├── .gitignore ├── .gitlab-ci.yml ├── .gitmodules ├── .ssh ├── o2as-id_rsa └── o2as-id_rsa.pub ├── .vscode ├── c_cpp_properties.json └── settings.json ├── BUILD-DOCKER-IMAGE.sh ├── CONTRIBUTING.md ├── INCL-SUDO-ENV.sh ├── INCL-USER-ENV.sh ├── LICENSE ├── O2AS.gif ├── README.md ├── RUN-DOCKER-CONTAINER.sh ├── SETUP-DEVEL-MACHINE.sh ├── SETUP-GITLAB-RUNNER.sh ├── catkin_ws ├── customgripper │ ├── __init__.py │ ├── class_program.py │ ├── double_jaw_gripper.py │ ├── lib_robotis_xm430.py │ ├── main_program.py │ ├── notes.txt │ └── simple_program.py ├── src │ ├── em_chatter │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ ├── em_chatter_default.launch │ │ │ ├── em_chatter_rosbridge.launch │ │ │ └── em_chatter_rqt.launch │ │ ├── package.xml │ │ └── src │ │ │ ├── em_chatter.html │ │ │ ├── em_listener.cpp │ │ │ └── em_talker.cpp │ ├── o2as_aist_config │ │ ├── .setup_assistant │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config │ │ │ ├── controllers.yaml │ │ │ ├── fake_controllers.yaml │ │ │ ├── joint_limits.yaml │ │ │ ├── kinematics.yaml │ │ │ ├── o2as_base_scene.srdf │ │ │ └── ompl_planning.yaml │ │ ├── launch │ │ │ ├── default_warehouse_db.launch │ │ │ ├── demo.launch │ │ │ ├── fake_moveit_controller_manager.launch.xml │ │ │ ├── joystick_control.launch │ │ │ ├── move_group.launch │ │ │ ├── moveit.rviz │ │ │ ├── moveit_rviz.launch │ │ │ ├── o2as_base_scene_moveit_controller_manager.launch.xml │ │ │ ├── o2as_base_scene_moveit_sensor_manager.launch.xml │ │ │ ├── o2as_easy_handeye.rviz │ │ │ ├── o2as_moveit_planning_execution.launch │ │ │ ├── ompl_planning_pipeline.launch.xml │ │ │ ├── planning_context.launch │ │ │ ├── planning_pipeline.launch.xml │ │ │ ├── run_benchmark_ompl.launch │ │ │ ├── sensor_manager.launch.xml │ │ │ ├── setup_assistant.launch │ │ │ ├── show_tf_frames.rviz │ │ │ ├── trajectory_execution.launch.xml │ │ │ ├── warehouse.launch │ │ │ └── warehouse_settings.launch.xml │ │ └── package.xml │ ├── o2as_aruco_ros │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ ├── check_calibration.launch │ │ │ ├── find_bins.launch │ │ │ ├── o2as_aruco_ros.rviz │ │ │ └── single.launch │ │ ├── msg │ │ │ └── Corners.msg │ │ ├── package.xml │ │ └── src │ │ │ ├── BinDescription.cpp │ │ │ ├── BinDescription.h │ │ │ ├── Plane.h │ │ │ └── o2as_single.cpp │ ├── o2as_bg_ratio │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── images │ │ │ ├── empty_close_gripper.png │ │ │ ├── empty_close_gripper_day1.png │ │ │ ├── image.png │ │ │ └── image2.png │ │ ├── launch │ │ │ └── o2as_bg_ratio.launch │ │ ├── package.xml │ │ └── scripts │ │ │ ├── o2as_bg_ratio.py │ │ │ ├── o2as_bg_ratio_client.py │ │ │ ├── o2as_bg_ratio_server.py │ │ │ └── o2as_bg_ratio_threshold.py │ ├── o2as_blob_detection │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── cfg │ │ │ └── o2asBlobDetection.cfg │ │ ├── launch │ │ │ ├── kitting_w_blob.launch │ │ │ ├── o2as_blob_detection.launch │ │ │ ├── o2as_blob_detection_w_bag.launch │ │ │ ├── simu_kitting_w_blob.launch │ │ │ └── simulation_parameter.txt │ │ ├── package.xml │ │ ├── scripts │ │ │ ├── o2as_blob_detection.py │ │ │ ├── o2as_blob_detection_client.py │ │ │ └── o2as_blob_detection_test_bag.py │ │ ├── setup.py │ │ └── util │ │ │ ├── apply_mask.py │ │ │ └── test_blob.py │ ├── o2as_cad_matching │ │ ├── CMakeLists.txt │ │ ├── cfg │ │ │ └── CadMatching.cfg │ │ ├── data │ │ │ ├── camera_info │ │ │ │ ├── phoxi_0.yaml │ │ │ │ ├── phoxi_1711015.yaml │ │ │ │ ├── phoxi_2018_03_027_LC3.yaml │ │ │ │ ├── realsense_605201001486.yaml │ │ │ │ ├── realsense_612201001671.yaml │ │ │ │ ├── realsense_616205004841.yaml │ │ │ │ └── realsense_627201001218.yaml │ │ │ ├── image │ │ │ │ └── .gitignore │ │ │ ├── model │ │ │ │ └── .gitignore │ │ │ ├── object_config │ │ │ │ ├── 01-BASE.yaml │ │ │ │ ├── 02-PANEL.yaml │ │ │ │ ├── 03-PANEL2.yaml │ │ │ │ ├── 04_37D-GEARMOTOR-50-70.yaml │ │ │ │ ├── 05_MBRFA30-2-P6.yaml │ │ │ │ ├── 06_MBT4-400.yaml │ │ │ │ ├── 07_SBARB6200ZZ_30.yaml │ │ │ │ ├── 08_KZAF1075NA4WA55GA20AA0.yaml │ │ │ │ ├── 09_EDCS10.yaml │ │ │ │ ├── 100-ROBOTIQ_CALIB_MARKER.yaml │ │ │ │ ├── 100_robotiq_calib_marker.yaml │ │ │ │ ├── 101-SUCTION_CALIB_MARKER.yaml │ │ │ │ ├── 102_CalTarget15.yaml │ │ │ │ ├── 10_CLBPS10_17_4.yaml │ │ │ │ ├── 11_MBRAC60-2-10.yaml │ │ │ │ ├── 12_CLBUS6-9-9.5.yaml │ │ │ │ ├── 13_MBGA30-2.yaml │ │ │ │ ├── 14_BGPSL6-9-L30-F8.yaml │ │ │ │ ├── 15_SLBNR6.yaml │ │ │ │ ├── 16_SPWF6.yaml │ │ │ │ ├── 17_SCB4-10.yaml │ │ │ │ ├── 18_SCB3-10.yaml │ │ │ │ ├── 19_MSSFS3-6.yaml │ │ │ │ └── assembly_parts_list.yaml │ │ │ └── setting │ │ │ │ ├── a_phoxi_m_camera_search_param.yaml │ │ │ │ ├── a_phoxi_m_camera_train_setting.yaml │ │ │ │ ├── b_bot_camera_search_param.yaml │ │ │ │ └── b_bot_camera_train_setting.yaml │ │ ├── launch │ │ │ ├── data_collection.launch │ │ │ ├── data_collection_phoxi.launch │ │ │ ├── data_collection_realsense.launch │ │ │ ├── search_demo_camera.launch │ │ │ ├── search_demo_camera_phoxi.launch │ │ │ ├── search_demo_camera_realsense.launch │ │ │ ├── search_demo_file.launch │ │ │ ├── search_server.launch │ │ │ ├── test_parts_detection.launch │ │ │ ├── train_assembly.launch │ │ │ ├── train_part.launch │ │ │ ├── train_parts.launch │ │ │ ├── train_parts_phoxi.launch │ │ │ └── train_parts_realsense.launch │ │ ├── msg │ │ │ └── DetectedObject.msg │ │ ├── package.xml │ │ ├── readme.md │ │ ├── scripts │ │ │ ├── check_training_range.py │ │ │ ├── data_collection.py │ │ │ ├── o2as_cad_matching_server.py │ │ │ ├── search_demo_camera.py │ │ │ ├── search_demo_file.py │ │ │ └── test_parts_detection.py │ │ ├── setup.py │ │ ├── src │ │ │ └── o2as_cad_matching │ │ │ │ ├── __init__.py │ │ │ │ ├── camera_adapter.py │ │ │ │ ├── client.py │ │ │ │ └── util.py │ │ └── srv │ │ │ ├── SearchObjects.srv │ │ │ ├── SearchObjects2.srv │ │ │ ├── SelectCamera.srv │ │ │ ├── SelectObject.srv │ │ │ ├── SetMaskImage.srv │ │ │ ├── SetSearchArea.srv │ │ │ └── SetSearchRange.srv │ ├── o2as_calibration │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── data │ │ │ └── image │ │ │ │ ├── .gitignore │ │ │ │ ├── calibration.csv │ │ │ │ └── samples.csv │ │ ├── launch │ │ │ ├── offline_calibration.launch │ │ │ ├── phoxi_calibration.launch │ │ │ ├── phoxi_data_collection.launch │ │ │ ├── realsense_data_collection.launch │ │ │ ├── realsense_startup.launch │ │ │ └── robot_control.launch │ │ ├── package.xml │ │ ├── scripts │ │ │ ├── offline_calibration.py │ │ │ ├── rotation.py │ │ │ ├── run_handeye_calibration.py │ │ │ ├── run_realsense_calibration.py │ │ │ └── run_realsense_calibration_cad.py │ │ ├── setup.py │ │ └── src │ │ │ └── o2as_calibration │ │ │ ├── __init__.py │ │ │ ├── calibrator.py │ │ │ └── camera_adapter.py │ ├── o2as_circle_detection │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── package.xml │ │ ├── scripts │ │ │ ├── circle_detection_client.py │ │ │ ├── circle_detection_server.py │ │ │ └── combined_gripper_server.py │ │ └── srv │ │ │ └── CircleDetectionCommand.srv │ ├── o2as_debug_monitor │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── launch │ │ │ ├── assembly.launch │ │ │ ├── kitting.launch │ │ │ ├── taskboard.launch │ │ │ ├── test.launch │ │ │ └── tmp.launch │ │ ├── msg │ │ │ └── PressureSensoState.msg │ │ ├── nodelet_plugins.xml │ │ ├── package.xml │ │ ├── scripts │ │ │ └── test_debug_monitor.py │ │ ├── src │ │ │ └── o2as_debug_monitor.cpp │ │ └── srv │ │ │ └── ResetTimer.srv │ ├── o2as_easy_handeye │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── cfg │ │ │ └── o2as_easy_handeye.cfg │ │ ├── launch │ │ │ ├── calibrate.launch │ │ │ ├── check_calibration.launch │ │ │ ├── o2as_calibrate.launch │ │ │ ├── o2as_calibrate_eyeonbase_real.launch │ │ │ ├── o2as_calibrate_realsense.launch │ │ │ ├── o2as_publish.launch │ │ │ ├── o2as_publish_handeye.launch │ │ │ ├── plane_detector.launch │ │ │ ├── plane_detector.rviz │ │ │ └── realsense.launch │ │ ├── package.xml │ │ ├── scripts │ │ │ ├── check_calibration.py │ │ │ ├── go_home.py │ │ │ ├── publish.py │ │ │ ├── run_handeye_calibration.py │ │ │ ├── run_handeye_calibration_realsense.py │ │ │ └── visit_calibration_points.py │ │ ├── setup.py │ │ └── src │ │ │ ├── calibrator │ │ │ ├── aistCalibration.cpp │ │ │ ├── aistCalibration.h │ │ │ ├── calibrator.cpp │ │ │ ├── calibrator.h │ │ │ ├── calibrator_main.cpp │ │ │ ├── names.cpp │ │ │ ├── names.h │ │ │ └── vpMatrix.cpp │ │ │ ├── calibrator_test │ │ │ └── main.cpp │ │ │ ├── plane_detector │ │ │ └── main.cpp │ │ │ └── quat2rpy │ │ │ └── main.cpp │ ├── o2as_examples │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config │ │ │ ├── ExampleOfSetListFile.csv │ │ │ ├── bin_list.yaml │ │ │ └── tray_partition_list.yaml │ │ ├── launch │ │ │ ├── 2_bot_example.launch │ │ │ ├── 3_bot_example.launch │ │ │ ├── action_example.launch │ │ │ ├── b_bot_vision_test.launch │ │ │ ├── cad_matching_demo.launch │ │ │ ├── connect_aist_robots.launch │ │ │ ├── connect_osaka_robots.launch │ │ │ ├── connect_real_robots.launch │ │ │ ├── debug_aist_real_scene.launch │ │ │ ├── example_loop.launch │ │ │ ├── example_movegroupcommander.launch │ │ │ ├── example_tf.launch │ │ │ ├── grasp_example.launch │ │ │ └── real_robots.launch │ │ ├── package.xml │ │ ├── scripts │ │ │ ├── 2_bot_kitting_moveit.py │ │ │ ├── b_bot_move_test.py │ │ │ ├── b_bot_vision_test.py │ │ │ ├── cad_matching_demo.py │ │ │ ├── check_all_bins_kit.py │ │ │ ├── debug_aist_picking.py │ │ │ ├── example_movegroupcommander.py │ │ │ ├── example_tf_conversions.py │ │ │ ├── kitting_order_list_reader.py │ │ │ ├── send_program_to_ur.py │ │ │ ├── test_generate_bin_layout_from_order_list.py │ │ │ └── ur │ │ │ │ └── move_back_forth_5cm.script │ │ └── src │ │ │ ├── 2_bot_example.cpp │ │ │ ├── 3_bot_example.cpp │ │ │ ├── action_example.cpp │ │ │ ├── example_loop.cpp │ │ │ ├── example_tf.cpp │ │ │ ├── grasp_example.cpp │ │ │ └── o2as_helper_functions.h │ ├── o2as_fastening_tools │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config │ │ │ ├── fastening_tools.yaml │ │ │ ├── operation_mode.yaml │ │ │ └── suction_control.yaml │ │ ├── include │ │ │ └── o2as_fastening_tools │ │ │ │ ├── dynamixel_controller.h │ │ │ │ └── message_header.h │ │ ├── launch │ │ │ ├── demo.launch │ │ │ ├── fastening_tools.launch │ │ │ ├── motor_id_setup.launch │ │ │ └── suction_demo.launch │ │ ├── package.xml │ │ ├── scripts │ │ │ ├── fastening_tool_action_client.py │ │ │ ├── fastening_tool_action_server.py │ │ │ ├── motor_id_setup.py │ │ │ ├── suction_controller.py │ │ │ ├── suction_controller_client.py │ │ │ └── util.py │ │ ├── src │ │ │ └── dynamixel_controller.cpp │ │ └── srv │ │ │ ├── DynamixelReadState.srv │ │ │ └── DynamixelWriteCommand.srv │ ├── o2as_gazebo │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── cmake │ │ │ ├── ur_gazeboConfig-version.cmake │ │ │ └── ur_gazeboConfig.cmake │ │ ├── controller │ │ │ ├── 3_bot_controllers.yaml │ │ │ └── joint_state_controller.yaml │ │ ├── launch │ │ │ ├── aruco_ros_single.launch │ │ │ ├── controller_utils.launch │ │ │ ├── o2as_add_ar_marker.launch │ │ │ └── o2as_gazebo.launch │ │ ├── media │ │ │ └── materials │ │ │ │ ├── scripts │ │ │ │ ├── marker26_8cm.material │ │ │ │ └── my.material │ │ │ │ └── textures │ │ │ │ ├── aruco-17-70-5.png │ │ │ │ ├── aruco-17-80-10.png │ │ │ │ ├── aruco-256-70-5.png │ │ │ │ ├── aruco-256-80-10.png │ │ │ │ ├── aruco-26-70-5.png │ │ │ │ ├── aruco-26-80-10.png │ │ │ │ ├── aruco-26_8cm.png │ │ │ │ ├── aruco-32-16-1.png │ │ │ │ ├── aruco-32-160-10.png │ │ │ │ └── aruco-32-8-1.png │ │ ├── models │ │ │ └── marker26_8cm_massless │ │ │ │ ├── marker26_8cm_massless.sdf │ │ │ │ └── material │ │ │ │ ├── scripts │ │ │ │ └── marker26_8cm.material │ │ │ │ └── textures │ │ │ │ └── aruco-26_8cm.png │ │ ├── package.xml │ │ ├── scripts │ │ │ └── publish_aruco_as_tf.py │ │ └── urdf │ │ │ ├── d_bot_camera.gazebo │ │ │ ├── d_bot_camera.urdf.xacro │ │ │ ├── o2as_ar_marker.urdf.xacro │ │ │ ├── o2as_ar_marker_16cm.urdf.xacro │ │ │ └── o2as_base_scene.gazebo │ ├── o2as_grasp_planner │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ ├── scripts │ │ │ └── o2as_grasp_planner.py │ │ └── srv │ │ │ └── findGrasp.srv │ ├── o2as_graspability_estimation │ │ ├── .gitignore │ │ ├── README.md │ │ ├── connect-ros-and-matlab.sh │ │ ├── graspability_estimation │ │ │ ├── CMakeLists.txt │ │ │ ├── config │ │ │ │ └── fge_bin_id.yaml │ │ │ ├── data │ │ │ │ └── images │ │ │ │ │ └── imr3.png │ │ │ ├── launch │ │ │ │ └── o2as_graspability_estimation.launch │ │ │ ├── package.xml │ │ │ ├── scripts │ │ │ │ └── search_grasp_demo.py │ │ │ ├── src │ │ │ │ ├── graspability.py │ │ │ │ └── graspability_estimation_server.py │ │ │ └── srv │ │ │ │ ├── CallFGE.srv │ │ │ │ └── SearchGrasp.srv │ │ └── matlab_graspability │ │ │ ├── README.md │ │ │ ├── extractRoI.m │ │ │ ├── fmake.m │ │ │ ├── func_graspability.m │ │ │ ├── imr.png │ │ │ ├── imr2.png │ │ │ ├── imr3.png │ │ │ ├── imv.m │ │ │ ├── imv2.m │ │ │ ├── imvs.m │ │ │ ├── old │ │ │ ├── 1537347802432488918.tiff │ │ │ ├── 1711015.tiff │ │ │ ├── Background_IMG_DepthMap.tif │ │ │ ├── EmptyBins_IMG_DepthMap.tif │ │ │ ├── Initial_IMG_DepthMap.tif │ │ │ ├── calcGraspability2.m │ │ │ ├── func_graspability_gripper.m │ │ │ ├── func_graspability_prev.m │ │ │ └── func_graspability_prev2.m │ │ │ ├── overlaid.m │ │ │ ├── pcrot.m │ │ │ ├── suctionmodel.m │ │ │ ├── testCreateService.m │ │ │ ├── testGraspability.m │ │ │ ├── testROSConnection.m │ │ │ └── twofingergrippermodel.m │ ├── o2as_marker_detection │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── cfg │ │ │ └── MarkerDetection.cfg │ │ ├── data │ │ │ └── image │ │ │ │ └── .gitignore │ │ ├── launch │ │ │ ├── demo_phoxi.launch │ │ │ ├── demo_realsense.launch │ │ │ └── marker_detection.launch │ │ ├── package.xml │ │ ├── scripts │ │ │ └── marker_detection_node.py │ │ ├── setup.py │ │ ├── src │ │ │ └── o2as_marker_detection │ │ │ │ ├── __init__.py │ │ │ │ ├── camera_client.py │ │ │ │ └── marker_detection.py │ │ └── srv │ │ │ └── DetectMarkers.srv │ ├── o2as_moveit_config │ │ ├── .setup_assistant │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config │ │ │ ├── chomp_planning.yaml │ │ │ ├── controllers.yaml │ │ │ ├── fake_controllers.yaml │ │ │ ├── joint_limits.yaml │ │ │ ├── kinematics.yaml │ │ │ ├── o2as_base_scene.srdf │ │ │ ├── ompl_planning.yaml │ │ │ ├── ros_controllers.yaml │ │ │ └── sensors_3d.yaml │ │ ├── launch │ │ │ ├── check_calibration.rviz │ │ │ ├── chomp_planning_pipeline.launch.xml │ │ │ ├── default_warehouse_db.launch │ │ │ ├── demo.launch │ │ │ ├── fake_moveit_controller_manager.launch.xml │ │ │ ├── joystick_control.launch │ │ │ ├── move_group.launch │ │ │ ├── moveit.rviz │ │ │ ├── moveit_rviz.launch │ │ │ ├── o2as_base_scene_moveit_controller_manager.launch.xml │ │ │ ├── o2as_base_scene_moveit_sensor_manager.launch.xml │ │ │ ├── o2as_easy_handeye.rviz │ │ │ ├── o2as_moveit_planning_execution.