├── license │ └── index.html ├── python_api │ ├── pcg_gazebo.generators.constraints │ │ └── index.html │ ├── pcg_gazebo.generators.engines │ │ └── index.html │ ├── pcg_gazebo.generators │ │ └── index.html │ ├── pcg_gazebo.parsers.sdf │ │ └── index.html │ ├── pcg_gazebo.parsers.sdf_config │ │ └── index.html │ ├── pcg_gazebo.parsers.types │ │ └── index.html │ ├── pcg_gazebo.parsers.urdf │ │ └── index.html │ ├── pcg_gazebo.parsers │ │ └── index.html │ ├── pcg_gazebo.simulation.physics │ │ └── index.html │ ├── pcg_gazebo.simulation.properties │ │ └── index.html │ ├── pcg_gazebo.simulation.sensors │ │ └── index.html │ ├── pcg_gazebo.simulation │ │ └── index.html │ └── pcg_gazebo │ │ └── index.html ├── search │ └── search_index.json ├── sitemap.xml ├── sitemap.xml.gz └── tutorials │ ├── parsers │ ├── sdf │ │ ├── collisions │ │ │ └── index.html │ │ ├── convert_from_sdf_file │ │ │ └── index.html │ │ ├── geometries │ │ │ └── index.html │ │ ├── index.html │ │ ├── links_joints_sensors │ │ │ └── index.html │ │ ├── materials │ │ │ └── index.html │ │ ├── models │ │ │ └── index.html │ │ ├── physics_engines │ │ │ └── index.html │ │ ├── plugins │ │ │ └── index.html │ │ ├── visuals │ │ │ └── index.html │ │ └── world │ │ │ └── index.html │ └── urdf │ │ ├── collision │ │ └── index.html │ │ ├── geometries │ │ └── index.html │ │ ├── index.html │ │ ├── links_joints_sensors │ │ └── index.html │ │ ├── robots │ │ └── index.html │ │ └── visual │ │ └── index.html │ ├── simulation │ ├── building_a_model │ │ └── index.html │ ├── images │ │ ├── friction_test.png │ │ ├── gazebo_materials.png │ │ ├── generating_objects.png │ │ ├── mobile_robot.png │ │ ├── model_generator_boxes.png │ │ ├── model_generator_cylinders.png │ │ ├── model_generator_meshes.png │ │ ├── model_generator_spheres.png │ │ ├── sensors.png │ │ ├── transparency.png │ │ └── xkcd_materials.png │ ├── materials │ │ └── index.html │ ├── meshes │ │ └── index.html │ ├── meshes_files │ │ ├── meshes_12_0.png │ │ ├── meshes_12_1.png │ │ ├── meshes_13_0.png │ │ ├── meshes_13_1.png │ │ ├── meshes_15_0.png │ │ ├── meshes_15_1.png │ │ ├── meshes_16_0.png │ │ ├── meshes_16_1.png │ │ ├── meshes_20_0.png │ │ ├── meshes_20_1.png │ │ ├── meshes_21_0.png │ │ ├── meshes_21_1.png │ │ ├── meshes_23_0.png │ │ ├── meshes_23_1.png │ │ ├── meshes_24_0.png │ │ ├── meshes_24_1.png │ │ ├── meshes_4_0.png │ │ ├── meshes_4_1.png │ │ ├── meshes_5_0.png │ │ ├── meshes_5_1.png │ │ ├── meshes_7_0.png │ │ ├── meshes_7_1.png │ │ ├── meshes_8_0.png │ │ └── meshes_8_1.png │ ├── model_generator │ │ └── index.html │ ├── objects │ │ └── index.html │ ├── physics_engines │ │ └── index.html │ ├── sensors │ │ └── index.html │ └── surface_collision_properties │ │ └── index.html │ └── task_manager │ ├── gazebo_proxy │ └── index.html │ ├── process_manager │ └── index.html │ └── stage_conditions │ └── index.html ├── pcg_examples ├── CHANGELOG.rst ├── CMakeLists.txt ├── config │ ├── model_factory │ │ ├── box_dynamic_model.yaml │ │ ├── box_factory_fixed_args.yaml │ │ ├── box_factory_lambda_args.yaml │ │ ├── box_static_model.yaml │ │ ├── cylinder_dynamic_model.yaml │ │ ├── cylinder_factory_fixed_args.yaml │ │ ├── cylinder_factory_lambda_args.yaml │ │ ├── cylinder_static_model.yaml │ │ ├── hinged_doors_from_mesh.yaml │ │ ├── hinged_doors_from_primitives.yaml │ │ ├── mesh_dynamic_model.yaml │ │ ├── mesh_static_model.yaml │ │ ├── sphere_dynamic_model.yaml │ │ ├── sphere_factory_fixed_args.yaml │ │ ├── sphere_factory_lambda_args.yaml │ │ └── sphere_static_model.yaml │ ├── model_generators │ │ └── full_crate.yml │ └── world_generator │ │ ├── physics │ │ ├── default_bullet.yml │ │ └── default_ode.yml │ │ └── worlds │ │ ├── bouncing_balls_ode.yml │ │ ├── empty_world_bullet.yml │ │ ├── empty_world_ode.yml │ │ ├── full_crates_ode.yml │ │ └── random_workspaces_ode.yml ├── launch │ └── start_world.launch ├── meshes │ ├── crate.stl │ ├── door.mtl │ ├── door.obj │ ├── door.png │ ├── monkey.stl │ └── monkey_offset.stl ├── package.xml ├── scripts │ ├── gen_model_from_factory_config │ ├── gen_model_from_template │ ├── launch_pcg_world │ └── spawn_model_from_factory_config ├── templates │ ├── models │ │ └── pcg_bouncy_ball.sdf.jinja │ └── world_generator │ │ └── physics │ │ ├── bullet.yml.jinja │ │ └── ode.yml.jinja └── test │ ├── test_model_factory_examples.py │ ├── test_template_examples.py │ └── test_world_gen_examples.py ├── pcg_gazebo ├── CHANGELOG.rst ├── CMakeLists.txt ├── cmake │ ├── check_sdf.cmake │ ├── check_urdf.cmake │ ├── generate_model_from_config.cmake │ ├── generate_world_from_config.cmake │ ├── jinja2gazebo_model.cmake │ ├── jinja2sdf.cmake │ ├── pcg_gazebo-extras.cmake.em │ └── pcg_utils.cmake ├── launch │ ├── gazebo2tf.launch │ ├── generate_model_description.launch │ ├── generate_pcg_world.launch │ └── start_generated_gazebo_world.launch ├── package.xml ├── rviz │ └── world_builder.rviz ├── scripts │ ├── gazebo2tf │ ├── generate_model_description │ ├── generate_occupancy_map │ ├── generate_pcg_world │ ├── list_gazebo_models │ ├── process_jinja_template │ ├── run_model_factory │ ├── sdf2urdf │ ├── sdflint │ ├── spawn_sdf_model │ ├── start_gazebo_world │ ├── urdf2sdf │ ├── urdflint │ ├── view_gazebo_model │ └── view_mesh └── templates │ └── world.sdf.jinja ├── pcg_libraries ├── CHANGELOG.rst ├── CMakeLists.txt ├── _create_env.py ├── launch │ ├── empty_world_with_timer.launch │ └── start_pcg_simulation_server.launch ├── package.xml ├── requirements.txt ├── scripts │ ├── get_list_of_joints │ ├── set_random_joint_positions │ └── simulation_timer ├── sdf │ ├── gazebo_ros_plugins.sdf.jinja │ ├── geometries.sdf.jinja │ ├── inertias.sdf.jinja │ ├── model.config.jinja │ ├── models.sdf.jinja │ ├── physics.sdf.jinja │ └── worlds.sdf.jinja ├── setup.py ├── src │ └── pcg_gazebo │ │ ├── __init__.py │ │ ├── generators │ │ ├── __init__.py │ │ ├── _collection_manager.py │ │ ├── assets_manager.py │ │ ├── collision_checker.py │ │ ├── components │ │ │ ├── __init__.py │ │ │ ├── hinged_door.py │ │ │ └── walls.py │ │ ├── constraints │ │ │ ├── __init__.py │ │ │ ├── constraint.py │ │ │ ├── tangent_constraint.py │ │ │ └── workspace_constraint.py │ │ ├── constraints_manager.py │ │ ├── creators.py │ │ ├── engine_manager.py │ │ ├── engines │ │ │ ├── __init__.py │ │ │ ├── engine.py │ │ │ ├── fixed_pose_engine.py │ │ │ ├── pattern_engine.py │ │ │ └── random_pose_engine.py │ │ ├── mesh.py │ │ ├── model_group_generator.py │ │ ├── occupancy.py │ │ ├── patterns.py │ │ ├── shapes.py │ │ └── world_generator.py │ │ ├── log.py │ │ ├── parsers │ │ ├── __init__.py │ │ ├── sdf │ │ │ ├── __init__.py │ │ │ ├── accel.py │ │ │ ├── accuracy.py │ │ │ ├── actor.py │ │ │ ├── allow_auto_disable.py │ │ │ ├── altimeter.py │ │ │ ├── always_on.py │ │ │ ├── ambient.py │ │ │ ├── angular_velocity.py │ │ │ ├── animation.py │ │ │ ├── attenuation.py │ │ │ ├── auto_start.py │ │ │ ├── axis.py │ │ │ ├── axis2.py │ │ │ ├── background.py │ │ │ ├── bias_mean.py │ │ │ ├── bias_stddev.py │ │ │ ├── bounce.py │ │ │ ├── box.py │ │ │ ├── bullet.py │ │ │ ├── camera.py │ │ │ ├── cast_shadows.py │ │ │ ├── category_bitmask.py │ │ │ ├── center.py │ │ │ ├── cfm.py │ │ │ ├── child.py │ │ │ ├── clip.py │ │ │ ├── clouds.py │ │ │ ├── coefficient.py │ │ │ ├── collide_bitmask.py │ │ │ ├── collide_without_contact.py │ │ │ ├── collide_without_contact_bitmask.py │ │ │ ├── collision.py │ │ │ ├── color.py │ │ │ ├── constant.py │ │ │ ├── constraints.py │ │ │ ├── contact.py │ │ │ ├── contact_max_correcting_vel.py │ │ │ ├── contact_surface_layer.py │ │ │ ├── cylinder.py │ │ │ ├── damping.py │ │ │ ├── delay_start.py │ │ │ ├── density.py │ │ │ ├── depth_camera.py │ │ │ ├── diffuse.py │ │ │ ├── direction.py │ │ │ ├── dissipation.py │ │ │ ├── distortion.py │ │ │ ├── dynamic_friction.py │ │ │ ├── dynamics.py │ │ │ ├── effort.py │ │ │ ├── elastic_modulus.py │ │ │ ├── emissive.py │ │ │ ├── empty.py │ │ │ ├── enable_wind.py │ │ │ ├── end.py │ │ │ ├── erp.py │ │ │ ├── falloff.py │ │ │ ├── far.py │ │ │ ├── fdir1.py │ │ │ ├── filename.py │ │ │ ├── fog.py │ │ │ ├── force_torque.py │ │ │ ├── format.py │ │ │ ├── frame.py │ │ │ ├── friction.py │ │ │ ├── friction2.py │ │ │ ├── friction_model.py │ │ │ ├── geometry.py │ │ │ ├── granularity.py │ │ │ ├── gravity.py │ │ │ ├── grid.py │ │ │ ├── gui.py │ │ │ ├── height.py │ │ │ ├── horizontal.py │ │ │ ├── horizontal_fov.py │ │ │ ├── humidity.py │ │ │ ├── image.py │ │ │ ├── imu.py │ │ │ ├── include.py │ │ │ ├── inertia.py │ │ │ ├── inertial.py │ │ │ ├── inherit_yaw.py │ │ │ ├── initial_position.py │ │ │ ├── inner_angle.py │ │ │ ├── interpolate_x.py │ │ │ ├── iters.py │ │ │ ├── ixx.py │ │ │ ├── ixy.py │ │ │ ├── ixz.py │ │ │ ├── iyy.py │ │ │ ├── iyz.py │ │ │ ├── izz.py │ │ │ ├── joint.py │ │ │ ├── k1.py │ │ │ ├── k2.py │ │ │ ├── k3.py │ │ │ ├── kd.py │ │ │ ├── kinematic.py │ │ │ ├── kp.py │ │ │ ├── laser_retro.py │ │ │ ├── length.py │ │ │ ├── light.py │ │ │ ├── lighting.py │ │ │ ├── limit.py │ │ │ ├── linear.py │ │ │ ├── linear_acceleration.py │ │ │ ├── link.py │ │ │ ├── localization.py │ │ │ ├── loop.py │ │ │ ├── lower.py │ │ │ ├── mass.py │ │ │ ├── material.py │ │ │ ├── max.py │ │ │ ├── max_angle.py │ │ │ ├── max_contacts.py │ │ │ ├── max_dist.py │ │ │ ├── max_step_size.py │ │ │ ├── max_transient_velocity.py │ │ │ ├── max_vel.py │ │ │ ├── mean.py │ │ │ ├── mean_size.py │ │ │ ├── measure_direction.py │ │ │ ├── mesh.py │ │ │ ├── min.py │ │ │ ├── min_angle.py │ │ │ ├── min_depth.py │ │ │ ├── min_dist.py │ │ │ ├── min_step_size.py │ │ │ ├── model.py │ │ │ ├── mu.py │ │ │ ├── mu2.py │ │ │ ├── must_be_loop_joint.py │ │ │ ├── name.py │ │ │ ├── near.py │ │ │ ├── noise.py │ │ │ ├── normal.py │ │ │ ├── normal_map.py │ │ │ ├── ode.py │ │ │ ├── orientation_reference_frame.py │ │ │ ├── origin_visual.py │ │ │ ├── outer_angle.py │ │ │ ├── output.py │ │ │ ├── override_impact_capture_velocity.py │ │ │ ├── override_stiction_transition_velocity.py │ │ │ ├── p1.py │ │ │ ├── p2.py │ │ │ ├── parent.py │ │ │ ├── patch_radius.py │ │ │ ├── path.py │ │ │ ├── physics.py │ │ │ ├── plane.py │ │ │ ├── plastic_coef_restitution.py │ │ │ ├── plastic_impact_velocity.py │ │ │ ├── plugin.py │ │ │ ├── point.py │ │ │ ├── poissons_ratio.py │ │ │ ├── polyline.py │ │ │ ├── pose.py │ │ │ ├── precision.py │ │ │ ├── precon_iters.py │ │ │ ├── projection_type.py │ │ │ ├── provide_feedback.py │ │ │ ├── quadratic.py │ │ │ ├── radius.py │ │ │ ├── range.py │ │ │ ├── rate.py │ │ │ ├── ray.py │ │ │ ├── real_time_factor.py │ │ │ ├── real_time_update_rate.py │ │ │ ├── resolution.py │ │ │ ├── restitution_coefficient.py │ │ │ ├── rolling_friction.py │ │ │ ├── samples.py │ │ │ ├── save.py │ │ │ ├── scale.py │ │ │ ├── scan.py │ │ │ ├── scene.py │ │ │ ├── script.py │ │ │ ├── sdf.py │ │ │ ├── self_collide.py │ │ │ ├── sensor.py │ │ │ ├── shader.py │ │ │ ├── shadows.py │ │ │ ├── simbody.py │ │ │ ├── size.py │ │ │ ├── skin.py │ │ │ ├── sky.py │ │ │ ├── slip.py │ │ │ ├── slip1.py │ │ │ ├── slip2.py │ │ │ ├── soft_cfm.py │ │ │ ├── soft_erp.py │ │ │ ├── solver.py │ │ │ ├── sor.py │ │ │ ├── specular.py │ │ │ ├── speed.py │ │ │ ├── sphere.py │ │ │ ├── split_impulse.py │ │ │ ├── split_impulse_penetration_threshold.py │ │ │ ├── spot.py │ │ │ ├── spring_reference.py │ │ │ ├── spring_stiffness.py │ │ │ ├── start.py │ │ │ ├── static.py │ │ │ ├── static_friction.py │ │ │ ├── stddev.py │ │ │ ├── stiffness.py │ │ │ ├── submesh.py │ │ │ ├── sunrise.py │ │ │ ├── sunset.py │ │ │ ├── surface.py │ │ │ ├── surface_radius.py │ │ │ ├── threshold.py │ │ │ ├── time.py │ │ │ ├── topic.py │ │ │ ├── torsional.py │ │ │ ├── track_visual.py │ │ │ ├── trajectory.py │ │ │ ├── transparency.py │ │ │ ├── type.py │ │ │ ├── update_rate.py │ │ │ ├── upper.py │ │ │ ├── urdf.py │ │ │ ├── uri.py │ │ │ ├── use_dynamic_moi_rescaling.py │ │ │ ├── use_model_frame.py │ │ │ ├── use_parent_model_frame.py │ │ │ ├── use_patch_radius.py │ │ │ ├── velocity.py │ │ │ ├── vertical.py │ │ │ ├── vertical_position.py │ │ │ ├── vertical_velocity.py │ │ │ ├── view_controller.py │ │ │ ├── viscous_friction.py │ │ │ ├── visual.py │ │ │ ├── visualize.py │ │ │ ├── waypoint.py │ │ │ ├── width.py │ │ │ ├── world.py │ │ │ ├── x.py │ │ │ ├── xyz.py │ │ │ ├── y.py │ │ │ └── z.py │ │ ├── sdf_config │ │ │ ├── __init__.py │ │ │ ├── author.py │ │ │ ├── description.py │ │ │ ├── email.py │ │ │ ├── model.py │ │ │ ├── name.py │ │ │ ├── sdf.py │ │ │ └── version.py │ │ ├── types │ │ │ ├── __init__.py │ │ │ ├── base.py │ │ │ ├── boolean.py │ │ │ ├── custom.py │ │ │ ├── integer.py │ │ │ ├── scalar.py │ │ │ ├── string.py │ │ │ └── vector.py │ │ └── urdf │ │ │ ├── __init__.py │ │ │ ├── actuator.py │ │ │ ├── axis.py │ │ │ ├── box.py │ │ │ ├── child.py │ │ │ ├── collision.py │ │ │ ├── color.py │ │ │ ├── cylinder.py │ │ │ ├── dynamics.py │ │ │ ├── gazebo.py │ │ │ ├── geometry.py │ │ │ ├── hardware_interface.py │ │ │ ├── inertia.py │ │ │ ├── inertial.py │ │ │ ├── joint.py │ │ │ ├── kd.py │ │ │ ├── kp.py │ │ │ ├── limit.py │ │ │ ├── link.py │ │ │ ├── mass.py │ │ │ ├── material.py │ │ │ ├── max_contacts.py │ │ │ ├── max_vel.py │ │ │ ├── mechanical_reduction.py │ │ │ ├── mesh.py │ │ │ ├── mimic.py │ │ │ ├── min_depth.py │ │ │ ├── mu1.py │ │ │ ├── mu2.py │ │ │ ├── origin.py │ │ │ ├── parent.py │ │ │ ├── provide_feedback.py │ │ │ ├── robot.py │ │ │ ├── safety_controller.py │ │ │ ├── self_collide.py │ │ │ ├── sphere.py │ │ │ ├── stopCfm.py │ │ │ ├── stopErp.py │ │ │ ├── texture.py │ │ │ ├── transmission.py │ │ │ ├── type.py │ │ │ └── visual.py │ │ ├── path.py │ │ ├── simulation │ │ ├── __init__.py │ │ ├── box.py │ │ ├── cylinder.py │ │ ├── joint.py │ │ ├── light.py │ │ ├── link.py │ │ ├── model.py │ │ ├── model_group.py │ │ ├── physics │ │ │ ├── __init__.py │ │ │ ├── bullet.py │ │ │ ├── ode.py │ │ │ ├── physics.py │ │ │ └── simbody.py │ │ ├── plane.py │ │ ├── polyline.py │ │ ├── properties │ │ │ ├── __init__.py │ │ │ ├── axis.py │ │ │ ├── bounding_box.py │ │ │ ├── collision.py │ │ │ ├── footprint.py │ │ │ ├── geometry.py │ │ │ ├── inertial.py │ │ │ ├── material.py │ │ │ ├── mesh.py │ │ │ ├── noise.py │ │ │ ├── plugin.py │ │ │ ├── pose.py │ │ │ ├── resources │ │ │ │ └── xkcd_rgb.txt │ │ │ └── visual.py │ │ ├── sensors │ │ │ ├── __init__.py │ │ │ ├── camera.py │ │ │ ├── contact.py │ │ │ ├── imu.py │ │ │ ├── ray.py │ │ │ └── sensor.py │ │ ├── sphere.py │ │ └── world.py │ │ ├── task_manager │ │ ├── __init__.py │ │ ├── control │ │ │ ├── __init__.py │ │ │ └── joint_state_manager_client.py │ │ ├── gazebo_proxy.py │ │ ├── process_manager.py │ │ ├── ros_config.py │ │ ├── server.py │ │ ├── simulation_timer.py │ │ ├── stage.py │ │ ├── task.py │ │ └── task_templates.py │ │ ├── transformations.py │ │ ├── utils.py │ │ └── visualization.py └── test │ ├── gazebo_models │ ├── test_box │ │ ├── model.config │ │ └── model.sdf │ ├── test_joint_fixed │ │ ├── model.config │ │ └── model.sdf │ └── test_static_model │ │ ├── model.config │ │ └── model.sdf │ ├── jinja_sdf │ ├── cuboid_inertia.jinja │ ├── ellipsoid_inertia.jinja │ ├── hollow_sphere_inertia.jinja │ ├── inertia_solid_sphere.jinja │ ├── physics_default.jinja │ ├── physics_ode.jinja │ ├── solid_cylinder_inertia_axis_x.jinja │ ├── solid_cylinder_inertia_axis_y.jinja │ └── solid_cylinder_inertia_axis_z.jinja │ ├── meshes │ ├── cube.dae │ ├── cube.stl │ ├── monkey.dae │ ├── monkey.stl │ ├── monkey_offset.dae │ └── monkey_offset.stl │ ├── sdf │ ├── model_1_link_cube.sdf │ ├── sensor_imu_1.4.sdf │ ├── sensor_imu_1.5.sdf │ └── sensor_imu_1.6.sdf │ ├── test_assets_manager.py │ ├── test_collision_checker.py │ ├── test_engine_and_constraint_managers.py │ ├── test_inertia.py │ ├── test_jinja_sdf_file_generation.py │ ├── test_load_yaml.py │ ├── test_mesh_property.py │ ├── test_model_factory.py │ ├── test_model_group.py │ ├── test_model_group_generator.py │ ├── test_parse_sdf.py │ ├── test_parser_urdf.py │ ├── test_pose.py │ ├── test_resolve_paths.py │ ├── test_sdf.py │ ├── test_simulation_objects.py │ ├── test_world_generator.py │ ├── urdf │ ├── gazebo_default_joint.urdf │ ├── gazebo_default_link.urdf │ ├── gazebo_imu_1_4.urdf │ ├── gazebo_imu_1_5.urdf │ ├── gazebo_imu_1_6.urdf │ ├── geometry_box.urdf │ ├── geometry_cylinder.urdf │ ├── geometry_mesh.urdf │ ├── geometry_sphere.urdf │ ├── link_empty.urdf │ ├── link_simple.urdf │ └── robot_simple_gazebo_reference.urdf │ ├── worlds │ ├── test_pcg_empty.world │ └── test_pcg_simple_door.world │ └── yaml │ ├── dummy.yaml │ ├── include_dummy.yaml │ ├── include_ros_package.yaml │ ├── include_wrong_ros_package.yaml │ └── wrong_extension.ym ├── pcg_msgs ├── CHANGELOG.rst ├── CMakeLists.txt ├── msg │ ├── BulletPhysics.msg │ ├── JointProperties.msg │ └── SimbodyPhysics.msg ├── package.xml └── srv │ ├── GetJointPosition.srv │ ├── GetJointProperties.srv │ ├── GetPhysicsEngineName.srv │ ├── GetPhysicsIntProperty.srv │ ├── GetPhysicsProperties.srv │ ├── GetPhysicsProperty.srv │ ├── SetGlobalPhysicsProperties.srv │ ├── SetJointPosition.srv │ ├── SetJointProperties.srv │ ├── SetPhysicsProperties.srv │ └── SetPhysicsProperty.srv └── pcg_notebooks ├── sdf_parser ├── collisions.ipynb ├── convert_from_sdf_file.ipynb ├── geometries.ipynb ├── links_joints_sensors.ipynb ├── materials.ipynb ├── models.ipynb ├── physics_engines.ipynb ├── plugins.ipynb ├── visuals.ipynb └── world.ipynb ├── simulation ├── building_a_model.ipynb ├── images │ ├── friction_test.png │ ├── 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