├── docs ├── README.md ├── doc_1.png ├── doc_2.png ├── doc_3.png ├── doc_4.png ├── doc_5.png ├── doc_6.png ├── doc_7.png ├── doc_8.png └── robotiq_ur.md ├── husky_dual_gen3_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── chomp_planning.yaml │ ├── fake_controllers.yaml │ ├── husky.srdf │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── 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 │ ├── husky_dual_gen3_moveit_planning_execution.launch │ ├── husky_moveit_controller_manager.launch.xml │ ├── husky_moveit_sensor_manager.launch.xml │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.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 └── scripts │ └── customize_moveit.sh ├── husky_dual_ur_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── controllers.yaml │ ├── fake_controllers.yaml │ ├── husky.srdf │ ├── joint_limits.yaml │ ├── kinematics.yaml │ └── ompl_planning.yaml ├── launch │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── husky_dual_ur_moveit_planning_execution.launch │ ├── husky_moveit_controller_manager.launch.xml │ ├── husky_moveit_sensor_manager.launch.xml │ ├── joystick_control.launch │ ├── 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 └── scripts │ └── customize_moveit.sh ├── husky_dual_ur_robotiq_2f_85_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── controllers.yaml │ ├── fake_controllers.yaml │ ├── husky.srdf │ ├── joint_limits.yaml │ ├── kinematics.yaml │ └── ompl_planning.yaml ├── launch │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── husky_dual_ur_robotiq_2f_85_moveit_planning_execution.launch │ ├── husky_moveit_controller_manager.launch.xml │ ├── husky_moveit_sensor_manager.launch.xml │ ├── joystick_control.launch │ ├── 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 └── scripts │ └── customize_moveit.sh ├── husky_franka_bringup ├── CMakeLists.txt ├── launch │ └── franka_control.launch └── package.xml ├── husky_franka_description ├── CMakeLists.txt ├── package.xml ├── scripts │ ├── setup_husky_franka_envvar │ ├── setup_husky_panda_envar │ └── setup_husky_panda_hand_envar └── urdf │ ├── husky_franka_description.urdf.xacro │ ├── husky_panda_description.urdf.xacro │ └── husky_panda_hand_description.urdf.xacro ├── husky_franka_moveit_config ├── .setup_assistant ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── config │ ├── arm.xacro │ ├── cartesian_limits.yaml │ ├── chomp_planning.yaml │ ├── fake_controllers.yaml │ ├── gazebo_controllers.yaml │ ├── hand.xacro │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── lerp_planning.yaml │ ├── ompl_planning.yaml │ ├── panda.srdf.xacro │ ├── ros_controllers.yaml │ ├── sensors_kinect_depthmap.yaml │ ├── sensors_kinect_pointcloud.yaml │ ├── simple_moveit_controllers.yaml │ ├── stomp_planning.yaml │ └── trajopt_planning.yaml ├── launch │ ├── chomp_planning_pipeline.launch.xml │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── demo_chomp.launch │ ├── demo_gazebo.launch │ ├── demo_lerp.launch │ ├── demo_stomp.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── franka_control.launch │ ├── gazebo.launch │ ├── husky_franka_moveit_planning_execution.launch │ ├── husky_moveit_sensor_manager.launch.xml │ ├── joystick_control.launch │ ├── lerp_planning_pipeline.launch.xml │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_empty.rviz │ ├── moveit_rviz.launch │ ├── moveit_scene.rviz │ ├── ompl-chomp_planning_pipeline.launch.xml │ ├── ompl_planning_pipeline.launch.xml │ ├── panda_moveit_sensor_manager.launch.xml │ ├── pilz_industrial_motion_planner_planning_pipeline.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── ros_control_moveit_controller_manager.launch.xml │ ├── ros_controllers.launch │ ├── run_benchmark_ompl.launch │ ├── run_benchmark_trajopt.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── simple_moveit_controller_manager.launch.xml │ ├── stomp_planning_pipeline.launch.xml │ ├── trajectory_execution.launch.xml │ ├── trajopt_planning_pipeline.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml ├── package.xml └── scripts │ └── customize_moveit.sh ├── husky_gen3_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── chomp_planning.yaml │ ├── fake_controllers.yaml │ ├── husky.srdf │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── 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 │ ├── husky_gen3_moveit_planning_execution.launch │ ├── husky_moveit_controller_manager.launch.xml │ ├── husky_moveit_sensor_manager.launch.xml │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.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 └── scripts │ └── customize_moveit.sh ├── husky_kinova_bringup ├── CMakeLists.txt ├── launch │ ├── husky_dual_gen3_bringup.launch │ └── husky_gen3_bringup.launch └── package.xml ├── husky_kinova_description ├── CMakeLists.txt ├── meshes │ ├── dual_arm_bulkhead.dae │ └── dual_arm_bulkhead_collision.stl ├── package.xml ├── scripts │ ├── setup_husky_dual_gen3_envar │ ├── setup_husky_dual_gen3_robotiq_2f_140_envar │ ├── setup_husky_dual_gen3_robotiq_2f_85_envar │ ├── setup_husky_gen3_envar │ ├── setup_husky_gen3_robotiq_2f_140_envar │ └── setup_husky_gen3_robotiq_2f_85_envar └── urdf │ ├── husky_dual_gen3_description.urdf.xacro │ ├── husky_dual_gen3_robotiq_2f_140_description.urdf.xacro │ ├── husky_dual_gen3_robotiq_2f_85_description.urdf.xacro │ ├── husky_gen3_description.urdf.xacro │ ├── husky_gen3_robotiq_2f_140_description.urdf.xacro │ └── husky_gen3_robotiq_2f_85_description.urdf.xacro ├── husky_manipulation ├── CMakeLists.txt └── package.xml ├── husky_ur_bringup ├── CMakeLists.txt ├── config │ ├── default_config.yaml │ ├── left_ur_controllers.yaml │ ├── right_ur_controllers.yaml │ └── ur_controllers.yaml ├── launch │ ├── husky_dual_ur_bringup.launch │ └── husky_ur_bringup.launch ├── package.xml └── scripts │ └── arm_reset.py ├── husky_ur_description ├── CMakeLists.txt ├── meshes │ ├── dual_arm_bulkhead.dae │ └── dual_arm_bulkhead_collision.stl ├── package.xml ├── scripts │ ├── setup_husky_dual_ur3_e_envar │ ├── setup_husky_dual_ur3_envar │ ├── setup_husky_dual_ur5_e_envar │ ├── setup_husky_dual_ur5_envar │ ├── setup_husky_ur3_e_envar │ ├── setup_husky_ur3_envar │ ├── setup_husky_ur5_e_envar │ ├── setup_husky_ur5_envar │ └── setup_husky_ur_envar └── urdf │ ├── husky_dual_ur3_description.urdf.xacro │ ├── husky_dual_ur3_e_description.urdf.xacro │ ├── husky_dual_ur5_description.urdf.xacro │ ├── husky_dual_ur5_e_description.urdf.xacro │ ├── husky_ur3_description.urdf.xacro │ ├── husky_ur3_e_description.urdf.xacro │ ├── husky_ur5_description.urdf.xacro │ ├── husky_ur5_e_description.urdf.xacro │ └── inc │ └── ur_robotiq_2f_gripper.urdf.xacro ├── husky_ur_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── controllers.yaml │ ├── fake_controllers.yaml │ ├── husky.srdf │ ├── joint_limits.yaml │ ├── kinematics.yaml │ └── ompl_planning.yaml ├── launch │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ 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