├── README.md ├── arduino_code └── to_arduino │ └── to_arduino.ino ├── data ├── DockerFile │ └── Dockerfile ├── Mobile_Manipulator_old_design.jpg ├── diploma.pdf ├── frames.gv ├── frames.pdf ├── gifs │ ├── Autonomous_Navigation_real.gif │ ├── Gazebo_Grasp.gif │ ├── Object_Recognition.gif │ ├── RTAB-Map_Localization.gif │ ├── RTAB-Map_home.gif │ ├── RTAB-Map_mapping.gif │ ├── Real_Arm_Moveit.gif │ ├── greedy_eploration.gif │ ├── pick_n_place.gif │ └── training_extract_features.gif ├── mm_photos │ ├── 100046107_817421805451504_6726439842378416128_n.jpg │ ├── 98360385_335812300716401_323796338904924160_n.jpg │ ├── 99293496_561668117884726_7465903412542963712_n.jpg │ ├── 99298145_256230285454318_7441594859720278016_n.jpg │ └── 99396840_2617400851810013_6781743052462489600_n.jpg ├── mobile_manipulator_new.jpg ├── ommp_bb.jpg ├── power_connections.jpg └── rosgraph.png ├── extra_packages ├── ball_chaser │ ├── CMakeLists.txt │ ├── launch │ │ └── ball_chaser.launch │ ├── package.xml │ ├── src │ │ ├── drive_bot.cpp │ │ └── process_image.cpp │ └── srv │ │ └── DriveToTarget.srv ├── differential-drive │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.asciidoc │ ├── images │ │ └── crosshair.jpg │ ├── launch │ │ └── diff_drive.launch │ ├── package.xml │ └── scripts │ │ ├── diff_tf.py │ │ ├── pid_velocity.py │ │ ├── twist_to_motors.py │ │ ├── virtual_joystick.py │ │ ├── wheel_loopback.py │ │ └── wheel_scaler.py ├── flexbe │ ├── generic_flexbe_states │ │ ├── .travis.yml │ │ ├── LICENSE │ │ ├── README.md │ │ ├── flexbe_manipulation_states │ │ │ ├── .gitignore │ │ │ ├── CMakeLists.txt │ │ │ ├── package.xml │ │ │ ├── setup.py │ │ │ └── src │ │ │ │ └── flexbe_manipulation_states │ │ │ │ ├── __init__.py │ │ │ │ ├── get_joint_values_dyn_state.py │ │ │ │ ├── get_joint_values_state.py │ │ │ │ ├── get_joints_from_srdf_group.py │ │ │ │ ├── get_joints_from_srdf_state.py │ │ │ │ ├── joint_state_to_moveit.py │ │ │ │ ├── moveit_to_joints_dyn_state.py │ │ │ │ ├── moveit_to_joints_state.py │ │ │ │ ├── srdf_state_to_moveit.py │ │ │ │ └── srdf_state_to_moveit_execute_trajectory.py │ │ ├── flexbe_navigation_states │ │ │ ├── CMakeLists.txt │ │ │ ├── package.xml │ │ │ ├── setup.py │ │ │ ├── src │ │ │ │ └── flexbe_navigation_states │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── move_base_state.py │ │ │ └── tests │ │ │ │ ├── move_base_state_import.test │ │ │ │ └── run_tests.launch │ │ └── flexbe_utility_states │ │ │ ├── CMakeLists.txt │ │ │ ├── package.xml │ │ │ ├── setup.py │ │ │ ├── src │ │ │ └── flexbe_utility_states │ │ │ │ ├── __init__.py │ │ │ │ ├── publish_pose_state.py │ │ │ │ ├── publish_twist_state.py │ │ │ │ ├── start_record_logs_state.py │ │ │ │ └── stop_record_logs_state.py │ │ │ └── tests │ │ │ ├── run_tests.launch │ │ │ ├── start_record_logs_state_import.test │ │ │ └── stop_record_logs_state_import.test │ └── lynxbot_behaviors │ │ ├── LICENSE │ │ ├── README.md │ │ ├── lynxbot_flexbe_behaviors │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ └── example.yaml │ │ ├── manifest │ │ │ ├── drive_forward.xml │ │ │ ├── drive_forward_and_turn.xml │ │ │ ├── example_behavior.xml │ │ │ ├── tomovebase.xml │ │ │ └── turn.xml │ │ ├── package.xml │ │ ├── setup.py │ │ └── src │ │ │ └── lynxbot_flexbe_behaviors │ │ │ ├── __init__.py │ │ │ ├── drive_forward_and_turn_sm.py │ │ │ ├── drive_forward_input_sm.py │ │ │ ├── drive_forward_sm.py │ │ │ ├── example_behavior_sm.py │ │ │ ├── tomovebase_sm.py │ │ │ └── turn_sm.py │ │ └── lynxbot_flexbe_states │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ ├── setup.py │ │ └── src │ │ └── lynxbot_flexbe_states │ │ ├── __init__.py │ │ ├── drive_forward.py │ │ ├── drive_forward.pyc │ │ ├── drive_forward_input.py │ │ ├── drive_forward_input.pyc │ │ ├── example_action_state.py │ │ ├── example_state.py │ │ ├── move_base_state.py │ │ ├── to_move_base.py │ │ ├── to_move_base.pyc │ │ ├── turn_state.py │ │ ├── turn_state.pyc │ │ ├── turn_state_input.py │ │ └── turn_state_input.pyc ├── frontier_exploration │ ├── .travis.yml │ ├── LICENSE │ ├── exploration │ │ ├── CMakeLists.txt │ │ └── package.xml │ ├── exploration_msgs │ │ ├── CMakeLists.txt │ │ ├── action │ │ │ └── Explore.action │ │ ├── package.xml │ │ └── srv │ │ │ └── SetPolygon.srv │ ├── exploration_server │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config │ │ │ └── points.yaml │ │ ├── example_plugin.xml │ │ ├── include │ │ │ └── exploration_server │ │ │ │ ├── base_plugin.h │ │ │ │ ├── example_plugin.h │ │ │ │ ├── exploration_server.h │ │ │ │ ├── geometry_tools.h │ │ │ │ ├── plugin_client.h │ │ │ │ └── visited_points.h │ │ ├── launch │ │ │ └── exploration.launch │ │ ├── package.xml │ │ └── src │ │ │ ├── example_plugin.cpp │ │ │ ├── exploration_server.cpp │ │ │ ├── exploration_server_node.cpp │ │ │ └── plugin_client.cpp │ ├── frontier_exploration │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── action │ │ │ └── ExploreTask.action │ │ ├── frontier_plugin.xml │ │ ├── include │ │ │ └── frontier_exploration │ │ │ │ ├── costmap_tools.h │ │ │ │ ├── frontier_plugin.h │ │ │ │ └── frontier_search.h │ │ ├── msg │ │ │ └── Frontier.msg │ │ ├── package.xml │ │ └── src │ │ │ ├── frontier_plugin.cpp │ │ │ ├── frontier_search.cpp │ │ │ └── test │ │ │ ├── costmap_tools_tests.cpp │ │ │ ├── frontier_search_tests.cpp │ │ │ └── geometry_tools_tests.cpp │ └── polygon_layer │ │ ├── CMakeLists.txt │ │ ├── costmap_plugins.xml │ │ ├── include │ │ └── polygon_layer │ │ │ └── polygon_layer.h │ │ ├── package.xml │ │ └── src │ │ └── polygon_layer.cpp ├── gazebo-pkgs │ ├── Dockerfile │ ├── LICENSE │ ├── README.md │ ├── TODO.md │ ├── gazebo_grasp_plugin │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── gazebo_grasp_plugin │ │ │ │ ├── GazeboGraspFix.h │ │ │ │ └── GazeboGraspGripper.h │ │ ├── package.xml │ │ └── src │ │ │ ├── GazeboGraspFix.cpp │ │ │ └── GazeboGraspGripper.cpp │ ├── gazebo_ros_link_attacher │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── include │ │ │ └── gazebo_ros_link_attacher.h │ │ ├── launch │ │ │ └── test_attacher.launch │ │ ├── package.xml │ │ ├── scripts │ │ │ ├── attach.py │ │ │ ├── attach_server.py │ │ │ ├── demo.py │ │ │ ├── demo_multiple.py │ │ │ ├── detach.py │ │ │ └── spawn_models.py │ │ ├── src │ │ │ └── gazebo_ros_link_attacher.cpp │ │ ├── srv │ │ │ └── Attach.srv │ │ └── worlds │ │ │ └── test_attacher.world │ ├── gazebo_version_helpers │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── gazebo_version_helpers │ │ │ │ └── GazeboVersionHelpers.h │ │ ├── package.xml │ │ └── src │ │ │ └── GazeboVersionHelpers.cpp │ └── gazebo_world_plugin_loader │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── config │ │ └── WorldPluginsTemplate.config │ │ ├── include │ │ └── gazebo_world_plugin_loader │ │ │ └── GazeboPluginLoader.h │ │ ├── launch │ │ └── plugin_loader_template.launch │ │ ├── package.xml │ │ └── src │ │ └── GazeboPluginLoader.cpp ├── imu_tools │ ├── .gitignore │ ├── README.md │ ├── imu_complementary_filter │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── imu_complementary_filter │ │ │ │ ├── complementary_filter.h │ │ │ │ └── complementary_filter_ros.h │ │ ├── launch │ │ │ └── complementary_filter.launch │ │ ├── package.xml │ │ └── src │ │ │ ├── complementary_filter.cpp │ │ │ ├── complementary_filter_node.cpp │ │ │ └── complementary_filter_ros.cpp │ ├── imu_filter_madgwick │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── COPYING │ │ ├── cfg │ │ │ └── ImuFilterMadgwick.cfg │ │ ├── imu_filter_nodelet.xml │ │ ├── include │ │ │ └── imu_filter_madgwick │ │ │ │ ├── imu_filter.h │ │ │ │ ├── imu_filter_nodelet.h │ │ │ │ ├── imu_filter_ros.h │ │ │ │ ├── stateless_orientation.h │ │ │ │ └── world_frame.h │ │ ├── package.xml │ │ ├── sample │ │ │ ├── ardrone_imu.bag │ │ │ ├── phidgets_imu_upside_down.bag │ │ │ └── sparkfun_razor.bag │ │ ├── src │ │ │ ├── imu_filter.cpp │ │ │ ├── imu_filter_node.cpp │ │ │ ├── imu_filter_nodelet.cpp │ │ │ ├── imu_filter_ros.cpp │ │ │ └── stateless_orientation.cpp │ │ └── test │ │ │ ├── madgwick_test.cpp │ │ │ ├── stateless_orientation_test.cpp │ │ │ └── test_helpers.h │ ├── imu_tools │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ └── package.xml │ └── rviz_imu_plugin │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ ├── plugin_description.xml │ │ ├── rosdoc.yaml │ │ ├── rviz_imu_plugin.png │ │ └── src │ │ ├── imu_acc_visual.cpp │ │ ├── imu_acc_visual.h │ │ ├── imu_axes_visual.cpp │ │ ├── imu_axes_visual.h │ │ ├── imu_display.cpp │ │ ├── imu_display.h │ │ ├── imu_orientation_visual.cpp │ │ └── imu_orientation_visual.h ├── m-explore │ ├── .clang-format │ ├── .gitignore │ ├── LICENSE │ ├── README.md │ ├── explore │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── doc │ │ │ ├── architecture.dia │ │ │ ├── screenshot.png │ │ │ └── wiki_doc.txt │ │ ├── include │ │ │ └── explore │ │ │ │ ├── costmap_client.h │ │ │ │ ├── costmap_tools.h │ │ │ │ ├── explore.h │ │ │ │ └── frontier_search.h │ │ ├── launch │ │ │ ├── explore.launch │ │ │ └── explore_costmap.launch │ │ ├── package.xml │ │ └── src │ │ │ ├── costmap_client.cpp │ │ │ ├── explore.cpp │ │ │ └── frontier_search.cpp │ └── map_merge │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── doc │ │ ├── architecture.dia │ │ ├── screenshot.jpg │ │ └── wiki_doc.txt │ │ ├── include │ │ ├── combine_grids │ │ │ ├── grid_compositor.h │ │ │ ├── grid_warper.h │ │ │ └── merging_pipeline.h │ │ └── map_merge │ │ │ └── map_merge.h │ │ ├── launch │ │ ├── experiments │ │ │ ├── 3-robots.ttt.launch │ │ │ ├── demo-scene-1.ttt.launch │ │ │ └── demo-scene-orientation-exp.ttt.launch │ │ ├── from_map_server.launch │ │ ├── map_merge.launch │ │ └── map_merge.rviz │ │ ├── package.xml │ │ ├── src │ │ ├── combine_grids │ │ │ ├── estimation_internal.h │ │ │ ├── grid_compositor.cpp │ │ │ ├── grid_warper.cpp │ │ │ └── merging_pipeline.cpp │ │ └── map_merge.cpp │ │ └── test │ │ ├── test_merging_pipeline.cpp │ │ └── testing_helpers.h ├── my_dyn_rec │ ├── CMakeLists.txt │ ├── cfg │ │ └── lidartf.cfg │ ├── package.xml │ └── src │ │ └── dynamic_tf.cpp ├── odometry_to_trajectory │ ├── CMakeLists.txt │ ├── Images │ │ └── Output.png │ ├── LICENSE │ ├── README.md │ ├── launch │ │ └── create_trajectory.launch │ ├── package.xml │ └── scripts │ │ ├── path_ekf_plotter.py │ │ └── path_odom_plotter.py ├── pcl_obj │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── ball_tracker.cpp │ │ ├── cloud_helpers.cpp │ │ ├── pcl_create.cpp │ │ ├── pcl_downsampling.cpp │ │ ├── pcl_filter.cpp │ │ ├── pcl_main.cpp │ │ ├── pcl_matching.cpp │ │ ├── pcl_model_estimation.cpp │ │ ├── pcl_partitioning.cpp │ │ ├── pcl_planar_segmentation.cpp │ │ ├── pcl_read.cpp │ │ ├── pcl_sample.cpp │ │ ├── pcl_visualize.cpp │ │ ├── pcl_visualize2.cpp │ │ └── pcl_write.cpp ├── ros-pwm-pca9685 │ ├── README.md │ └── pwm_pca9685 │ │ ├── CMakeLists.txt │ │ ├── LICENSE.txt │ │ ├── include │ │ ├── pwm_pca9685 │ │ │ └── pca9685_activity.h │ │ └── smbus_functions.h │ │ ├── package.xml │ │ └── src │ │ ├── pca9685_activity.cpp │ │ └── pca9685_node.cpp ├── sensor_drivers │ ├── rf2o_laser_odometry │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── README.md │ │ ├── include │ │ │ └── rf2o_laser_odometry │ │ │ │ └── CLaserOdometry2D.h │ │ ├── launch │ │ │ └── rf2o_laser_odometry.launch │ │ ├── package.xml │ │ └── src │ │ │ ├── CLaserOdometry2D.cpp │ │ │ └── CLaserOdometry2DNode.cpp │ └── ydlidar │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── launch │ │ ├── display.launch │ │ ├── gazebo.launch │ │ ├── lidar.launch │ │ ├── lidar.rviz │ │ └── lidar_view.launch │ │ ├── meshes │ │ ├── ydlidar.dae │ │ └── ydlidar.png │ │ ├── package.xml │ │ ├── sdk │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── doc │ │ │ ├── Doxyfile │ │ │ └── html │ │ │ │ ├── _c_yd_lidar_8h_source.html │ │ │ │ ├── _console_8h_source.html │ │ │ │ ├── annotated.html │ │ │ │ ├── app(2).png │ │ │ │ ├── arrowdown.png │ │ │ │ ├── arrowright.png │ │ │ │ ├── bc_s.png │ │ │ │ ├── bdwn.png │ │ │ │ ├── class_c_yd_lidar-members.html │ │ │ │ ├── class_c_yd_lidar.html │ │ │ │ ├── class_event-members.html │ │ │ │ ├── class_event.html │ │ │ │ ├── class_locker-members.html │ │ │ │ ├── class_locker.html │ │ │ │ ├── class_scoped_locker-members.html │ │ │ │ ├── class_scoped_locker.html │ │ │ │ ├── class_scoped_locker__coll__graph.map │ │ │ │ ├── class_scoped_locker__coll__graph.md5 │ │ │ │ ├── class_scoped_locker__coll__graph.png │ │ │ │ ├── class_thread-members.html │ │ │ │ ├── class_thread.html │ │ │ │ ├── classes.html │ │ │ │ ├── classserial_1_1_millisecond_timer-members.html │ │ │ │ ├── classserial_1_1_millisecond_timer.html │ │ │ │ ├── classserial_1_1_serial-members.html │ │ │ │ ├── classserial_1_1_serial.html │ │ │ │ ├── classserial_1_1_serial_1_1_scoped_read_lock-members.html │ │ │ │ ├── classserial_1_1_serial_1_1_scoped_read_lock.html │ │ │ │ ├── classserial_1_1_serial_1_1_scoped_write_lock-members.html │ │ │ │ ├── classserial_1_1_serial_1_1_scoped_write_lock.html │ │ │ │ ├── classserial_1_1_serial_1_1_serial_impl-members.html │ │ │ │ ├── classserial_1_1_serial_1_1_serial_impl.html │ │ │ │ ├── classserial_1_1serial_1_1_serial_1_1_serial_impl-members.html │ │ │ │ ├── classserial_1_1serial_1_1_serial_1_1_serial_impl.html │ │ │ │ ├── classydlidar_1_1_console-members.html │ │ │ │ ├── classydlidar_1_1_console.html │ │ │ │ ├── classydlidar_1_1_y_dlidar_driver-members.html │ │ │ │ ├── classydlidar_1_1_y_dlidar_driver.html │ │ │ │ ├── classydlidar_1_1_y_dlidar_driver__coll__graph.map │ │ │ │ ├── classydlidar_1_1_y_dlidar_driver__coll__graph.md5 │ │ │ │ ├── classydlidar_1_1_y_dlidar_driver__coll__graph.png │ │ │ │ ├── closed.png │ │ │ │ ├── common_8h_source.html │ │ │ │ ├── dir_0834a1453ead243784276400df23f54f.html │ │ │ │ ├── dir_3808e3f8fe545b07b1d2715928fb0eea.html │ │ │ │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba.html │ │ │ │ ├── dir_68d46136ab8a8bc94545215845910cfb.html │ │ │ │ ├── dir_6f9635d4fbfa321d4c00f29df5cd540c.html │ │ │ │ ├── dir_cfa68689d3aca823fc84b2132e590e35.html │ │ │ │ ├── dir_d44c64559bbebec7f509842c48db8b23.html │ │ │ │ ├── doc.png │ │ │ │ ├── doxygen.css │ │ │ │ ├── doxygen.png │ │ │ │ ├── dynsections.js │ │ │ │ ├── files.html │ │ │ │ ├── folderclosed.png │ │ │ │ ├── folderopen.png │ │ │ │ ├── functions.html │ │ │ │ ├── functions_eval.html │ │ │ │ ├── functions_func.html │ │ │ │ ├── functions_vars.html │ │ │ │ ├── graph_legend.html │ │ │ │ ├── graph_legend.md5 │ │ │ │ ├── graph_legend.png │ │ │ │ ├── index.html │ │ │ │ ├── jquery.js │ │ │ │ ├── lock_8h_source.html │ │ │ │ ├── locker_8h_source.html │ │ │ │ ├── logo.ico │ │ │ │ ├── md_README.html │ │ │ │ ├── md__home_yang_gaussian_sdk_README.html │ │ │ │ ├── md__home_yang_tmp_sdk_README.html │ │ │ │ ├── namespacemembers.html │ │ │ │ ├── namespacemembers_enum.html │ │ │ │ ├── namespaces.html │ │ │ │ ├── namespaceserial.html │ │ │ │ ├── nav_f.png │ │ │ │ ├── nav_g.png │ │ │ │ ├── nav_h.png │ │ │ │ ├── open.png │ │ │ │ ├── pages.html │ │ │ │ ├── search │ │ │ │ ├── all_0.html │ │ │ │ ├── all_0.js │ │ │ │ ├── all_1.html │ │ │ │ ├── all_1.js │ │ │ │ ├── all_10.html │ │ │ │ ├── all_10.js │ │ │ │ ├── all_11.html │ │ │ │ ├── all_11.js │ │ │ │ ├── all_12.html │ │ │ │ ├── all_12.js │ │ │ │ ├── all_13.html │ │ │ │ ├── all_13.js │ │ │ │ ├── all_14.html │ │ │ │ ├── all_14.js │ │ │ │ ├── all_2.html │ │ │ │ ├── all_2.js │ │ │ │ ├── all_3.html │ │ │ │ ├── all_3.js │ │ │ │ ├── all_4.html │ │ │ │ ├── all_4.js │ │ │ │ ├── all_5.html │ │ │ │ ├── all_5.js │ │ │ │ ├── all_6.html │ │ │ │ ├── all_6.js │ │ │ │ ├── all_7.html │ │ │ │ ├── all_7.js │ │ │ │ ├── all_8.html │ │ │ │ ├── all_8.js │ │ │ │ ├── all_9.html │ │ │ │ ├── all_9.js │ │ │ │ ├── all_a.html │ │ │ │ ├── all_a.js │ │ │ │ ├── all_b.html │ │ │ │ ├── all_b.js │ │ │ │ ├── all_c.html │ │ │ │ ├── all_c.js │ │ │ │ ├── all_d.html │ │ │ │ ├── all_d.js │ │ │ │ ├── all_e.html │ │ │ │ ├── all_e.js │ │ │ │ ├── all_f.html │ │ │ │ ├── all_f.js │ │ │ │ ├── classes_0.html │ │ │ │ ├── classes_0.js │ │ │ │ ├── classes_1.html │ │ │ │ ├── classes_1.js │ │ │ │ ├── classes_2.html │ │ │ │ ├── classes_2.js │ │ │ │ ├── classes_3.html │ │ │ │ ├── classes_3.js │ │ │ │ ├── classes_4.html │ │ │ │ ├── classes_4.js │ │ │ │ ├── classes_5.html │ │ │ │ ├── classes_5.js │ │ │ │ ├── classes_6.html │ │ │ │ ├── classes_6.js │ │ │ │ ├── classes_7.html │ │ │ │ ├── classes_7.js │ │ │ │ ├── classes_8.html │ │ │ │ ├── classes_8.js │ │ │ │ ├── classes_9.html │ │ │ │ ├── classes_9.js │ │ │ │ ├── classes_a.html │ │ │ │ ├── classes_a.js │ │ │ │ ├── close.png │ │ │ │ ├── enums_0.html │ │ │ │ ├── enums_0.js │ │ │ │ ├── enums_1.html │ │ │ │ ├── enums_1.js │ │ │ │ ├── enums_2.html │ │ │ │ ├── enums_2.js │ │ │ │ ├── enums_3.html │ │ │ │ ├── enums_3.js │ │ │ │ ├── enumvalues_0.html │ │ │ │ ├── enumvalues_0.js │ │ │ │ ├── enumvalues_1.html │ │ │ │ ├── enumvalues_1.js │ │ │ │ ├── enumvalues_2.html │ │ │ │ ├── enumvalues_2.js │ │ │ │ ├── functions_0.html │ │ │ │ ├── functions_0.js │ │ │ │ ├── functions_1.html │ │ │ │ ├── functions_1.js │ │ │ │ ├── functions_2.html │ │ │ │ ├── functions_2.js │ │ │ │ ├── functions_3.html │ │ │ │ ├── functions_3.js │ │ │ │ ├── functions_4.html │ │ │ │ ├── functions_4.js │ │ │ │ ├── functions_5.html │ │ │ │ ├── functions_5.js │ │ │ │ ├── functions_6.html │ │ │ │ ├── functions_6.js │ │ │ │ ├── functions_7.html │ │ │ │ ├── functions_7.js │ │ │ │ ├── functions_8.html │ │ │ │ ├── functions_8.js │ │ │ │ ├── functions_9.html │ │ │ │ ├── functions_9.js │ │ │ │ ├── functions_a.html │ │ │ │ ├── functions_a.js │ │ │ │ ├── functions_b.html │ │ │ │ ├── functions_b.js │ │ │ │ ├── functions_c.html │ │ │ │ ├── functions_c.js │ │ │ │ ├── functions_d.html │ │ │ │ ├── functions_d.js │ │ │ │ ├── mag_sel.png │ │ │ │ ├── namespaces_0.html │ │ │ │ ├── namespaces_0.js │ │ │ │ ├── nomatches.html │ │ │ │ ├── pages_0.html │ │ │ │ ├── pages_0.js │ │ │ │ ├── search.css │ │ │ │ ├── search.js │ │ │ │ ├── search_l.png │ │ │ │ ├── search_m.png │ │ │ │ ├── search_r.png │ │ │ │ ├── searchdata.js │ │ │ │ ├── variables_0.html │ │ │ │ ├── variables_0.js │ │ │ │ ├── variables_1.html │ │ │ │ ├── variables_1.js │ │ │ │ ├── variables_2.html │ │ │ │ ├── variables_2.js │ │ │ │ ├── variables_3.html │ │ │ │ ├── variables_3.js │ │ │ │ ├── variables_4.html │ │ │ │ ├── variables_4.js │ │ │ │ ├── variables_5.html │ │ │ │ ├── variables_5.js │ │ │ │ ├── variables_6.html │ │ │ │ ├── variables_6.js │ │ │ │ ├── variables_7.html │ │ │ │ ├── variables_7.js │ │ │ │ ├── variables_8.html │ │ │ │ ├── variables_8.js │ │ │ │ ├── variables_9.html │ │ │ │ ├── variables_9.js │ │ │ │ ├── variables_a.html │ │ │ │ ├── variables_a.js │ │ │ │ ├── variables_b.html │ │ │ │ ├── variables_b.js │ │ │ │ ├── variables_c.html │ │ │ │ ├── variables_c.js │ │ │ │ ├── variables_d.html │ │ │ │ └── variables_d.js │ │ │ │ ├── serial_8h_source.html │ │ │ │ ├── splitbar.png │ │ │ │ ├── struct_laser_config-members.html │ │ │ │ ├── struct_laser_config.html │ │ │ │ ├── struct_laser_scan-members.html │ │ │ │ ├── struct_laser_scan.html │ │ │ │ ├── struct_laser_scan__coll__graph.map │ │ │ │ ├── struct_laser_scan__coll__graph.md5 │ │ │ │ ├── struct_laser_scan__coll__graph.png │ │ │ │ ├── struct_package_node-members.html │ │ │ │ ├── struct_package_node.html │ │ │ │ ├── structcmd__packet-members.html │ │ │ │ ├── structcmd__packet.html │ │ │ │ ├── structdevice__health-members.html │ │ │ │ ├── structdevice__health.html │ │ │ │ ├── structdevice__info-members.html │ │ │ │ ├── structdevice__info.html │ │ │ │ ├── structfunction__state-members.html │ │ │ │ ├── structfunction__state.html │ │ │ │ ├── structlidar__ans__header-members.html │ │ │ │ ├── structlidar__ans__header.html │ │ │ │ ├── structnode__info-members.html │ │ │ │ ├── structnode__info.html │ │ │ │ ├── structnode__package-members.html │ │ │ │ ├── structnode__package.html │ │ │ │ ├── structnode__package__coll__graph.map │ │ │ │ ├── structnode__package__coll__graph.md5 │ │ │ │ ├── structnode__package__coll__graph.png │ │ │ │ ├── structnode__packages-members.html │ │ │ │ ├── structnode__packages.html │ │ │ │ ├── structsampling__rate-members.html │ │ │ │ ├── structsampling__rate.html │ │ │ │ ├── structscan__exposure-members.html │ │ │ │ ├── structscan__exposure.html │ │ │ │ ├── structscan__frequency-members.html │ │ │ │ ├── structscan__frequency.html │ │ │ │ ├── structscan__heart__beat-members.html │ │ │ │ ├── structscan__heart__beat.html │ │ │ │ ├── structscan__points-members.html │ │ │ │ ├── structscan__points.html │ │ │ │ ├── structscan__rotation-members.html │ │ │ │ ├── structscan__rotation.html │ │ │ │ ├── structscan_dot-members.html │ │ │ │ ├── structscan_dot.html │ │ │ │ ├── structserial_1_1_port_info-members.html │ │ │ │ ├── structserial_1_1_port_info.html │ │ │ │ ├── structserial_1_1_port_info__coll__graph.map │ │ │ │ ├── structserial_1_1_port_info__coll__graph.md5 │ │ │ │ ├── structserial_1_1_port_info__coll__graph.png │ │ │ │ ├── structserial_1_1_timeout-members.html │ │ │ │ ├── structserial_1_1_timeout.html │ │ │ │ ├── structserial_1_1termios2-members.html │ │ │ │ ├── structserial_1_1termios2.html │ │ │ │ ├── sync_off.png │ │ │ │ ├── sync_on.png │ │ │ │ ├── tab_a.png │ │ │ │ ├── tab_b.png │ │ │ │ ├── tab_h.png │ │ │ │ ├── tab_s.png │ │ │ │ ├── tabs.css │ │ │ │ ├── thread_8h_source.html │ │ │ │ ├── timer_8h_source.html │ │ │ │ ├── unix_8h_source.html │ │ │ │ ├── unix__serial_8h_source.html │ │ │ │ ├── utils_8h_source.html │ │ │ │ ├── v8stdint_8h_source.html │ │ │ │ ├── win_8h_source.html │ │ │ │ ├── win__serial_8h_source.html │ │ │ │ ├── ydliar.png │ │ │ │ ├── ydlidar.png │ │ │ │ ├── ydlidar__driver_8h_source.html │ │ │ │ └── ydlidar__protocol_8h_source.html │ │ ├── include │ │ │ ├── CYdLidar.h │ │ │ ├── Console.h │ │ │ ├── lock.h │ │ │ ├── locker.h │ │ │ ├── serial.h │ │ │ ├── thread.h │ │ │ ├── timer.h │ │ │ ├── utils.h │ │ │ ├── v8stdint.h │ │ │ ├── ydlidar_driver.h │ │ │ └── ydlidar_protocol.h │ │ ├── samples │ │ │ ├── CMakeLists.txt │ │ │ └── main.cpp │ │ └── src │ │ │ ├── CYdLidar.cpp │ │ │ ├── Console.cpp │ │ │ ├── common.h │ │ │ ├── impl │ │ │ ├── unix │ │ │ │ ├── list_ports_linux.cpp │ │ │ │ ├── unix.h │ │ │ │ ├── unix_serial.cpp │ │ │ │ ├── unix_serial.h │ │ │ │ └── unix_timer.cpp │ │ │ └── windows │ │ │ │ ├── list_ports_win.cpp │ │ │ │ ├── win.h │ │ │ │ ├── win_serial.cpp │ │ │ │ ├── win_serial.h │ │ │ │ └── win_timer.cpp │ │ │ ├── lock.c │ │ │ ├── serial.cpp │ │ │ └── ydlidar_driver.cpp │ │ ├── src │ │ ├── ydlidar_client.cpp │ │ └── ydlidar_node.cpp │ │ ├── startup │ │ └── initenv.sh │ │ ├── urdf │ │ └── ydlidar.urdf │ │ └── ydlidar.rviz └── spin_action_server │ ├── CMakeLists.txt │ ├── action │ └── Spin.action │ ├── package.xml │ └── src │ └── spin_server.py ├── integration ├── CMakeLists.txt ├── action │ ├── AttachObject.action │ ├── MoveModel.action │ ├── MoveToJoints.action │ └── MoveToPose.action ├── msg │ ├── Action.msg │ ├── ActionFeedback.msg │ ├── ActionRequest.msg │ ├── ActionResult.msg │ ├── ActionResultStatusConstants.msg │ ├── PropertyValuePair.msg │ └── Resource.msg ├── package.xml └── srv │ ├── AddBox.srv │ ├── GetFrameDistance.srv │ └── SpawnModels.srv ├── moveit_jog_arm ├── CMakeLists.txt ├── README.md ├── config │ └── arm_config.yaml ├── include │ └── moveit_jog_arm │ │ ├── collision_check_thread.h │ │ ├── jog_arm_data.h │ │ ├── jog_calcs.h │ │ ├── jog_ros_interface.h │ │ └── low_pass_filter.h ├── launch │ └── jog_server.launch ├── package.xml ├── src │ ├── collision_check_thread.cpp │ ├── jog_calcs.cpp │ ├── jog_ros_interface.cpp │ ├── jog_server.cpp │ ├── low_pass_filter.cpp │ └── teleop_examples │ │ ├── htc_to_twist.cpp │ │ ├── leapmotion_to_twist.py │ │ ├── spacenav_to_twist.cpp │ │ └── xbox_to_twist.cpp └── test │ ├── arm_setup │ ├── config │ │ ├── initial_position.yaml │ │ └── jog_settings.yaml │ └── launch │ │ └── panda_move_group.launch │ ├── integration │ └── test_jog_arm_integration.py │ └── launch │ └── jog_arm_integration_test.test ├── ommp_demo ├── CMakeLists.txt ├── include │ ├── demo_utils.h │ └── ommp_demo_client.h ├── launch │ └── ommp_demo.launch ├── package.xml └── src │ └── ommp_demo.cpp ├── ommp_handlers ├── CMakeLists.txt ├── include │ └── ommp_handlers │ │ └── NamingConstants.h ├── launch │ └── main_ommp_handlers.launch ├── package.xml ├── scripts │ ├── move_model_server │ └── spawn_models_server └── src │ ├── add_planning_box_server_node.cpp │ ├── attachObject_handler_server_node.cpp │ ├── get_frame_distance_server_node.cpp │ ├── moveCartesian_arm_handler_server_node.cpp │ └── moveJoints_handler_server_node.cpp ├── ommp_packages ├── ommp_bringup │ ├── CMakeLists.txt │ ├── config │ │ └── real_start │ │ │ ├── odom_encoder_params.yaml │ │ │ ├── rf2o_laser_odometry_params.yaml │ │ │ ├── serial_params.yaml │ │ │ └── ydlidar_params.yaml │ ├── launch │ │ ├── main.launch │ │ ├── real_bringup.launch │ │ ├── sim_bringup.launch │ │ └── sim_helpers.launch │ ├── package.xml │ ├── src │ │ ├── camera_relay.cpp │ │ ├── cmd_vel_mux.cpp │ │ ├── diff_tf.cpp │ │ ├── pub_to_pca9685_driver.cpp │ │ ├── seperate_joint_states.cpp │ │ ├── switch_controllers_client.cpp │ │ └── talker.cpp │ └── worlds │ │ ├── empty.world │ │ ├── jackal_race.world │ │ ├── object_recognition1.world │ │ ├── rtabmap.world │ │ └── simple.world ├── ommp_control │ ├── CMakeLists.txt │ ├── config │ │ ├── arm_control.yaml │ │ ├── diff_control.yaml │ │ ├── diff_control_with_tf.yaml │ │ ├── gripper_effort_control.yaml │ │ ├── gripper_position_control.yaml │ │ ├── hardware_interface.yaml │ │ ├── hardware_interface_pseudo_real.yaml │ │ ├── joint_state_controller.yaml │ │ ├── kinect_control_real.yaml │ │ ├── kinect_control_sim.yaml │ │ └── robot_localization.yaml │ ├── launch │ │ ├── control.launch │ │ └── teleop.launch │ ├── package.xml │ └── scripts │ │ ├── arm_teleop │ │ └── teleop ├── ommp_description │ ├── CMakeLists.txt │ ├── launch │ │ └── description.launch │ ├── meshes │ │ ├── gripper3 │ │ │ ├── omd-d18-tip.dae │ │ │ └── v2 │ │ │ │ ├── .placeholder │ │ │ │ ├── finger_base_link_simple.dae │ │ │ │ ├── finger_dist_link_simple.dae │ │ │ │ ├── finger_palm_link.dae │ │ │ │ ├── finger_prox_link_simple.dae │ │ │ │ └── palm_link_simple.dae │ │ ├── sensors │ │ │ ├── kinect │ │ │ │ ├── kinect.dae │ │ │ │ └── kinect.jpg │ │ │ └── ydlidar │ │ │ │ └── ydlidar.dae │ │ └── 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 │ └── urdf │ │ ├── arms │ │ └── generic_arm │ │ │ ├── generic_arm.gazebo.xacro │ │ │ ├── generic_arm.transmissions.xacro │ │ │ └── generic_arm.urdf.xacro │ │ ├── bases │ │ ├── ommp_base │ │ │ ├── ommp_bases.gazebo.xacro │ │ │ └── ommp_bases.urdf.xacro │ │ └── ommp_base_real │ │ │ ├── ommp_bases.gazebo.xacro │ │ │ └── ommp_bases.urdf.xacro │ │ ├── grippers │ │ └── generic_gripper │ │ │ ├── generic_gripper.gazebo.xacro │ │ │ ├── generic_gripper.transmissions.xacro │ │ │ └── generic_gripper.urdf.xacro │ │ ├── macros │ │ └── inertia_macros.urdf.xacro │ │ ├── robots │ │ ├── ommp_real │ │ │ ├── arm_configuration.urdf.xacro │ │ │ ├── configuration.urdf.xacro │ │ │ └── ommp_real.urdf.xacro │ │ └── ommp_sim │ │ │ ├── arm_configuration.urdf.xacro │ │ │ ├── configuration.urdf.xacro │ │ │ ├── ommp_sim.gazebo.xacro │ │ │ └── ommp_sim.urdf.xacro │ │ ├── sensors │ │ ├── imu │ │ │ ├── imu.gazebo.xacro │ │ │ └── imu.urdf.xacro │ │ ├── kinect │ │ │ ├── kinect.gazebo.xacro │ │ │ ├── kinect.transmissions.xacro │ │ │ ├── kinect_real.urdf.xacro │ │ │ └── kinect_sim.urdf.xacro │ │ └── ydlidar │ │ │ ├── ydlidar.gazebo.xacro │ │ │ └── ydlidar.urdf.xacro │ │ └── wheels │ │ ├── costum_wheel │ │ └── costum_wheel.urdf.xacro │ │ └── omni_wheel │ │ └── omni_wheel.urdf.xacro ├── ommp_hardware_interface │ ├── .gitignore │ ├── .travis.yml │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── cmake │ │ └── FindGflags.cmake │ ├── include │ │ └── ros_control_boilerplate │ │ │ ├── generic_hw_control_loop.h │ │ │ ├── generic_hw_interface.h │ │ │ ├── sim_hw_interface.h │ │ │ └── tools │ │ │ ├── controller_to_csv.h │ │ │ ├── csv_to_controller.h │ │ │ └── joystick_manual_control.h │ ├── ommp_control │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ └── ommp_controllers.yaml │ │ ├── include │ │ │ └── ommp_control │ │ │ │ └── ommp_hw_interface.h │ │ ├── launch │ │ │ ├── ommp_hardware.launch │ │ │ ├── ommp_simulation.launch │ │ │ ├── ommp_test_trajectory.launch │ │ │ └── ommp_visualize.launch │ │ ├── package.xml │ │ └── src │ │ │ ├── ommp_hw_interface.cpp │ │ │ └── ommp_hw_main.cpp │ ├── package.xml │ ├── resources │ │ └── screenshot.png │ ├── scripts │ │ └── analyze_trajectory.m │ └── src │ │ ├── generic_hw_control_loop.cpp │ │ ├── generic_hw_interface.cpp │ │ ├── sim_hw_interface.cpp │ │ ├── sim_hw_main.cpp │ │ └── tools │ │ ├── controller_to_csv.cpp │ │ ├── controller_to_csv_main.cpp │ │ ├── csv_to_controller.cpp │ │ ├── csv_to_controller_main.cpp │ │ ├── keyboard_teleop.cpp │ │ └── test_trajectory.cpp ├── ommp_moveit_interface │ ├── CMakeLists.txt │ ├── include │ │ └── ommp_moveit_interface │ │ │ └── pick_place_server.h │ ├── launch │ │ ├── moveit.launch │ │ ├── moveit_real.launch │ │ └── pick_place.launch │ ├── package.xml │ ├── scripts │ │ ├── joint_exec.py │ │ ├── out_of_view.py │ │ ├── pick_place_client.py │ │ ├── pos_exec.py │ │ ├── reach_exec.py │ │ ├── set_start_pos.py │ │ └── traj_exec.py │ ├── src │ │ └── pick_place_server.cpp │ └── srv │ │ └── PickPlace.srv ├── ommp_navigation │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ ├── amcl_main.launch │ │ ├── gmapping_main.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── exploration.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigation_main.launch │ │ ├── odom_navigation_main.launch │ │ └── rtabmap │ │ │ ├── rtabmap_localization.launch │ │ │ └── rtabmap_mapping.launch │ ├── maps │ │ ├── custom_map.pgm │ │ ├── custom_map.yaml │ │ ├── designed_map.pgm │ │ ├── designed_map.yaml │ │ ├── jackal_race.pgm │ │ ├── jackal_race.yaml │ │ ├── sim_map.pgm │ │ └── sim_map.yaml │ ├── package.xml │ ├── params │ │ ├── base_local_planner_params.yaml │ │ ├── costmap_common_params.yaml │ │ ├── exploration_params │ │ │ └── costmap_exploration.yaml │ │ ├── map_nav_params │ │ │ ├── global_costmap_params.yaml │ │ │ └── local_costmap_params.yaml │ │ ├── move_base_params.yaml │ │ └── odom_nav_params │ │ │ ├── global_costmap_params.yaml │ │ │ └── local_costmap_params.yaml │ └── scripts │ │ └── patrol.py ├── ommp_real_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── chomp_planning.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ommp_real.srdf │ │ ├── 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 │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ommp_real_moveit_controller_manager.launch.xml │ │ ├── ommp_real_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 │ │ ├── trajectory_execution.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ └── package.xml ├── ommp_sim_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── chomp_planning.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ommp_sim.srdf │ │ ├── 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 │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ommp_sim_moveit_controller_manager.launch.xml │ │ ├── ommp_sim_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 │ │ ├── trajectory_execution.