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 │ │ │ ├── show_tf_frames.rviz │ │ │ ├── trajectory_execution.launch.xml │ │ │ ├── warehouse.launch │ │ │ └── warehouse_settings.launch.xml │ │ └── package.xml │ ├── o2as_msgs │ │ ├── CMakeLists.txt │ │ ├── action │ │ │ ├── FastenerGripperControl.action │ │ │ ├── PrecisionGripperCommand.action │ │ │ ├── SearchGraspPhoxi.action │ │ │ ├── SuctionControl.action │ │ │ ├── ToolsCommand.action │ │ │ ├── align.action │ │ │ ├── blobDetection.action │ │ │ ├── changeTool.action │ │ │ ├── innerPickDetection.action │ │ │ ├── insert.action │ │ │ ├── pick.action │ │ │ ├── place.action │ │ │ ├── regrasp.action │ │ │ └── screw.action │ │ ├── msg │ │ │ ├── PartsInfo.msg │ │ │ ├── PressureSensorState.msg │ │ │ └── RobotStatus.msg │ │ ├── package.xml │ │ └── srv │ │ │ ├── FindObject.srv │ │ │ ├── PrecisionGripperCommand.srv │ │ │ ├── ResetTimer.srv │ │ │ ├── SetPower.srv │ │ │ ├── goToNamedPose.srv │ │ │ ├── pc2depth.srv │ │ │ ├── publishMarker.srv │ │ │ └── sendScriptToUR.srv │ ├── o2as_new_parts_description │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── meshes │ │ │ ├── 01-BASE.step │ │ │ ├── 01-BASE.stl │ │ │ ├── 02-PANEL.step │ │ │ ├── 02-PANEL.stl │ │ │ ├── 03-PANEL2.step │ │ │ ├── 03-PANEL2.stl │ │ │ ├── 04_37D-GEARMOTOR-50-70.dae │ │ │ ├── 04_37D-GEARMOTOR-50-70.obj │ │ │ ├── 04_37D-GEARMOTOR-50-70.stl │ │ │ ├── 04_37D-GEARMOTOR-50-70.vhacd.dae │ │ │ ├── 04_37D-GEARMOTOR-50-70.vhacd.obj │ │ │ ├── 05_PTPA30P2M060-A-P6.dae │ │ │ ├── 05_PTPA30P2M060-A-P6.stl │ │ │ ├── 05_PTPA30P2M060-A-P6.vhacd.dae │ │ │ ├── 06_PTBN340P2M-060.dae │ │ │ ├── 06_PTBN340P2M-060.stl │ │ │ ├── 06_PTBN340P2M-060.vhacd.dae │ │ │ ├── 07_SBARB6200ZZ_30.dae │ │ │ ├── 07_SBARB6200ZZ_30.obj │ │ │ ├── 07_SBARB6200ZZ_30.stl │ │ │ ├── 07_SBARB6200ZZ_30.vhacd.dae │ │ │ ├── 07_SBARB6200ZZ_30.vhacd.obj │ │ │ ├── 08_SSFHRT10-75-M4-FC40-G35.dae │ │ │ ├── 08_SSFHRT10-75-M4-FC40-G35.stl │ │ │ ├── 08_SSFHRT10-75-M4-FC40-G35.vhacd.dae │ │ │ ├── 09_EDCS10.dae │ │ │ ├── 09_EDCS10.obj │ │ │ ├── 09_EDCS10.stl │ │ │ ├── 09_EDCS10.vhacd.dae │ │ │ ├── 09_EDCS10.vhacd.obj │ │ │ ├── 100-ROBOTIQ_CALIB_MARKER.stl │ │ │ ├── 100_robotiq_calib_marker.stl │ │ │ ├── 101-SUCTION_CALIB_MARKER.stl │ │ │ ├── 102_CalTarget15.stl │ │ │ ├── 10_CLBPS10-17-3.dae │ │ │ ├── 10_CLBPS10-17-3.stl │ │ │ ├── 10_CLBPS10-17-3.vhacd.dae │ │ │ ├── 11_PTPA42P2M060-B-P10.dae │ │ │ ├── 11_PTPA42P2M060-B-P10.stl │ │ │ ├── 11_PTPA42P2M060-B-P10.vhacd.dae │ │ │ ├── 12_CLBUS6-9-9.5.dae │ │ │ ├── 12_CLBUS6-9-9.5.obj │ │ │ ├── 12_CLBUS6-9-9.5.stl │ │ │ ├── 12_CLBUS6-9-9.5.vhacd.dae │ │ │ ├── 12_CLBUS6-9-9.5.vhacd.obj │ │ │ ├── 13_APTF40P2M060.dae │ │ │ ├── 13_APTF40P2M060.stl │ │ │ ├── 13_APTF40P2M060.vhacd.dae │ │ │ ├── 14_BGPSL6-9-L30-F8.dae │ │ │ ├── 14_BGPSL6-9-L30-F8.obj │ │ │ ├── 14_BGPSL6-9-L30-F8.stl │ │ │ ├── 14_BGPSL6-9-L30-F8.vhacd.dae │ │ │ ├── 14_BGPSL6-9-L30-F8.vhacd.obj │ │ │ ├── 15_SLBNR6.dae │ │ │ ├── 15_SLBNR6.obj │ │ │ ├── 15_SLBNR6.stl │ │ │ ├── 15_SLBNR6.vhacd.dae │ │ │ ├── 15_SLBNR6.vhacd.obj │ │ │ ├── 16_SPWF6.dae │ │ │ ├── 16_SPWF6.obj │ │ │ ├── 16_SPWF6.stl │ │ │ ├── 16_SPWF6.vhacd.dae │ │ │ ├── 16_SPWF6.vhacd.obj │ │ │ ├── 17_SCB4-10.dae │ │ │ ├── 17_SCB4-10.obj │ │ │ ├── 17_SCB4-10.stl │ │ │ ├── 17_SCB4-10.vhacd.dae │ │ │ ├── 17_SCB4-10.vhacd.obj │ │ │ ├── 18_SCB3-10.dae │ │ │ ├── 18_SCB3-10.obj │ │ │ ├── 18_SCB3-10.stl │ │ │ ├── 18_SCB3-10.vhacd.dae │ │ │ ├── 18_SCB3-10.vhacd.obj │ │ │ ├── 19_MSSFS3-6.stl │ │ │ ├── 21_SCB4-6.dae │ │ │ ├── 21_SCB4-6.stl │ │ │ └── 21_SCB4-6.vhacd.dae │ │ ├── package.xml │ │ ├── scripts │ │ │ ├── generate_assembled_piece.py │ │ │ ├── generate_urdf_from_meshes.py │ │ │ └── test_spawn_parts.py │ │ └── urdf │ │ │ ├── assembly_parts_frame_macros.urdf.xacro │ │ │ ├── assembly_parts_macros.urdf.xacro │ │ │ ├── display_all_parts.urdf.xacro │ │ │ └── templates │ │ │ ├── assembly_template.urdf.xacro │ │ │ ├── extra_frames.csv │ │ │ ├── frames_to_mate.csv │ │ │ ├── macro_frames_only_template.urdf.xacro │ │ │ ├── macro_template.urdf.xacro │ │ │ ├── non_macro_template.urdf.xacro │ │ │ └── spawn_template.urdf │ ├── o2as_osaka_config │ │ ├── .setup_assistant │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config │ │ │ ├── chomp_planning.yaml │ │ │ ├── controllers.yaml │ │ │ ├── fake_controllers.yaml │ │ │ ├── joint_limits.yaml │ │ │ ├── kinematics.yaml │ │ │ ├── o2as_osaka_scene.srdf │ │ │ ├── ompl_planning.yaml │ │ │ └── ros_controllers.yaml │ │ ├── launch │ │ │ ├── chomp_planning_pipeline.launch.xml │ │ │ ├── default_warehouse_db.launch │ │ │ ├── demo.launch │ │ │ ├── fake_moveit_controller_manager.launch.xml │ │ │ ├── joystick_control.launch │ │ │ ├── move_group.launch │ │ │ ├── moveit.rviz │ │ │ ├── moveit_rviz.launch │ │ │ ├── o2as_base_scene_moveit_controller_manager.launch.xml │ │ │ ├── o2as_base_scene_moveit_sensor_manager.launch.xml │ │ │ ├── o2as_osaka_planning_execution.launch │ │ │ ├── o2as_osaka_scene_moveit_controller_manager.launch.xml │ │ │ ├── o2as_osaka_scene_moveit_sensor_manager.launch.xml │ │ │ ├── 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 │ │ │ ├── show_tf_frames.rviz │ │ │ ├── trajectory_execution.launch.xml │ │ │ ├── warehouse.launch │ │ │ └── warehouse_settings.launch.xml │ │ └── package.xml │ ├── o2as_parts_description │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config │ │ │ └── assembly_parts_list.yaml │ │ ├── launch │ │ │ └── load_file_params.launch │ │ ├── meshes │ │ │ ├── 01-BASE.step │ │ │ ├── 01-BASE.stl │ │ │ ├── 02-PANEL.step │ │ │ ├── 02-PANEL.stl │ │ │ ├── 03-PANEL2.step │ │ │ ├── 03-PANEL2.stl │ │ │ ├── 04_37D-GEARMOTOR-50-70.dae │ │ │ ├── 04_37D-GEARMOTOR-50-70.obj │ │ │ ├── 04_37D-GEARMOTOR-50-70.stl │ │ │ ├── 04_37D-GEARMOTOR-50-70.vhacd.dae │ │ │ ├── 04_37D-GEARMOTOR-50-70.vhacd.obj │ │ │ ├── 05_MBRFA30-2-P6.dae │ │ │ ├── 05_MBRFA30-2-P6.obj │ │ │ ├── 05_MBRFA30-2-P6.stl │ │ │ ├── 05_MBRFA30-2-P6.vhacd.dae │ │ │ ├── 05_MBRFA30-2-P6.vhacd.obj │ │ │ ├── 06_MBT4-400.dae │ │ │ ├── 06_MBT4-400.obj │ │ │ ├── 06_MBT4-400.stl │ │ │ ├── 06_MBT4-400.vhacd.dae │ │ │ ├── 06_MBT4-400.vhacd.obj │ │ │ ├── 07_SBARB6200ZZ_30.dae │ │ │ ├── 07_SBARB6200ZZ_30.obj │ │ │ ├── 07_SBARB6200ZZ_30.stl │ │ │ ├── 07_SBARB6200ZZ_30.vhacd.dae │ │ │ ├── 07_SBARB6200ZZ_30.vhacd.obj │ │ │ ├── 08_KZAF1075NA4WA55GA20AA0.dae │ │ │ ├── 08_KZAF1075NA4WA55GA20AA0.obj │ │ │ ├── 08_KZAF1075NA4WA55GA20AA0.stl │ │ │ ├── 08_KZAF1075NA4WA55GA20AA0.vhacd.dae │ │ │ ├── 08_KZAF1075NA4WA55GA20AA0.vhacd.obj │ │ │ ├── 09_EDCS10.dae │ │ │ ├── 09_EDCS10.obj │ │ │ ├── 09_EDCS10.stl │ │ │ ├── 09_EDCS10.vhacd.dae │ │ │ ├── 09_EDCS10.vhacd.obj │ │ │ ├── 100-ROBOTIQ_CALIB_MARKER.stl │ │ │ ├── 100_robotiq_calib_marker.stl │ │ │ ├── 101-SUCTION_CALIB_MARKER.stl │ │ │ ├── 102_CalTarget15.stl │ │ │ ├── 10_CLBPS10_17_4.dae │ │ │ ├── 10_CLBPS10_17_4.obj │ │ │ ├── 10_CLBPS10_17_4.stl │ │ │ ├── 10_CLBPS10_17_4.vhacd.dae │ │ │ ├── 10_CLBPS10_17_4.vhacd.obj │ │ │ ├── 11_MBRAC60-2-10.dae │ │ │ ├── 11_MBRAC60-2-10.obj │ │ │ ├── 11_MBRAC60-2-10.stl │ │ │ ├── 11_MBRAC60-2-10.vhacd.dae │ │ │ ├── 11_MBRAC60-2-10.vhacd.obj │ │ │ ├── 12_CLBUS6-9-9.5.dae │ │ │ ├── 12_CLBUS6-9-9.5.obj │ │ │ ├── 12_CLBUS6-9-9.5.stl │ │ │ ├── 12_CLBUS6-9-9.5.vhacd.dae │ │ │ ├── 12_CLBUS6-9-9.5.vhacd.obj │ │ │ ├── 13_MBGA30-2.dae │ │ │ ├── 13_MBGA30-2.obj │ │ │ ├── 13_MBGA30-2.vhacd.dae │ │ │ ├── 13_MBGA30-2.vhacd.obj │ │ │ ├── 14_BGPSL6-9-L30-F8.dae │ │ │ ├── 14_BGPSL6-9-L30-F8.obj │ │ │ ├── 14_BGPSL6-9-L30-F8.stl │ │ │ ├── 14_BGPSL6-9-L30-F8.vhacd.dae │ │ │ ├── 14_BGPSL6-9-L30-F8.vhacd.obj │ │ │ ├── 15_SLBNR6.dae │ │ │ ├── 15_SLBNR6.obj │ │ │ ├── 15_SLBNR6.stl │ │ │ ├── 15_SLBNR6.vhacd.dae │ │ │ ├── 15_SLBNR6.vhacd.obj │ │ │ ├── 16_SPWF6.dae │ │ │ ├── 16_SPWF6.obj │ │ │ ├── 16_SPWF6.stl │ │ │ ├── 16_SPWF6.vhacd.dae │ │ │ ├── 16_SPWF6.vhacd.obj │ │ │ ├── 17_SCB4-10.dae │ │ │ ├── 17_SCB4-10.obj │ │ │ ├── 17_SCB4-10.stl │ │ │ ├── 17_SCB4-10.vhacd.dae │ │ │ ├── 17_SCB4-10.vhacd.obj │ │ │ ├── 18_SCB3-10.dae │ │ │ ├── 18_SCB3-10.obj │ │ │ ├── 18_SCB3-10.stl │ │ │ ├── 18_SCB3-10.vhacd.dae │ │ │ ├── 18_SCB3-10.vhacd.obj │ │ │ └── 19_MSSFS3-6.stl │ │ ├── package.xml │ │ ├── scripts │ │ │ ├── generate_assembled_piece.py │ │ │ ├── generate_urdf_from_meshes.py │ │ │ └── test_spawn_parts.py │ │ └── urdf │ │ │ ├── assembly_parts_frame_macros.urdf.xacro │ │ │ ├── assembly_parts_macros.urdf.xacro │ │ │ ├── display_all_parts.urdf.xacro │ │ │ └── templates │ │ │ ├── assembly_template.urdf.xacro │ │ │ ├── extra_frames.csv │ │ │ ├── frames_to_mate.csv │ │ │ ├── macro_frames_only_template.urdf.xacro │ │ │ ├── macro_template.urdf.xacro │ │ │ ├── non_macro_template.urdf.xacro │ │ │ └── spawn_template.urdf │ ├── o2as_pc2depth │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── package.xml │ │ ├── scripts │ │ │ ├── test_pc2depth.ipynb │ │ │ └── test_pc2depth.py │ │ └── src │ │ │ └── o2as_pc2depth.cpp │ ├── o2as_phoxi_camera │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── cfg │ │ │ └── o2as_phoxi_camera.cfg │ │ ├── config │ │ │ ├── 1711015.yaml │ │ │ └── 2018-03-027-LC3.yaml │ │ ├── image │ │ │ └── .gitignore │ │ ├── launch │ │ │ ├── calibration.launch │ │ │ ├── o2as_phoxi_camera.launch │ │ │ ├── o2as_phoxi_camera.rviz │ │ │ └── o2as_phoxi_camera_test.launch │ │ ├── meshes │ │ │ ├── collision │ │ │ │ ├── PhoXi_L.c.STL │ │ │ │ ├── PhoXi_M.c.STL │ │ │ │ ├── PhoXi_S.c.STL │ │ │ │ ├── PhoXi_XL.c.STL │ │ │ │ └── PhoXi_XS.c.STL │ │ │ └── visual │ │ │ │ ├── PhoXi_L.f.STL │ │ │ │ ├── PhoXi_M.f.STL │ │ │ │ ├── PhoXi_S.f.STL │ │ │ │ └── PhoXi_XL.f.STL │ │ ├── msg │ │ │ └── PhoXiSize.msg │ │ ├── package.xml │ │ ├── scripts │ │ │ └── save_depth.py │ │ ├── src │ │ │ ├── main.cpp │ │ │ ├── o2as_phoxi_camera_calibration.py │ │ │ └── o2as_phoxi_camera_example.py │ │ ├── srv │ │ │ ├── DumpFrame.srv │ │ │ ├── GetFrame.srv │ │ │ ├── GetInt.srv │ │ │ ├── GetString.srv │ │ │ ├── GetStringList.srv │ │ │ ├── GetSupportedCapturingModes.srv │ │ │ └── SetString.srv │ │ └── urdf │ │ │ ├── PhoXi3DscannerL.urdf │ │ │ ├── PhoXi3DscannerM.urdf │ │ │ ├── PhoXi3DscannerS.urdf │ │ │ ├── PhoXi3DscannerXL.urdf │ │ │ ├── PhoXi3DscannerXS.urdf │ │ │ ├── PhoXi3Dscanner_macro.xacro │ │ │ └── PhoXi3Dscanner_values.xacro │ ├── o2as_precision_gripper │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config │ │ │ ├── combined_gripper_parameters.yaml │ │ │ ├── nut_tool_parameters.yaml │ │ │ ├── precision_gripper_parameters.yaml │ │ │ └── setScrew_tool_parameters.yaml │ │ ├── launch │ │ │ ├── nut_tools.launch │ │ │ ├── precision_gripper.launch │ │ │ ├── test_combined_gripper.launch │ │ │ └── test_precision_gripper.launch │ │ ├── package.xml │ │ └── scripts │ │ │ ├── combined_gripper_server.py │ │ │ ├── lib_robotis_xm430.py │ │ │ ├── nut_tool_server.py │ │ │ ├── precision_gripper_action_client_sample.py │ │ │ ├── precision_gripper_server.py │ │ │ └── setScrew_tool.py │ ├── o2as_realsense2_camera │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── package.xml │ │ └── urdf │ │ │ ├── _d435.urdf.xacro │ │ │ ├── _r410.urdf.xacro │ │ │ └── _r430.urdf.xacro │ ├── o2as_realsense_camera │ │ ├── CMakeLists.txt │ │ ├── cfg │ │ │ └── RealSenseCamera.cfg │ │ ├── image │ │ │ └── .gitignore │ │ ├── include │ │ │ └── o2as_realsense_camera │ │ │ │ └── RealSenseCamera.h │ │ ├── launch │ │ │ ├── calibration.launch │ │ │ ├── camera.launch │ │ │ └── demo.launch │ │ ├── o2as_realsense_camera_nodelet.xml │ │ ├── package.xml │ │ ├── readme.md │ │ ├── rviz │ │ │ └── pointcloud.rviz │ │ ├── scripts │ │ │ ├── calibration.py │ │ │ └── demo.py │ │ ├── setup.py │ │ ├── src │ │ │ ├── RealSenseCamera.cpp │ │ │ ├── nodelet.cpp │ │ │ └── o2as_realsense_camera │ │ │ │ ├── __init__.py │ │ │ │ └── client.py │ │ └── srv │ │ │ ├── DumpFrame.srv │ │ │ └── GetFrame.srv │ ├── o2as_routines │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config │ │ │ ├── kitting_item_list_auto.yaml │ │ │ └── kitting_parts_bin_list.yaml │ │ ├── launch │ │ │ ├── action_clients.launch │ │ │ ├── simu_kitting.launch │ │ │ ├── simu_kitting_suction.launch │ │ │ └── simu_kitting_w_realsense.launch │ │ ├── package.xml │ │ ├── scripts │ │ │ ├── assembly.py │ │ │ ├── calibration.py │ │ │ ├── kitting.py │ │ │ └── taskboard_sequence.py │ │ ├── setup.py │ │ └── src │ │ │ ├── grasp_example.cpp │ │ │ ├── o2as_helper_functions.h │ │ │ └── o2as_routines │ │ │ ├── __init__.py │ │ │ └── base.py │ ├── o2as_scene_description │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config │ │ │ ├── Part_Order_1.csv │ │ │ ├── Part_Order_2.csv │ │ │ ├── Part_Order_3.csv │ │ │ ├── Part_Order_4.csv │ │ │ ├── kitting_order_file-2018-8.csv │ │ │ ├── kitting_order_file-complete-run.csv │ │ │ ├── kitting_order_file-short.csv │ │ │ └── kitting_order_file.csv │ │ ├── launch │ │ │ ├── o2as_aist_scene_upload.launch │ │ │ ├── o2as_base_scene_upload.launch │ │ │ ├── o2as_osaka_scene_upload.launch │ │ │ └── o2as_osakabase_scene_upload.launch │ │ ├── meshes │ │ │ ├── Assem2.STL │ │ │ ├── CombinedGripper.STL │ │ │ ├── PrecisionGripper.STL │ │ │ ├── bin1_EA661CA-11.obj │ │ │ ├── bin1_EA661CA-11.stl │ │ │ ├── bin1_EA661CA-11.vhacd.dae │ │ │ ├── bin1_EA661CA-11.vhacd.obj │ │ │ ├── bin2_SK-HL1-BL.obj │ │ │ ├── bin2_SK-HL1-BL.stl │ │ │ ├── bin2_SK-HL1-BL.vhacd.dae │ │ │ ├── bin2_SK-HL1-BL.vhacd.obj │ │ │ ├── bin3_T3-YG.obj │ │ │ ├── bin3_T3-YG.stl │ │ │ ├── bin3_T3-YG.vhacd.dae │ │ │ ├── bin3_T3-YG.vhacd.obj │ │ │ ├── divider1_1.stl │ │ │ ├── divider1_2.stl │ │ │ ├── divider2.stl │ │ │ ├── dual_suction_gripper.stl │ │ │ ├── dual_suction_gripper.vhacd.dae │ │ │ ├── robotiq_calib_marker.stl │ │ │ ├── screw_holder.stl │ │ │ ├── screw_tool_m3_BC5-XL320-R-AY2.6-EH2.step │ │ │ ├── screw_tool_m3_BC5-XL320-R-AY2.6-EH2.stl │ │ │ ├── screw_tool_m4_BC5-XL320-AY3.5-EH3R4.stl │ │ │ ├── screw_tool_m4_BC5-XL320-AY3.5-EH3R4_v2.step │ │ │ ├── screw_tool_m5_BC5-XL320-00.dae │ │ │ ├── screw_tool_m5_BC5-XL320-00.stl │ │ │ ├── screw_tool_m6_BC5-XL320-LG20-R_v2.step │ │ │ ├── screw_tool_m6_BC5-XL320-LG20-R_v2.stl │ │ │ ├── shaft.STL │ │ │ ├── single_suction_gripper.stl │ │ │ ├── single_suction_gripper.vhacd.dae │ │ │ ├── suction_calib_marker.stl │ │ │ ├── suction_tool_phi10.step │ │ │ ├── suction_tool_phi10.stl │ │ │ ├── taskBoard.STL │ │ │ ├── tray_PZ-0006-B.obj │ │ │ ├── tray_PZ-0006-B.stl │ │ │ ├── tray_PZ-0006-B.vhacd.dae │ │ │ └── tray_PZ-0006-B.vhacd.obj │ │ ├── package.xml │ │ ├── scripts │ │ │ ├── bin_layout_generator.py │ │ │ ├── kitting_configuraton_generator.py │ │ │ ├── placement_mat_generator.py │ │ │ └── taskboard_generator.py │ │ └── urdf │ │ │ ├── InnerOnlyGripper.xacro │ │ │ ├── _d435.urdf.xacro │ │ │ ├── assembly_new_parts_scene.xacro │ │ │ ├── assembly_scene.xacro │ │ │ ├── calibration_scene.xacro │ │ │ ├── combined_gripper.xacro │ │ │ ├── dual_suction_gripper.urdf │ │ │ ├── dual_suction_gripper.urdf.xacro │ │ │ ├── kitting_bin_macros.xacro │ │ │ ├── kitting_bins.xacro │ │ │ ├── kitting_bins_auto.xacro │ │ │ ├── kitting_scene.xacro │ │ │ ├── kitting_tray_with_partitions.xacro │ │ │ ├── o2as_aist_scene.urdf.xacro │ │ │ ├── o2as_base.xacro │ │ │ ├── o2as_base_scene.urdf.xacro │ │ │ ├── o2as_base_scene.urdf.xacro.AIST │ │ │ ├── o2as_base_scene.urdf.xacro.OMRON │ │ │ ├── o2as_box.xacro │ │ │ ├── o2as_mat.xacro │ │ │ ├── o2as_osaka_scene.urdf.xacro │ │ │ ├── o2as_osakabase.xacro │ │ │ ├── phoxi_m_camera.urdf │ │ │ ├── phoxi_m_camera.urdf.xacro │ │ │ ├── precision_gripper.xacro │ │ │ ├── robotiq_85_gripper_with_ft300.urdf.xacro │ │ │ ├── robotiq_b_bot_gripper.urdf.xacro │ │ │ ├── robotiq_c_bot_gripper.urdf.xacro │ │ │ ├── screw_feeder.xacro │ │ │ ├── screw_tools.xacro │ │ │ ├── single_suction_gripper.urdf │ │ │ ├── single_suction_gripper.urdf.xacro │ │ │ ├── task_board.xacro │ │ │ ├── task_board_original.xacro │ │ │ ├── taskboard_scene.xacro │ │ │ ├── templates │ │ │ ├── bins_origin.csv │ │ │ ├── o2as_bin_template_front.xacro │ │ │ ├── o2as_bin_template_tail.xacro │ │ │ ├── o2as_mat_template_front.xacro │ │ │ ├── o2as_mat_template_tail.xacro │ │ │ ├── o2as_taskboard_template_front.xacro │ │ │ ├── o2as_taskboard_template_tail.xacro │ │ │ ├── part_bin_definitions.csv │ │ │ ├── placement_bin_definitions.csv │ │ │ ├── placement_bin_layout.csv │ │ │ ├── placement_mat.csv │ │ │ ├── placement_mat_original.csv │ │ │ ├── taskboard_measurement_competition.csv │ │ │ ├── taskboard_measurement_competition_nonrotated.csv │ │ │ ├── taskboard_measurement_old.csv │ │ │ ├── taskboard_measurement_test.csv │ │ │ ├── taskboard_measurement_test_nonrotated.csv │ │ │ ├── taskboard_measurement_test_not_rotated.csv │ │ │ └── taskboard_part_template │ │ │ │ ├── o2as_taskboard_part_10_template_tail.xacro │ │ │ │ ├── o2as_taskboard_part_14_template_tail.xacro │ │ │ │ ├── o2as_taskboard_part_5_template_tail.xacro │ │ │ │ ├── o2as_taskboard_part_6_large_pulley_template_tail.xacro │ │ │ │ ├── o2as_taskboard_part_6_small_pulley_template_tail.xacro │ │ │ │ ├── o2as_taskboard_part_7_2_template_tail.xacro │ │ │ │ ├── o2as_taskboard_part_8_template_tail.xacro │ │ │ │ └── o2as_taskboard_part_9_template_tail.xacro │ │ │ ├── ur10.urdf.xacro │ │ │ ├── ur3.urdf.xacro │ │ │ └── ur5.urdf.xacro │ ├── o2as_skills │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config │ │ │ └── tool_exchange_trajectories.yaml │ │ ├── launch │ │ │ └── o2as_skill_server.launch │ │ ├── package.xml │ │ ├── scripts │ │ │ └── ur_program_relay.py │ │ └── src │ │ │ ├── o2as_helper_functions.h │ │ │ ├── o2as_skill_server.cpp │ │ │ ├── o2as_skill_server.h │ │ │ ├── urscript │ │ │ ├── linear_search.script │ │ │ ├── linear_search_short.script │ │ │ ├── peginholespiral_imp_osx.script │ │ │ ├── peginholespiral_imp_osx_y_negative.script │ │ │ └── spiral_motion.script │ │ │ └── wait_for_ur_program.h │ ├── o2as_usb_relay │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── TU │ │ │ │ └── USB++.h │ │ ├── msg │ │ │ └── USBHub.msg │ │ ├── package.xml │ │ ├── src │ │ │ ├── USBDevice.cpp │ │ │ ├── USBHid.cpp │ │ │ ├── USBHub.cpp │ │ │ ├── iwt303 │ │ │ │ ├── hiddata.c │ │ │ │ ├── hiddata.h │ │ │ │ ├── iwt303ctl.c │ │ │ │ └── usbconfig.h │ │ │ └── main.cpp │ │ └── srv │ │ │ └── SetPower.srv │ ├── o2as_vision │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── image │ │ │ └── .gitignore │ │ ├── launch │ │ │ ├── demo.launch │ │ │ └── vision_server.launch │ │ ├── package.xml │ │ ├── scripts │ │ │ ├── cad_matching_demo.py │ │ │ ├── o2as_vision_server.py │ │ │ └── phoxi_camera_actual_example.py │ │ ├── setup.py │ │ └── src │ │ │ ├── o2as_vision │ │ │ ├── __init__.py │ │ │ ├── phoxi_camera_adapter.py │ │ │ └── realsense_camera_adapter.py │ │ │ ├── o2as_vision_server.cpp │ │ │ └── o2as_vision_server.h │ ├── o2as_xela_sensor │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── action │ │ │ └── Calibrate.action │ │ ├── data │ │ │ └── .gitignore │ │ ├── launch │ │ │ ├── demo.launch │ │ │ ├── sensor.launch │ │ │ └── start.launch │ │ ├── msg │ │ │ ├── XelaSensorStamped.msg │ │ │ └── sensor.msg │ │ ├── package.xml │ │ ├── scripts │ │ │ ├── demo.py │ │ │ └── xela_sensor_node.py │ │ ├── setup.py │ │ ├── src │ │ │ └── o2as_xela_sensor │ │ │ │ ├── __init__.py │ │ │ │ └── xela_sensor.py │ │ └── srv │ │ │ └── GetBaseline.srv │ ├── omron_cad_matching │ │ ├── CMakeLists.txt │ │ ├── cfg │ │ │ └── Search.cfg │ │ ├── data │ │ │ ├── camera_info │ │ │ │ └── test.yaml │ │ │ ├── image │ │ │ │ ├── .gitignore │ │ │ │ ├── bolt_test000.dat │ │ │ │ ├── bolt_test000.gt │ │ │ │ ├── bolt_test000.png │ │ │ │ ├── bolt_test000.tiff │ │ │ │ ├── bolt_test000_mask.png │ │ │ │ ├── pipe_test000.dat │ │ │ │ ├── pipe_test000.gt │ │ │ │ ├── pipe_test000.png │ │ │ │ ├── pipe_test000.tiff │ │ │ │ └── pipe_test000_mask.png │ │ │ ├── meshes │ │ │ │ ├── CalTarget15_obj.stl │ │ │ │ ├── bolt.stl │ │ │ │ ├── flange.stl │ │ │ │ ├── holder.stl │ │ │ │ └── pipe.stl │ │ │ ├── model │ │ │ │ └── .gitignore │ │ │ ├── object_config │ │ │ │ ├── bolt.yaml │ │ │ │ ├── holder.yaml │ │ │ │ ├── parts_list.yaml │ │ │ │ └── pipe.yaml │ │ │ └── setting │ │ │ │ ├── search_param.yaml │ │ │ │ └── train_param.yaml │ │ ├── include │ │ │ └── omron_cad_matching │ │ │ │ ├── cad_api.h │ │ │ │ ├── definition.h │ │ │ │ ├── handeye_api.h │ │ │ │ ├── mbp_api.h │ │ │ │ ├── mbp_error.h │ │ │ │ ├── util.h │ │ │ │ ├── util_cam.h │ │ │ │ └── win_type.h │ │ ├── launch │ │ │ ├── search.launch │ │ │ ├── search_server.launch │ │ │ ├── search_single.launch │ │ │ ├── train.launch │ │ │ ├── train_multi.launch │ │ │ ├── train_multi_separate.launch │ │ │ └── train_single.launch │ │ ├── lib │ │ │ ├── .gitignore │ │ │ ├── avx │ │ │ │ └── libcad.so │ │ │ ├── libcommon.so │ │ │ └── sse │ │ │ │ └── libcad.so │ │ ├── msg │ │ │ ├── CameraSetting.msg │ │ │ ├── DetectedObject.msg │ │ │ ├── GlobalSearchParam.msg │ │ │ ├── ObjectConfig.msg │ │ │ ├── ObjectSearchParam.msg │ │ │ ├── SearchResult.msg │ │ │ └── TrainSetting.msg │ │ ├── package.xml │ │ ├── readme.md │ │ ├── scripts │ │ │ ├── search_single.py │ │ │ ├── train_multi.py │ │ │ ├── train_multi_separate.py │ │ │ └── train_single.py │ │ ├── setup.py │ │ ├── src │ │ │ ├── data_collection_server.cpp │ │ │ ├── omron_cad_matching │ │ │ │ ├── __init__.py │ │ │ │ ├── search_client.py │ │ │ │ ├── train_client.py │ │ │ │ └── util.py │ │ │ ├── search.cpp │ │ │ ├── search_server.cpp │ │ │ ├── train.cpp │ │ │ ├── train_server.cpp │ │ │ ├── util.cpp │ │ │ └── util_cam.cpp │ │ └── srv │ │ │ ├── InvalidateModelData.srv │ │ │ ├── LoadModelData.srv │ │ │ ├── SaveFrame.srv │ │ │ ├── SaveModel.srv │ │ │ ├── Search.srv │ │ │ ├── Search2.srv │ │ │ ├── TrainModel.srv │ │ │ └── ValidateModelData.srv │ ├── realsense │ │ ├── LICENSE │ │ ├── README.md │ │ └── realsense2_camera │ │ │ ├── .gitignore │ │ │ ├── CMakeLists.txt │ │ │ ├── cfg │ │ │ ├── base_d400_params.cfg │ │ │ ├── base_d400_params.py │ │ │ ├── rs415_params.cfg │ │ │ ├── rs435_params.cfg │ │ │ └── sr300_params.cfg │ │ │ ├── include │ │ │ ├── base_realsense_node.h │ │ │ ├── constants.h │ │ │ ├── realsense_node_factory.h │ │ │ ├── rs415_node.h │ │ │ ├── rs435_node.h │ │ │ └── sr300_node.h │ │ │ ├── launch │ │ │ ├── demo_pointcloud.launch │ │ │ ├── includes │ │ │ │ └── nodelet.launch.xml │ │ │ ├── rs_aligned_depth.launch │ │ │ ├── rs_camera.launch │ │ │ ├── rs_multiple_devices.launch │ │ │ ├── rs_rgbd.launch │ │ │ ├── view_d435_model.launch │ │ │ ├── view_r410_model.launch │ │ │ └── view_r430_model.launch │ │ │ ├── meshes │ │ │ └── d435.dae │ │ │ ├── msg │ │ │ ├── Extrinsics.msg │ │ │ └── IMUInfo.msg │ │ │ ├── nodelet_plugins.xml │ │ │ ├── package.xml │ │ │ ├── rviz │ │ │ ├── pointcloud.rviz │ │ │ └── urdf.rviz │ │ │ ├── src │ │ │ ├── base_realsense_node.cpp │ │ │ ├── dummy.cpp │ │ │ ├── realsense_node_factory.cpp │ │ │ ├── rs415_node.cpp │ │ │ ├── rs435_node.cpp │ │ │ └── sr300_node.cpp │ │ │ └── urdf │ │ │ ├── _d435.urdf.xacro │ │ │ ├── _r410.urdf.xacro │ │ │ ├── _r430.urdf.xacro │ │ │ ├── test_d435_camera.urdf.xacro │ │ │ ├── test_r410_camera.urdf.xacro │ │ │ └── test_r430_camera.urdf.xacro │ └── urdf_converter │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config │ │ └── 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