├── .gitignore ├── Dockerfile ├── README.md ├── demo_mobile_manipulator_throw.py ├── descriptions ├── debug │ └── debug_plane.urdf ├── franka_panda_bullet │ ├── meshes │ │ ├── collision │ │ │ ├── finger.obj │ │ │ ├── hand.obj │ │ │ ├── link0.obj │ │ │ ├── link1.obj │ │ │ ├── link2.obj │ │ │ ├── link3.obj │ │ │ ├── link4.obj │ │ │ ├── link5.obj │ │ │ ├── link6.mtl │ │ │ ├── link6.obj │ │ │ └── link7.obj │ │ └── visual │ │ │ ├── colors.png │ │ │ ├── finger.mtl │ │ │ ├── finger.obj │ │ │ ├── hand.mtl │ │ │ ├── hand.obj │ │ │ ├── link1.mtl │ │ │ ├── link1.obj │ │ │ ├── link2.mtl │ │ │ ├── link2.obj │ │ │ ├── link3.mtl │ │ │ ├── link3.obj │ │ │ ├── link4.mtl │ │ │ ├── link4.obj │ │ │ ├── link5.mtl │ │ │ ├── link5.obj │ │ │ ├── link6.mtl │ │ │ └── link6.obj │ └── panda.urdf ├── franka_panda_description │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ └── panda.rviz │ ├── meshes │ │ ├── collision │ │ │ ├── finger.stl │ │ │ ├── hand.stl │ │ │ ├── link0.stl │ │ │ ├── link1.stl │ │ │ ├── link2.stl │ │ │ ├── link3.stl │ │ │ ├── link4.stl │ │ │ ├── link5.stl │ │ │ ├── link6.stl │ │ │ └── link7.stl │ │ └── visual │ │ │ ├── finger.dae │ │ │ ├── hand.dae │ │ │ ├── link0.dae │ │ │ ├── link1.dae │ │ │ ├── link2.dae │ │ │ ├── link3.dae │ │ │ ├── link4.dae │ │ │ ├── link5.dae │ │ │ ├── link6.dae │ │ │ └── link7.dae │ ├── package.xml │ └── robots │ │ ├── hand.urdf.xacro │ │ ├── hand.xacro │ │ ├── panda.gazebo.xacro │ │ ├── panda.transmission.xacro │ │ ├── panda_arm.urdf │ │ ├── panda_arm.urdf.xacro │ │ ├── panda_arm.xacro │ │ └── panda_arm_hand.urdf.xacro ├── rbkairos_description │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ ├── rbkairos.launch │ │ └── rbkairos_state_robot.launch │ ├── meshes │ │ ├── bases │ │ │ ├── rbkairos_frames.dae │ │ │ ├── rbkairos_frames.stl │ │ │ ├── rbkairos_plates.dae │ │ │ └── rbkairos_plates.stl │ │ └── structures │ │ │ ├── extension_ur16e.stl │ │ │ ├── rbkairos_stand.dae │ │ │ ├── rbkairos_stand.stl │ │ │ └── vgc10.stl │ ├── package.xml │ ├── robots │ │ ├── meshes │ │ │ ├── collision │ │ │ │ ├── finger.obj │ │ │ │ ├── hand.obj │ │ │ │ ├── link0.obj │ │ │ │ ├── link1.obj │ │ │ │ ├── link2.obj │ │ │ │ ├── link3.obj │ │ │ │ ├── link4.obj │ │ │ │ ├── link5.obj │ │ │ │ ├── link6.mtl │ │ │ │ ├── link6.obj │ │ │ │ └── link7.obj │ │ │ └── visual │ │ │ │ ├── colors.png │ │ │ │ ├── finger.mtl │ │ │ │ ├── finger.obj │ │ │ │ ├── hand.mtl │ │ │ │ ├── hand.obj │ │ │ │ ├── link1.mtl │ │ │ │ ├── link1.obj │ │ │ │ ├── link2.mtl │ │ │ │ ├── link2.obj │ │ │ │ ├── link3.mtl │ │ │ │ ├── link3.obj │ │ │ │ ├── link4.mtl │ │ │ │ ├── link4.obj │ │ │ │ ├── link5.mtl │ │ │ │ ├── link5.obj │ │ │ │ ├── link6.mtl │ │ │ │ └── link6.obj │ │ ├── rbkairos_base.urdf │ │ ├── rbkairos_base.urdf.xacro │ │ ├── rbkairos_extension_ur16.urdf.xacro │ │ ├── rbkairos_iiwa_plus.urdf.xacro │ │ ├── rbkairos_panda.urdf │ │ ├── rbkairos_panda.urdf.xacro │ │ ├── rbkairos_panda_hand.urdf │ │ ├── rbkairos_panda_new.urdf │ │ ├── rbkairos_ur10.urdf.xacro │ │ ├── rbkairos_ur10e_plus.urdf.xacro │ │ ├── rbkairos_ur5.urdf.xacro │ │ ├── rbkairos_ur5e_plus.urdf.xacro │ │ └── versions │ │ │ ├── rbkairos_ur10_vgc10.urdf.xacro │ │ │ ├── rbkairos_ur10_wsg50.urdf.xacro │ │ │ ├── rbkairos_ur5_egh.urdf.xacro │ │ │ ├── rbkairos_ur5_plus.urdf.xacro │ │ │ ├── rbkairos_ur5_plus_vgc10.urdf.xacro │ │ │ ├── rbkairos_ur5_wsg50.urdf.xacro │ │ │ └── rbkairos_ur5_wsg50_base.urdf.xacro │ ├── rviz │ │ └── config.rviz │ └── urdf │ │ ├── bases │ │ ├── rbkairos_base.urdf.xacro │ │ └── rbkairos_base_frame.urdf.xacro │ │ ├── box │ │ ├── box.launch │ │ ├── box.sdf │ │ ├── box.urdf.xacro │ │ ├── holder.launch │ │ ├── holder.urdf.xacro │ │ └── meshes │ │ │ ├── base_handle.stl │ │ │ ├── box_base.stl │ │ │ ├── box_holder.stl │ │ │ └── handle.stl │ │ ├── inertia.urdf.xacro │ │ └── structures │ │ ├── arm_pedestal.urdf.xacro │ │ ├── extension_ur16e.urdf.xacro │ │ ├── realsense2vgc10_support.urdf.xacro │ │ ├── realsense_wrist_support.urdf.xacro │ │ ├── ur_arm_base.urdf.xacro │ │ ├── vgc10.gazebo.xacro │ │ ├── vgc10.urdf.xacro │ │ └── wsg_50_support.urdf.xacro ├── robot_descriptions │ └── objects_description │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── meshes │ │ └── visual │ │ │ ├── colors16.png │ │ │ ├── soccerball.mtl │ │ │ └── soccerball.obj │ │ ├── objects │ │ ├── box.urdf │ │ ├── box.urdf.xacro │ │ ├── box.xacro │ │ ├── soccerball.urdf │ │ ├── soccerball.urdf.xacro │ │ ├── soccerball.xacro │ │ ├── table.urdf │ │ ├── table.urdf.xacro │ │ └── table.xacro │ │ └── package.xml ├── robotnik_sensors │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── launch │ │ ├── gazebo.launch │ │ ├── view_sensor.launch │ │ └── view_sensor.urdf.xacro │ ├── meshes │ │ ├── antenna_3GO16.dae │ │ ├── antenna_3GO16.stl │ │ ├── asus_xtion_pro_live.dae │ │ ├── asus_xtion_pro_live.png │ │ ├── axis_m5013.dae │ │ ├── axis_m5013.stl │ │ ├── axis_m5525.dae │ │ ├── axis_m5525.stl │ │ ├── axis_p5512.dae │ │ ├── axis_p5512.stl │ │ ├── axis_p5514.dae │ │ ├── axis_p5514.stl │ │ ├── axis_q8641_n1-1.STL │ │ ├── axis_q8641_n2-1.STL │ │ ├── benewake_ce30.stl │ │ ├── benewake_ce30d.dae │ │ ├── benewake_ce30d.stl │ │ ├── camera_axis_q8641.STL │ │ ├── fotonic_e.stl │ │ ├── hokuyo.png │ │ ├── hokuyo3d.dae │ │ ├── hokuyo3d.jpg │ │ ├── hokuyo3d.stl │ │ ├── hokuyo_urg_04lx.dae │ │ ├── hokuyo_urg_04lx.stl │ │ ├── hokuyo_ust_10lx.dae │ │ ├── hokuyo_ust_20lx.dae │ │ ├── hokuyo_utm_30lx.dae │ │ ├── hokuyo_utm_30lx.stl │ │ ├── intel_d435.dae │ │ ├── intel_d435.stl │ │ ├── intel_r430.dae │ │ ├── intel_r430.stl │ │ ├── kinect.dae │ │ ├── kinect.jpg │ │ ├── kinect.tga │ │ ├── kinectv2.dae │ │ ├── kinectv2.stl │ │ ├── kinectv2_nobase.dae │ │ ├── kinectv2_nobase.stl │ │ ├── orbbec_astra.dae │ │ ├── orbbec_astra.stl │ │ ├── orbbec_astra_embedded_s.dae │ │ ├── orbbec_astra_embedded_s.stl │ │ ├── ouster1.STL │ │ ├── pointgrey_bumblebee2.dae │ │ ├── rplidar.dae │ │ ├── rplidar_a2.dae │ │ ├── rplidar_a2.stl │ │ ├── rs_bpearl.dae │ │ ├── rs_bpearl.stl │ │ ├── rslidar.dae │ │ ├── rslidar.stl │ │ ├── rslidar_mems.stl │ │ ├── sick_microscan3.dae │ │ ├── sick_microscan3.stl │ │ ├── sick_mls.stl │ │ ├── sick_nanoscan3.stl │ │ ├── sick_s300.dae │ │ ├── sick_s300.stl │ │ ├── sick_s3000.dae │ │ ├── sick_s3000.stl │ │ ├── sick_tim551.dae │ │ ├── sick_tim551.stl │ │ ├── sick_tim571.dae │ │ ├── sick_tim571.stl │ │ ├── teraranger_tr_duo.dae │ │ ├── teraranger_tr_duo.stl │ │ ├── ueye_cp_gige.dae │ │ ├── ueye_cp_gige.stl │ │ ├── velodyne_vlp16.dae │ │ ├── velodyne_vlp16.stl │ │ ├── viper.dae │ │ ├── viper.stl │ │ ├── ydlidar_4f.dae │ │ ├── ydlidar_4f.png │ │ ├── yujin_yrl.stl │ │ ├── zed.stl │ │ ├── zed2.stl │ │ └── zedm.stl │ ├── package.xml │ └── urdf │ │ ├── all_sensors.urdf.xacro │ │ ├── asus_xtion_pro.urdf.xacro │ │ ├── axis.urdf.xacro │ │ ├── axis_m5013.urdf.xacro │ │ ├── axis_m5525.urdf.xacro │ │ ├── axis_q8641.urdf.xacro │ │ ├── benewake_ce30.urdf.xacro │ │ ├── benewake_ce30d.urdf.xacro │ │ ├── embedded_s.urdf.xacro │ │ ├── fotonic_e.urdf.xacro │ │ ├── gps.urdf.xacro │ │ ├── gps_with_mast.urdf.xacro │ │ ├── hokuyo3d.urdf.xacro │ │ ├── hokuyo_urg04lx.urdf.xacro │ │ ├── hokuyo_ust10lx.urdf.xacro │ │ ├── hokuyo_ust20lx.urdf.xacro │ │ ├── hokuyo_utm30lx.urdf.xacro │ │ ├── imu.urdf.xacro │ │ ├── imu_hector_plugin.urdf.xacro │ │ ├── intel_d435.urdf.xacro │ │ ├── intel_r430.urdf.xacro │ │ ├── kinect.urdf.xacro │ │ ├── kinectv2.urdf.xacro │ │ ├── orbbec_astra.urdf.xacro │ │ ├── ouster1.urdf.xacro │ │ ├── pantilt.urdf.xacro │ │ ├── pointgrey_bumblebee2.urdf.xacro │ │ ├── roboteq_mgs.urdf.xacro │ │ ├── rplidar.urdf.xacro │ │ ├── rplidar_a2.urdf.xacro │ │ ├── rs_bpearl.urdf.xacro │ │ ├── rslidar.urdf.xacro │ │ ├── rslidar_mems.urdf.xacro │ │ ├── rubedos_viper.urdf.xacro │ │ ├── sick_microscan3.urdf.xacro │ │ ├── sick_mls.urdf.xacro │ │ ├── sick_nanoscan3.urdf.xacro │ │ ├── sick_outdoorscan3.urdf.xacro │ │ ├── sick_s300.urdf.xacro │ │ ├── sick_s3000.urdf.xacro │ │ ├── sick_tim551.urdf.xacro │ │ ├── sick_tim571.urdf.xacro │ │ ├── teraranger_tr_duo.urdf.xacro │ │ ├── ueye_cp_gige.urdf.xacro │ │ ├── utils │ │ └── inertia.urdf.xacro │ │ ├── velodyne_vlp16.urdf.xacro │ │ ├── ydlidar_4f.urdf.xacro │ │ ├── yujin_yrl.urdf.xacro │ │ ├── zed.urdf.xacro │ │ └── zed2.urdf.xacro ├── summit_xl_description │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ ├── summit_xl_rviz.launch │ │ └── summit_xl_state_robot.launch │ ├── meshes │ │ ├── bases │ │ │ ├── ext │ │ │ │ ├── summit_xl_hl_ext_chassis.dae │ │ │ │ └── summit_xl_hl_ext_chassis.stl │ │ │ ├── graveyard │ │ │ │ ├── summit_xl_chassis.stl │ │ │ │ ├── summit_xl_covers.stl │ │ │ │ └── summit_xl_logos.stl │ │ │ ├── hls │ │ │ │ ├── summit_xl_hls.dae │ │ │ │ ├── summit_xl_hls.stl │ │ │ │ ├── summit_xl_hls_a.stl │ │ │ │ ├── summit_xl_hls_b.stl │ │ │ │ ├── summit_xls_chassis.dae │ │ │ │ └── summit_xls_chassis.stl │ │ │ ├── summit_xl_chassis.dae │ │ │ ├── summit_xl_chassis.stl │ │ │ ├── summit_xl_chassis_collision.dae │ │ │ ├── summit_xl_chassis_copy.dae │ │ │ ├── summit_xl_chassis_simple.stl │ │ │ ├── summit_xl_covers.stl │ │ │ ├── summit_xl_hl_chassis.dae │ │ │ ├── summit_xl_logos.stl │ │ │ ├── x │ │ │ │ ├── summit_x_chassis_down.dae │ │ │ │ ├── summit_x_chassis_down.stl │ │ │ │ ├── summit_x_chassis_up.dae │ │ │ │ ├── summit_x_chassis_up.stl │ │ │ │ ├── summit_x_scissor_bars_1.dae │ │ │ │ ├── summit_x_scissor_bars_1.stl │ │ │ │ ├── summit_x_scissor_bars_2.dae │ │ │ │ └── summit_x_scissor_bars_2.stl │ │ │ └── xls │ │ │ │ ├── robotnik_logo_chasis.stl │ │ │ │ ├── summit_xls_chapas_inox_tapas.stl │ │ │ │ ├── summit_xls_chassis.dae │ │ │ │ ├── summit_xls_chassis.stl │ │ │ │ ├── summit_xlsk_oem.dae │ │ │ │ └── summit_xlsk_oem.stl │ │ ├── structures │ │ │ ├── chasis_sup_our.stl │ │ │ ├── mastil_gps.stl │ │ │ ├── masts_lh.dae │ │ │ ├── masts_lh.stl │ │ │ ├── structure_chair.stl │ │ │ ├── structure_front_axis_sick.stl │ │ │ ├── structure_hokuyo.dae │ │ │ ├── structure_hokuyo.stl │ │ │ ├── structure_ptz_rgbd_gps.dae │ │ │ ├── structure_ptz_rgbd_gps.stl │ │ │ ├── structure_rear_axis.dae │ │ │ ├── structure_rear_axis.stl │ │ │ ├── structure_rear_sick.stl │ │ │ ├── structure_rear_velodyne.dae │ │ │ └── structure_rear_velodyne.stl │ │ └── wheels │ │ │ ├── hls │ │ │ ├── mecawheel_a_rim.stl │ │ │ ├── mecawheel_a_rollers.stl │ │ │ ├── mecawheel_b_rim.stl │ │ │ └── mecawheel_b_rollers.stl │ │ │ ├── omni_wheel_1.dae │ │ │ ├── omni_wheel_2.dae │ │ │ ├── rubber_wheel_left.dae │ │ │ └── rubber_wheel_right.dae │ ├── package.xml │ ├── robots │ │ ├── summit_xl_gen_std.urdf.xacro │ │ ├── summit_xl_std.urdf.xacro │ │ ├── summit_xls_std.urdf.xacro │ │ └── versions │ │ │ ├── SHL00-181120AC.urdf.xacro │ │ │ ├── SXL00-190627AA.urdf.xacro │ │ │ ├── SXL00-200505AA.urdf.xacro │ │ │ ├── SXL00-200728AA.urdf.xacro │ │ │ ├── SXLS0-180704AA.urdf.xacro │ │ │ ├── SXLS0-180716AC.urdf.xacro │ │ │ ├── SXLS0-190315AA.urdf.xacro │ │ │ ├── SXLS0-190524AA.urdf.xacro │ │ │ ├── SXLSK-190226AA.urdf.xacro │ │ │ ├── summit_xl_170421A.urdf.xacro │ │ │ ├── summit_xl_170518A.urdf.xacro │ │ │ ├── summit_xl_170720A.urdf.xacro │ │ │ ├── summit_xl_170720B.urdf.xacro │ │ │ ├── summit_xl_171011A.urdf.xacro │ │ │ ├── summit_xl_171116A.urdf.xacro │ │ │ ├── summit_xl_171124A.urdf.xacro │ │ │ ├── summit_xl_171201A.urdf.xacro │ │ │ ├── summit_xl_180221AA.urdf.xacro │ │ │ ├── summit_xl_180307A.urdf.xacro │ │ │ ├── summit_xl_180613AA.urdf.xacro │ │ │ ├── summit_xl_SXL00-190416AB.urdf.xacro │ │ │ ├── summit_xl_SXLS0-190315AA.urdf.xacro │ │ │ ├── summit_xls_170123A.urdf.xacro │ │ │ ├── summit_xls_170421A.urdf.xacro │ │ │ ├── summit_xls_170605A.urdf.xacro │ │ │ ├── summit_xls_170725A.urdf.xacro │ │ │ ├── summit_xls_180110AA.urdf.xacro │ │ │ └── summit_xls_rubber_170605A.urdf.xacro │ ├── urdf │ │ ├── arms │ │ │ └── kinova │ │ │ │ ├── j2n4s300.xacro │ │ │ │ ├── j2n6s200.xacro │ │ │ │ ├── j2n6s300.xacro │ │ │ │ ├── j2n7s300.xacro │ │ │ │ ├── j2s6s200.xacro │ │ │ │ ├── j2s6s300.xacro │ │ │ │ └── j2s7s300.xacro │ │ ├── bases │ │ │ ├── summit_x_base.urdf.xacro │ │ │ ├── summit_xl_base.gazebo.xacro │ │ │ ├── summit_xl_base.urdf.xacro │ │ │ ├── summit_xl_hl_base.urdf.xacro │ │ │ ├── summit_xl_hl_ext_base.urdf.xacro │ │ │ ├── summit_xl_hls_base.urdf.xacro │ │ │ ├── summit_xls_base.urdf.xacro │ │ │ └── summit_xlsk_base_oem.urdf.xacro │ │ ├── structures │ │ │ ├── structure_chair.urdf.xacro │ │ │ ├── structure_chasis_sup_our.urdf.xacro │ │ │ ├── structure_front_axis_sick.urdf.xacro │ │ │ ├── structure_gps.urdf.xacro │ │ │ ├── structure_hokuyo.urdf.xacro │ │ │ ├── structure_ptz_rgbd_gps.urdf.xacro │ │ │ ├── structure_rear_axis.urdf.xacro │ │ │ ├── structure_rear_sick.urdf.xacro │ │ │ └── structure_rear_velodyne.urdf.xacro │ │ └── wheels │ │ │ ├── basic_wheel.urdf.xacro │ │ │ ├── omni_wheel.urdf.xacro │ │ │ └── rubber_wheel.urdf.xacro │ └── vrep │ │ ├── Robotnik_Summit_XL.ttt │ │ ├── Robotnik_Summit_XL_STD.ttm │ │ └── version.txt └── white.png ├── docs └── figs │ └── throw-demo.gif ├── object_data └── brt_gravity_only │ ├── brt_chunk.pkl │ ├── 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