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ └── package.xml └── ommp_viz │ ├── CMakeLists.txt │ ├── launch │ ├── rviz.launch │ └── view_robot.launch │ ├── package.xml │ └── rviz │ ├── basic.rviz │ ├── drive.rviz │ ├── frontier_exploration.rviz │ ├── navigation.rviz │ ├── obj_rec.rviz │ ├── object_recognition1.rviz │ ├── pseudo_real.rviz │ ├── rtabmap_mapping.rviz │ ├── view_robot.rviz │ └── without_map_navigation.rviz ├── safe_spawner ├── CMakeLists.txt ├── package.xml ├── safe_spawner_basic.sh ├── safe_spawner_drive.sh ├── safe_spawner_exploration.sh ├── safe_spawner_frontier_exploration.sh ├── safe_spawner_navigation.sh ├── safe_spawner_object_recognition.sh ├── safe_spawner_patrol.sh ├── safe_spawner_pseudo_real.sh ├── safe_spawner_rtabmap_localization.sh ├── safe_spawner_rtabmap_mapping.sh ├── safe_spawner_template.sh ├── safe_spawner_train.sh └── safe_spawner_without_map_navigation.sh └── sensor_stick ├── .DS_Store ├── CMakeLists.txt ├── config ├── Pcl.cfg ├── controllers.yaml └── perception.rviz ├── launch ├── object_recognition.launch ├── robot_control.launch ├── robot_description.launch ├── robot_spawn.launch └── training.launch ├── meshes └── asus_xtion.dae ├── model.sav ├── models ├── arm_part │ ├── materials │ │ ├── scripts │ │ │ └── arm_part.material │ │ └── textures │ │ │ └── parts.png │ ├── meshes │ │ └── arm.dae │ ├── model.config │ └── model.sdf ├── beer │ ├── materials │ │ ├── scripts │ │ │ └── beer.material │ │ └── textures │ │ │ └── beer.png │ ├── model-1_4.sdf │ ├── model.config │ └── model.sdf ├── biscuits │ ├── materials │ │ ├── scripts │ │ │ └── biscuits.material │ │ └── textures │ │ │ └── optimized_tsdf_texture_mapped_mesh.png │ ├── meshes │ │ └── biscuits.dae │ ├── model.config │ └── model.sdf ├── book │ ├── materials │ │ ├── scripts │ │ │ └── book.material │ │ └── textures │ │ │ └── optimized_tsdf_texture_mapped_mesh.png │ ├── meshes │ │ └── book.dae │ ├── model.config │ └── model.sdf ├── bowl │ ├── meshes │ │ └── bowl.dae │ ├── model-1_2.sdf │ ├── model-1_3.sdf │ ├── model-1_4.sdf │ ├── model.config │ └── model.sdf ├── box_red │ ├── model.config │ └── model.sdf ├── create │ ├── materials │ │ └── textures │ │ │ └── create_body.png │ ├── meshes │ │ └── create_body.dae │ ├── model-1_2.sdf │ ├── model-1_3.sdf │ ├── model-1_4.sdf │ ├── model.config │ └── model.sdf ├── disk_part │ ├── meshes │ │ └── disk.dae │ ├── model.config │ └── model.sdf ├── eraser │ ├── materials │ │ ├── scripts │ │ │ └── eraser.material │ │ └── textures │ │ │ └── optimized_tsdf_texture_mapped_mesh.png │ ├── meshes │ │ └── eraser.dae │ ├── model.config │ └── model.sdf ├── glue │ ├── materials │ │ ├── scripts │ │ │ └── glue.material │ │ └── textures │ │ │ └── optimized_tsdf_texture_mapped_mesh.png │ ├── meshes │ │ └── glue.dae │ ├── model.config │ └── model.sdf ├── hammer │ ├── materials │ │ └── textures │ │ │ ├── __auto_.png │ │ │ ├── __auto_1.png │ │ │ ├── hammer-1_1_1.png │ │ │ └── hammer-1_1_noCulling.png │ ├── meshes │ │ └── hammer.dae │ ├── model-1_2.sdf │ ├── model-1_3.sdf │ ├── model-1_4.sdf │ ├── model.config │ └── model.sdf ├── monster │ ├── model.config │ └── model.sdf ├── plastic_cup │ ├── meshes │ │ └── plastic_cup.dae │ ├── model.config │ ├── model.rsdf │ └── model.sdf ├── snacks │ ├── materials │ │ ├── scripts │ │ │ └── snacks.material │ │ └── textures │ │ │ └── optimized_tsdf_texture_mapped_mesh.png │ ├── meshes │ │ └── snacks.dae │ ├── model.config │ └── model.sdf ├── soap │ ├── materials │ │ ├── scripts │ │ │ └── soap.material │ │ └── textures │ │ │ └── optimized_tsdf_texture_mapped_mesh.png │ ├── meshes │ │ └── soap.dae │ ├── model.config │ └── model.sdf ├── soap2 │ ├── materials │ │ ├── scripts │ │ │ └── soap2.material │ │ └── textures │ │ │ └── optimized_tsdf_texture_mapped_mesh.png │ ├── meshes │ │ └── soap2.dae │ ├── model.config │ └── model.sdf ├── soda_can │ ├── materials │ │ └── textures │ │ │ └── uda_can.png │ ├── meshes │ │ ├── soda_can.dae │ │ └── udacity-blue.png.001.png │ ├── model-1_2.sdf │ ├── model-1_3.sdf │ ├── model-1_4.sdf │ ├── model.config │ └── model.sdf └── sticky_notes │ ├── materials │ ├── scripts │ │ └── sticky_notes.material │ └── textures │ │ └── optimized_tsdf_texture_mapped_mesh.png │ ├── meshes │ └── sticky_notes.dae │ ├── model.config │ └── model.sdf ├── msg ├── 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