├── .gitignore ├── .travis.rosinstall ├── .travis.yml ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── constrained_ik ├── CHANGELOG.rst ├── CMakeLists.txt ├── cfg │ ├── CLIKDynamic.cfg │ └── CLIKPlannerDynamic.cfg ├── config │ └── test.rviz ├── constrained_ik_constraint_plugin_description.xml ├── constrained_ik_planner_plugin_description.xml ├── constrained_ik_plugin.xml ├── examples │ ├── avoid_joint_limits_example.cpp │ ├── avoid_joint_limits_example.launch │ ├── avoid_joint_limits_example.yaml │ ├── avoid_joint_vel_limits_example.cpp │ ├── avoid_joint_vel_limits_example.launch │ ├── avoid_joint_vel_limits_example.yaml │ ├── avoid_obstacles_example.cpp │ ├── avoid_obstacles_example.launch │ ├── avoid_obstacles_example.yaml │ ├── avoid_singularities_example.cpp │ ├── avoid_singularities_example.launch │ ├── avoid_singularities_example.yaml │ ├── clik_config_example.yaml │ ├── clik_planning_pipeline.launch.xml │ ├── constraints_from_yaml_example.cpp │ ├── example_utils.h │ ├── goal_mid_joint_example.cpp │ ├── goal_mid_joint_example.launch │ ├── goal_mid_joint_example.yaml │ ├── goal_minimize_change_example.cpp │ ├── goal_minimize_change_example.launch │ ├── goal_minimize_change_example.yaml │ ├── goal_orientation_example.cpp │ ├── goal_orientation_example.launch │ ├── goal_orientation_example.yaml │ ├── goal_position_example.cpp │ ├── goal_position_example.launch │ ├── goal_position_example.yaml │ ├── goal_tool_orientation_example.cpp │ ├── goal_tool_orientation_example.launch │ ├── goal_tool_orientation_example.yaml │ ├── goal_tool_pointing_example.cpp │ ├── goal_tool_pointing_example.launch │ ├── goal_tool_pointing_example.yaml │ ├── goal_tool_position_example.cpp │ ├── goal_tool_position_example.launch │ ├── goal_tool_position_example.yaml │ ├── goal_zero_jvel_example.cpp │ ├── goal_zero_jvel_example.launch │ ├── goal_zero_jvel_example.yaml │ └── launch_example.launch ├── examplespage.dox ├── include │ └── constrained_ik │ │ ├── basic_kin.h │ │ ├── constrained_ik.h │ │ ├── constrained_ik_utils.h │ │ ├── constraint.h │ │ ├── constraint_group.h │ │ ├── constraint_results.h │ │ ├── constraints │ │ ├── avoid_joint_limits.h │ │ ├── avoid_obstacles.h │ │ ├── avoid_singularities.h │ │ ├── goal_mid_joint.h │ │ ├── goal_minimize_change.h │ │ ├── goal_orientation.h │ │ ├── goal_pose.h │ │ ├── goal_position.h │ │ ├── goal_tool_orientation.h │ │ ├── goal_tool_pointing.h │ │ ├── goal_zero_jvel.h │ │ ├── joint_vel_limits.h │ │ └── tool_position.h │ │ ├── enum_types.h │ │ ├── moveit_interface │ │ ├── cartesian_planner.h │ │ ├── constrained_ik_planner_plugin.h │ │ ├── constrained_ik_plugin.h │ │ └── joint_interpolation_planner.h │ │ └── solver_state.h ├── mainpage.dox ├── package.xml ├── rosdoc.yaml ├── src │ ├── basic_kin.cpp │ ├── constrained_ik.cpp │ ├── constrained_ik_utils.cpp │ ├── constraint.cpp │ ├── constraint_group.cpp │ ├── constraints │ │ ├── avoid_joint_limits.cpp │ │ ├── avoid_obstacles.cpp │ │ ├── avoid_singularities.cpp │ │ ├── goal_mid_joint.cpp │ │ ├── goal_minimize_change.cpp │ │ ├── goal_orientation.cpp │ │ ├── goal_position.cpp │ │ ├── goal_tool_orientation.cpp │ │ ├── goal_tool_pointing.cpp │ │ ├── goal_zero_jvel.cpp │ │ ├── joint_vel_limits.cpp │ │ └── tool_position.cpp │ ├── enum_types.cpp │ ├── moveit_interface │ │ ├── cartesian_planner.cpp │ │ ├── constrained_ik_planner_plugin.cpp │ │ ├── constrained_ik_plugin.cpp │ │ └── joint_interpolation_planner.cpp │ └── solver_state.cpp └── test │ ├── resources │ ├── gazebo.urdf.xacro │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── load_ur10.launch │ ├── meshes │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upper_arm.stl │ │ │ ├── wrist_1.stl │ │ │ ├── wrist_2.stl │ │ │ └── wrist_3.stl │ │ └── visual │ │ │ ├── Base.dae │ │ │ ├── Forearm.dae │ │ │ ├── Shoulder.dae │ │ │ ├── UpperArm.dae │ │ │ ├── Wrist1.dae │ │ │ ├── Wrist2.dae │ │ │ └── Wrist3.dae │ ├── ur10.gazebo.xacro │ ├── ur10.srdf │ ├── ur10.transmission.xacro │ ├── ur10.urdf │ ├── ur10.urdf.xacro │ └── ur10_robot.urdf.xacro │ ├── test.rviz │ ├── test_basic_kin.cpp │ ├── test_basic_kin.launch │ ├── test_constrained_ik.cpp │ ├── test_constrained_ik.launch │ └── test_ur10.launch ├── doxygen.config ├── industrial_collision_detection ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── include │ └── industrial_collision_detection │ │ ├── collision_detection │ │ ├── collision_common.h │ │ ├── collision_robot_industrial.h │ │ └── collision_world_industrial.h │ │ └── industrial_collision_detection_plugin.h ├── industrial_collision_detection_plugin_description.xml ├── package.xml └── src │ ├── collision_detection │ ├── collision_common.cpp │ ├── collision_robot_industrial.cpp │ └── collision_world_industrial.cpp │ └── industrial_collision_detection_plugin.cpp ├── industrial_moveit ├── CHANGELOG.rst ├── CMakeLists.txt └── package.xml ├── industrial_moveit_benchmarking ├── CHANGELOG.rst ├── CMakeLists.txt ├── launch │ ├── cartesian_valgrind.launch │ ├── joint_interpolated_valgrind.launch │ └── stomp_valgrind.launch ├── package.xml ├── resources │ ├── config │ │ ├── clik_planning.yaml │ │ ├── stomp_config.yaml │ │ └── test_kr210.srdf │ ├── meshes │ │ └── visual │ │ │ └── menger_sponge.stl │ └── urdf │ │ └── test_kr210l150_500K.urdf └── src │ ├── clik_valgrind.cpp │ ├── joint_interpolated_valgrind.cpp │ └── stomp_valgrind.cpp ├── industrial_moveit_test_moveit_config ├── .setup_assistant ├── CHANGELOG.rst ├── CMakeLists.txt ├── config │ ├── controllers.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── joint_names.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── stomp_config.yaml │ └── test_kr210.srdf ├── launch │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_planning_execution.launch │ ├── 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 │ ├── stomp_planning_pipeline.launch.xml │ ├── test_kr210_moveit_controller_manager.launch.xml │ ├── test_kr210_moveit_sensor_manager.launch.xml │ ├── trajectory_execution.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml └── package.xml └── industrial_moveit_test_support ├── CHANGELOG.rst ├── CMakeLists.txt ├── meshes └── kr210l150 │ ├── collision │ ├── base_link.stl │ ├── link_1.stl │ ├── link_2.stl │ ├── link_3.stl │ ├── link_4.stl │ ├── link_5.stl │ └── link_6.stl │ └── visual │ ├── base_link.STL │ ├── base_link.dae │ ├── link_1.dae │ ├── link_1.stl │ ├── link_2.dae │ ├── link_2.stl │ ├── link_3.dae │ ├── link_3.stl │ ├── link_4.dae │ ├── link_4.stl │ ├── link_5.dae │ ├── link_5.stl │ ├── link_6.dae │ └── link_6.stl ├── package.xml └── urdf ├── kr210l150_macro.xacro ├── simple_2fgripper_macro.xacro ├── 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