├── .gitignore ├── .travis.yml ├── README.md ├── moveit_pr2 ├── CHANGELOG.rst ├── CMakeLists.txt └── package.xml ├── pr2_moveit_config ├── .setup_assistant ├── CHANGELOG.rst ├── CMakeLists.txt ├── config │ ├── detection.ork │ ├── grasping.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── link_spheres.yaml │ ├── ompl_planning.yaml │ ├── pr2.srdf │ ├── pr2_execution_controllers.yaml │ ├── sensors_kinect.yaml │ ├── sensors_laser.yaml │ └── sensors_stereo.yaml ├── launch │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── ompl_planner.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── pr2_moveit_controller_manager.launch.xml │ ├── pr2_moveit_sensor_manager.launch.xml │ ├── run_benchmark_gui.launch │ ├── run_benchmark_ompl.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── tabletop_object_recognition.launch │ ├── trajectory_execution.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml └── package.xml ├── pr2_moveit_plugins ├── CHANGELOG.rst ├── CMakeLists.txt ├── package.xml ├── pr2_arm_kinematics │ ├── CMakeLists.txt │ ├── include │ │ └── moveit │ │ │ └── pr2_arm_kinematics │ │ │ ├── pr2_arm_ik.h │ │ │ ├── pr2_arm_ik_solver.h │ │ │ ├── pr2_arm_kinematics.h │ │ │ ├── pr2_arm_kinematics_constants.h │ │ │ ├── pr2_arm_kinematics_plugin.h │ │ │ └── pr2_arm_kinematics_utils.h │ ├── src │ │ ├── main.cpp │ │ ├── pr2_arm_ik.cpp │ │ ├── pr2_arm_ik_solver.cpp │ │ ├── pr2_arm_kinematics.cpp │ │ ├── pr2_arm_kinematics_plugin.cpp │ │ └── pr2_arm_kinematics_utils.cpp │ └── test │ │ └── test_ik_with_cost.cpp ├── pr2_moveit_constraint_sampler │ ├── CMakeLists.txt │ └── src │ │ └── pr2_constraint_sampler.cpp ├── pr2_moveit_constraint_sampler_plugin_description.xml ├── pr2_moveit_controller_manager │ ├── CMakeLists.txt │ └── src │ │ └── pr2_moveit_controller_manager.cpp ├── pr2_moveit_controller_manager_plugin_description.xml ├── pr2_moveit_kinematics_plugin_description.xml ├── pr2_moveit_sensor_manager │ ├── CMakeLists.txt │ └── src │ │ └── pr2_moveit_sensor_manager.cpp └── pr2_moveit_sensor_manager_plugin_description.xml ├── pr2_moveit_tests ├── CHANGELOG.rst ├── CMakeLists.txt ├── kinematics │ ├── CMakeLists.txt │ ├── launch │ │ ├── constraint_aware_test.launch │ │ ├── pr2_jacobian_tests.launch │ │ └── pr2_plugin_test.launch │ └── src │ │ ├── test_constraint_aware_kinematics.cpp │ │ ├── test_jacobian.cpp │ │ └── test_kinematics_as_plugin.cpp ├── package.xml └── pr2.srdf └── tests ├── pr2_arm_ik_tests ├── CMakeLists.txt ├── Makefile ├── mainpage.dox ├── manifest.xml ├── test │ ├── test_ik_regress.cpp │ └── test_kinematics_as_plugin.cpp ├── test_pr2_arm_ik.launch ├── test_pr2_arm_kinematics_as_kdl_plugin.launch └── test_pr2_arm_kinematics_as_plugin.launch ├── pr2_move_group_test ├── CMakeLists.txt ├── Makefile ├── manifest.xml └── src │ ├── pr2_move_group_interface_test.cpp │ └── pr2_move_group_test.cpp ├── pr2_ompl_planning_tests ├── CMakeLists.txt ├── Makefile ├── manifest.xml ├── src │ ├── call_benchmark.cpp │ ├── call_cca.cpp │ ├── test_complex_path_constrained_plan.cpp │ ├── test_dual_arm_plan.cpp │ ├── test_path_constrained_plan.cpp │ ├── test_planner.cpp │ └── test_simple_plan.cpp └── test │ ├── test_complex_path_constrained_plan.test │ ├── test_dual_arm.test │ ├── test_path_constrained_plan.test │ ├── test_planner.test │ └── test_simple_plan.test ├── pr2_planning_interface_tests ├── CMakeLists.txt ├── Makefile ├── mainpage.dox ├── manifest.xml ├── src │ └── planning_interface_tester.cpp └── test │ └── planning_interface_tester.test ├── pr2_simple_benchmark_test ├── CMakeLists.txt ├── Makefile ├── manifest.xml └── src │ └── call_benchmark.cpp ├── pr2_test_chomp_planner ├── CMakeLists.txt ├── Makefile ├── manifest.xml └── test │ ├── pr2_chomp_planner_test.cpp │ └── test_chomp_planner.test ├── pr2_test_collision_detection ├── CMakeLists.txt ├── Makefile ├── manifest.xml └── src │ └── test_collision_detection.cpp ├── pr2_test_collision_distance_field ├── CMakeLists.txt ├── Makefile ├── launch │ └── distance_collision_detection_visualization.launch ├── manifest.xml └── test │ ├── pr2_low_spheres_speed_test.cpp │ ├── pr2_moveit_planning_scene_speed_test.cpp │ ├── pr2_moveit_speed_test.cpp │ ├── test_collision_detection_low_spheres_speed.test │ ├── test_collision_detection_speed.test │ └── test_planning_scene_collision_detection_speed.test ├── pr2_test_kinematic_constraints ├── CMakeLists.txt ├── Makefile ├── manifest.xml ├── src │ └── test_constraint_samplers.cpp ├── test │ └── test_kinematic_constraints.test └── test_kinematic_constraints.launch ├── pr2_test_sbpl_planner ├── CMakeLists.txt ├── Makefile ├── manifest.xml └── test │ ├── pr2_sbpl_ompl_planner_test.cpp │ ├── pr2_sbpl_planner_test.cpp │ ├── test_sbpl_ompl_planner.test │ └── test_sbpl_planner.test └── 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