├── README.md ├── pigot_control ├── CMakeLists.txt ├── Makefile ├── config │ ├── pigot_control.yaml │ ├── pigot_control_moveit.yaml │ └── pigot_control_moveit.yaml~ ├── launch │ └── pigot_control.launch ├── mainpage.dox ├── manifest.xml └── src │ ├── __pycache__ │ ├── kinematics_algorithm.cpython-37.pyc │ └── tarj_data.cpython-37.pyc │ ├── attitude_control │ ├── attitude_pub.py │ ├── imu_reader.py │ ├── rpy_algorithm.py │ ├── rpy_algorithm.pyc │ ├── rpy_pub.py │ └── self_balance_control.py │ ├── control_2.0 │ ├── pigot_controller.py │ ├── pigot_controller.py~ │ └── teleop_controller.py │ ├── kinematics_algorithm.py │ ├── kinematics_algorithm.pyc │ ├── kinematics_algorithm.py~ │ ├── pos_pub.py │ ├── pos_pub.py~ │ ├── tarj_data.py │ ├── tarj_data.pyc │ ├── tarj_data.py~ │ └── teleop_control.py ├── pigot_description ├── CMakeLists.txt ├── Makefile ├── mainpage.dox ├── manifest.xml └── urdf │ ├── pigot.gazebo │ ├── pigot.gazebo~ │ ├── pigot.rviz │ ├── pigot.xacro │ ├── pigot_arm_model.xacro │ ├── pigot_arm_model.xacro~ │ ├── pigot_body_model.xacro │ ├── pigot_model.xacro │ ├── pigot_sensor_model.xacro │ └── pigot_trans.xacro ├── pigot_gazebo ├── CMakeLists.txt ├── Makefile ├── launch │ ├── pigot_amcl.launch │ ├── pigot_orientation_test.launch │ ├── pigot_rviz_view.launch │ ├── pigot_world.launch │ ├── pigot_world_moveit.launch │ └── pigot_world_moveit.launch~ ├── mainpage.dox ├── manifest.xml ├── map │ ├── test_map.pgm │ └── test_map.yaml └── worlds │ ├── cloister.world │ └── pigot.world ├── pigot_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── chomp_planning.yaml │ ├── controllers.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── pigot.srdf │ ├── ros_controllers.yaml │ └── sensors_3d.yaml ├── launch │ ├── chomp_planning_pipeline.launch.xml │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── demo_gazebo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── gazebo.launch │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_planning_execution.launch │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── pigot_moveit_controller_manager.launch.xml │ ├── pigot_moveit_sensor_manager.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── ros_controllers.launch │ ├── run_benchmark_ompl.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── trajectory_execution.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml ├── package.xml └── src │ └── move_group_python_interface_tutorial.py └── pigot_stl_model ├── CMakeLists.txt ├── config └── joint_names_pigot_stl_model.yaml ├── launch ├── display.launch └── gazebo.launch ├── meshes ├── arm_base_link.STL ├── arm_link_1.STL ├── arm_link_2.STL ├── arm_link_2_old.STL ├── arm_link_3.STL ├── arm_link_4.STL ├── arm_link_5.STL ├── arm_link_6.STL ├── body_link.STL ├── finger_link_1.STL ├── 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