├── .gitignore ├── CONTRIBUTORS.md ├── LICENSE.txt ├── README.md ├── oceanwaters ├── doc │ ├── lander_europa.jpg │ ├── setup_dev_env.md │ └── setup_oceanwaters.md └── workspaces │ └── oceanwaters.rosinstall ├── ow ├── CMakeLists.txt ├── README.md ├── config │ ├── default.perspective │ └── dig_force.perspective ├── launch │ ├── atacama_y1a.launch │ ├── autonomy_demo.launch │ ├── common.launch │ ├── europa_terminator.launch │ ├── europa_terminator_workspace.launch │ ├── europa_test_dem.launch │ └── irradiance_test.launch ├── package.xml └── worlds │ └── irradiance_test.world ├── ow_bag_recorder ├── CMakeLists.txt ├── README.md ├── config │ ├── options.yaml │ └── topics.yaml ├── package.xml └── src │ ├── bag_recorder_node.cpp │ ├── config.cpp │ └── config.h ├── ow_dynamic_terrain ├── CMakeLists.txt ├── README.md ├── env-hooks │ └── 80.ow_dynamic_terrain.sh.in ├── include │ ├── DigDetector.h │ ├── DigStateMachine.h │ ├── MergeMethods.h │ ├── OpenCV_Util.h │ ├── TerrainBrush.h │ ├── TerrainModifier.h │ └── memory_ext.h ├── launch │ ├── default.launch │ ├── europa.launch │ └── robot.launch ├── misc │ └── first_pass_heightmap.tif ├── models │ ├── europa_terrain │ │ ├── dem │ │ │ └── europa_terrain.tif │ │ ├── model.config │ │ └── model.sdf │ ├── ogre_terrain │ │ ├── model.config │ │ └── model.sdf │ └── small_box │ │ ├── model.config │ │ └── model.sdf ├── msg │ ├── modified_terrain_diff.msg │ ├── modify_terrain_circle.msg │ ├── modify_terrain_ellipse.msg │ ├── modify_terrain_patch.msg │ └── scoop_dig_phase.msg ├── package.xml ├── scripts │ ├── modify_terrain_grinder_pub.py │ ├── modify_terrain_patch_pub.py │ ├── modify_terrain_patch_sub.py │ └── modify_terrain_scoop_pub.py ├── src │ ├── DigDetector.cpp │ ├── DigStateMachine.cpp │ ├── DynamicTerrainBase.cpp │ ├── DynamicTerrainBase.h │ ├── DynamicTerrainModel.cpp │ ├── DynamicTerrainVisual.cpp │ ├── DynamicTerrainVisual.h │ ├── MergeMethods.cpp │ ├── OpenCV_Util.cpp │ ├── TerrainBrush.cpp │ ├── TerrainModifier.cpp │ └── dig_detection_node.cpp ├── test │ ├── test_MergeMethods.cpp │ └── test_ModifyTerrainPatch.py ├── urdf │ └── simple_camera.urdf └── worlds │ ├── default.world │ └── europa.world ├── ow_ephemeris ├── CMakeLists.txt ├── README.md ├── config │ └── europa.yaml ├── env-hooks │ └── 70.ow_ephemeris.sh ├── models │ ├── ow_cubemap_sphere │ │ ├── materials │ │ │ ├── scripts │ │ │ │ ├── ow_cubemap_sphere.frag │ │ │ │ ├── ow_cubemap_sphere.material │ │ │ │ └── ow_cubemap_sphere.vert │ │ │ └── textures │ │ │ │ ├── cubemap_bk.jpg │ │ │ │ ├── cubemap_dn.jpg │ │ │ │ ├── cubemap_fr.jpg │ │ │ │ ├── cubemap_lf.jpg │ │ │ │ ├── cubemap_rt.jpg │ │ │ │ └── cubemap_up.jpg │ │ ├── model.config │ │ └── model.sdf │ └── ow_light_probe │ │ ├── model.config │ │ └── model.sdf ├── package.xml └── scripts │ └── sunlight_values_for_shaders.py ├── ow_faults_detection ├── CMakeLists.txt ├── README.md ├── include │ └── ow_faults_detection │ │ └── FaultDetector.h ├── msg │ └── JointStatesFlag.msg ├── package.xml └── src │ ├── FaultDetector.cpp │ └── main.cpp ├── ow_faults_injection ├── CMakeLists.txt ├── README.md ├── cfg │ └── Faults.cfg ├── include │ └── ow_faults_injection │ │ ├── FaultInjector.h │ │ └── JointsFaults.h ├── package.xml └── src │ ├── FaultInjector.cpp │ ├── JointsFaults.cpp │ └── main.cpp ├── ow_gazebo_plugins ├── CMakeLists.txt ├── data │ └── scoop_force_circular.csv ├── package.xml └── src │ ├── BalovnevModelPlugin │ ├── BalovnevModelPlugin.cpp │ ├── BalovnevModelPlugin.h │ ├── CMakeLists.txt │ ├── MovingMaxFilter.cpp │ └── MovingMaxFilter.h │ ├── CMakeLists.txt │ ├── CosimulationPlugin │ ├── CMakeLists.txt │ ├── CosimulationPlugin.cpp │ ├── CosimulationPlugin.h │ ├── Cosimulator.cpp │ ├── Cosimulator.h │ └── README.md │ ├── LinkForcePlugin │ ├── CMakeLists.txt │ ├── CSVRow.h │ ├── ForceRow.h │ ├── LinkForcePlugin.cpp │ ├── LinkForcePlugin.h │ └── README.md │ ├── OWLensFlareSensorPlugin │ ├── CMakeLists.txt │ ├── OWLensFlareSensorPlugin.cpp │ └── OWLensFlareSensorPlugin.h │ └── OWLightControlPlugin │ ├── CMakeLists.txt │ ├── OWLightControlPlugin.cpp │ └── OWLightControlPlugin.h ├── ow_lander ├── .setup_assistant ├── CMakeLists.txt ├── README.md ├── action │ ├── ActivateComms.action │ ├── DockIngestSample.action │ ├── GuardedMove.action │ ├── Pan.action │ └── Tilt.action ├── config │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── lander.rviz │ ├── lander.srdf │ ├── moveit.rviz │ ├── ompl_planning.yaml │ └── ros_controllers.yaml ├── env-hooks │ └── 65.ow_lander.sh.in ├── include │ └── ow_lander │ │ └── lander_joints.h ├── launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── lander_moveit_controller_manager.launch.xml │ ├── move_group.launch │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── planning.launch │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── ros_controllers.launch │ ├── setup_assistant.launch │ ├── spawn.launch │ └── trajectory_execution.launch.xml ├── materials │ ├── scripts │ │ ├── ow_lander.frag │ │ ├── ow_lander.material │ │ └── ow_lander.vert │ └── textures │ │ └── lander_light_beam.png ├── meshes │ ├── base_link.STL │ ├── base_link_col.STL │ ├── l_ant_foot.STL │ ├── l_ant_foot_col.STL │ ├── l_ant_panel.STL │ ├── l_ant_panel_col.STL │ ├── l_dist.STL │ ├── l_dist_col.STL │ ├── l_grinder.STL │ ├── l_hand.STL │ ├── l_hand_col.STL │ ├── l_prox.STL │ ├── l_prox_col.STL │ ├── l_scoop.STL │ ├── l_shou.STL │ ├── l_shou_col.STL │ ├── l_wrist.STL │ ├── l_wrist_col.STL │ └── sample_dock.stl ├── misc │ ├── service_caller.png │ └── setup_assistant.png ├── msg │ ├── ActionGoalStatus.msg │ └── GuardedMoveFinalResult.msg ├── package.xml ├── scripts │ ├── README.md │ ├── activate_comms.py │ ├── arm_find_surface.py │ ├── arm_move_cartesian.py │ ├── arm_move_cartesian_guarded.py │ ├── arm_move_joint.py │ ├── arm_move_joints.py │ ├── arm_move_joints_guarded.py │ ├── arm_stop.py │ ├── arm_stow.py │ ├── arm_unstow.py │ ├── camera_capture.py │ ├── camera_set_exposure.py │ ├── dock_ingest_sample.py │ ├── fault_clear.py │ ├── guarded_move.py │ ├── lander_action_servers.py │ ├── light_set_intensity.py │ ├── pan.py │ ├── pan_tilt_move_cartesian.py │ ├── pan_tilt_move_joints.py │ ├── state_publisher.py │ ├── task_deliver_sample.py │ ├── task_discard_sample.py │ ├── task_grind.py │ ├── task_scoop_circular.py │ ├── task_scoop_linear.py │ └── tilt.py ├── setup.py ├── src │ └── ow_lander │ │ ├── __init__.py │ │ ├── actions.py │ │ ├── arm_interface.py │ │ ├── common.py │ │ ├── constants.py │ │ ├── exception.py │ │ ├── faults.py │ │ ├── frame_transformer.py │ │ ├── ground_detector.py │ │ ├── math3d.py │ │ ├── mixins.py │ │ ├── node_helper.py │ │ ├── power_interface.py │ │ ├── server.py │ │ ├── subscribers.py │ │ └── trajectory_sequence.py └── urdf │ ├── lander.xacro │ ├── lander_lights.xacro │ ├── lander_sample_dock.xacro │ ├── material_script.xacro │ └── stereo_camera_triggered.xacro ├── ow_materials ├── CMakeLists.txt ├── config │ └── materials.yaml ├── include │ └── ow_materials │ │ ├── Material.h │ │ ├── MaterialDatabase.h │ │ ├── material_mixing.h │ │ └── material_utils.h ├── msg │ ├── BulkExcavation.msg │ └── MaterialConcentration.msg ├── package.xml └── src │ ├── MaterialDatabase.cpp │ ├── MaterialDistributionPlugin.cpp │ ├── MaterialDistributionPlugin.h │ ├── MaterialIntegrator.cpp │ ├── MaterialIntegrator.h │ ├── VoxelGrid.h │ ├── VoxelGrid.tpp │ ├── material_mixing.cpp │ ├── material_utils.cpp │ ├── point_cloud_util.cpp │ └── point_cloud_util.h ├── ow_power_system ├── CMakeLists.txt ├── README.md ├── config │ ├── prognoser.cfg │ └── system.cfg ├── include │ ├── PowerSystemNode.h │ ├── PredictionHandler.h │ └── PrognoserInputHandler.h ├── package.xml ├── profiles │ └── example_fault.csv └── src │ ├── PowerSystemNode.cpp │ ├── PredictionHandler.cpp │ ├── PrognoserInputHandler.cpp │ └── main.cpp ├── ow_regolith ├── CMakeLists.txt ├── README.md ├── env-hooks │ └── ow_regolith.sh.in ├── include │ ├── ContactSensorPlugin.h │ ├── ParticlePool.h │ ├── RegolithPlugin.h │ ├── SingleThreadedTaskQueue.h │ └── sdf_utility.h ├── models │ └── sphere_2cm │ │ ├── model.config │ │ └── model.sdf ├── msg │ └── Contacts.msg ├── package.xml ├── scripts │ └── spawn_bulk_sample.sh ├── src │ ├── ContactSensorPlugin.cpp │ ├── ParticlePool.cpp │ ├── RegolithPlugin.cpp │ └── sdf_utility.cpp └── srv │ ├── RemoveRegolith.srv │ └── SpawnRegolith.srv ├── ow_sim_tests ├── CMakeLists.txt ├── README.md ├── config │ ├── arm_check_action.yaml │ └── sample_collection.yaml ├── launch │ └── empty_world_inject_fps_monitor_gui_plugin.launch ├── package.xml ├── scripts │ ├── action_test_analysis.py │ ├── action_testing.py │ ├── arm_check_action.py │ ├── arm_check_service.py │ ├── ft_sensor_check.py │ ├── sample_collection.py │ ├── test_arm_find_surface.py │ ├── test_arm_move_cartesian.py │ ├── test_arm_move_cartesian_guarded.py │ ├── test_arm_move_joint.py │ ├── test_arm_move_joints.py │ ├── test_arm_move_joints_guarded.py │ ├── test_arm_stop.py │ ├── test_arm_unstow.py │ ├── test_camera_capture.py │ ├── test_camera_set_exposure.py │ ├── test_light_set_intensity.py │ ├── test_minimum_fps.py │ ├── test_pan_tilt_move_cartesian.py │ ├── test_pan_tilt_move_joints.py │ ├── test_task_deliver_sample.py │ ├── test_task_discard_sample.py │ ├── test_task_grind.py │ ├── test_task_scoop_circular.py │ └── test_task_scoop_linear.py ├── src │ └── fps_monitor.cpp └── test │ ├── arm_check_action.test │ ├── arm_check_service.test │ ├── fps_monitor.test │ ├── ft_sensor.test │ ├── sample_collection.test │ ├── test_arm_find_surface.test │ ├── test_arm_move_cartesian.test │ ├── test_arm_move_cartesian_guarded.test │ ├── test_arm_move_joint.test │ ├── test_arm_move_joints.test │ ├── test_arm_move_joints_guarded.test │ ├── test_arm_stop.test │ ├── test_arm_unstow.test │ ├── test_camera_capture.test │ ├── test_camera_set_exposure.test │ ├── test_light_set_intensity.test │ ├── test_pan_tilt_move_cartesian.test │ ├── test_pan_tilt_move_joints.test │ ├── test_task_deliver_sample.test │ ├── test_task_discard_sample.test │ ├── test_task_grind.test │ ├── test_task_scoop_circular.test │ └── test_task_scoop_linear.test ├── ow_testbed ├── CMakeLists.txt ├── COLCON_IGNORE ├── README.md ├── config │ ├── testbed.rviz │ └── testbed_control.yaml ├── launch │ ├── gazebo.launch │ ├── rviz.launch │ └── spawn.launch ├── meshes │ ├── base_link.STL │ ├── l_dist.STL │ ├── l_hand.STL │ ├── l_prox.STL │ ├── l_scoop.STL │ ├── l_shou.STL │ ├── l_shou_dist.STL │ └── l_wrist.STL ├── package.xml └── urdf │ └── testbed.xacro ├── owl_msgs ├── CMakeLists.txt ├── README.md ├── action │ ├── ArmFindSurface.action │ ├── ArmMoveCartesian.action │ ├── ArmMoveCartesianGuarded.action │ ├── ArmMoveJoint.action │ ├── ArmMoveJoints.action │ ├── ArmMoveJointsGuarded.action │ ├── ArmStop.action │ ├── ArmStow.action │ ├── ArmUnstow.action │ ├── CameraCapture.action │ ├── CameraSetExposure.action │ ├── 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