├── .gitignore ├── CMakeLists.txt ├── README.md ├── applications ├── manipulation_worlds │ ├── CMakeLists.txt │ ├── Makefile │ ├── home_with_bedroom.dae │ ├── home_with_bedroom.stl │ ├── home_with_bedroom.wings │ ├── launch │ │ ├── add_cabinet.launch │ │ ├── add_candy.launch │ │ ├── add_furnitures.launch │ │ ├── add_small_shelf.launch │ │ ├── empty_world.launch │ │ ├── home.launch │ │ ├── pr2_candy_world.launch │ │ ├── pr2_home.launch │ │ ├── pr2_object_retrieve.launch │ │ ├── pr2_small_shelf_world.launch │ │ └── pr2_table_object.launch │ ├── mainpage.dox │ ├── manifest.xml │ ├── meshes │ │ ├── coke_can.dae │ │ ├── coke_can.jpg │ │ ├── cup.dae │ │ ├── cup.stl │ │ ├── make_ply.py │ │ ├── make_small_white_shelf.py │ │ ├── make_sushi_shelf.py │ │ ├── peroxide.dae │ │ ├── small_white_shelf.dae │ │ ├── small_white_shelf.ply │ │ ├── small_white_shelf.stl │ │ ├── suave.dae │ │ ├── sushi_shelf.dae │ │ ├── sushi_shelf.ply │ │ ├── trash_bin.dae │ │ └── trash_bin.stl │ ├── urdf │ │ ├── cabinet.urdf │ │ ├── cabinet_door.urdf │ │ ├── candy1.urdf │ │ ├── candy2.urdf │ │ ├── candy_container.urdf │ │ ├── coke_can.urdf │ │ ├── cup.urdf │ │ ├── peroxide.urdf │ │ ├── plug.urdf │ │ ├── shelf.urdf │ │ ├── small_trash_bin.urdf │ │ ├── small_white_shelf.urdf │ │ ├── suave.urdf │ │ ├── sushi_shelf.urdf │ │ ├── table.urdf.xacro │ │ └── trash_bin.urdf │ └── worlds │ │ ├── empty.world │ │ └── home.world ├── pr2_create_object_model │ ├── .gitignore │ ├── CMakeLists.txt │ ├── Makefile │ ├── action │ │ └── ModelObjectInHand.action │ ├── cmake │ │ └── FindEigen.cmake │ ├── launch │ │ └── create_object_model_server.launch │ ├── mainpage.dox │ ├── manifest.xml │ ├── msg │ │ ├── .gitignore │ │ └── ObjectInHand.msg │ └── src │ │ ├── create_object_model_server.cpp │ │ ├── ping_create_object_model_server.cpp │ │ └── pr2_create_object_model │ │ └── __init__.py ├── pr2_interactive_manipulation │ ├── .gitignore │ ├── CMakeLists.txt │ ├── Makefile │ ├── cfg │ │ └── pickup_config.cfg │ ├── docs │ │ ├── PickupConfig-usage.dox │ │ ├── PickupConfig.dox │ │ └── PickupConfig.wikidoc │ ├── include │ │ └── pr2_interactive_manipulation │ │ │ ├── graspable_object_handler.h │ │ │ ├── interactive_manipulation_backend.h │ │ │ └── interactive_marker_node.h │ ├── launch │ │ ├── camera_throttle.launch │ │ ├── joy.launch │ │ └── pr2_interactive_manipulation_robot.launch │ ├── mainpage.dox │ ├── manifest.xml │ └── src │ │ ├── graspable_object_handler.cpp │ │ ├── interactive_manipulation_backend.cpp │ │ ├── interactive_manipulation_backend_node.cpp │ │ ├── interactive_marker_node.cpp │ │ └── pr2_interactive_manipulation │ │ ├── __init__.py │ │ └── cfg │ │ ├── .gitignore │ │ └── __init__.py ├── pr2_interactive_manipulation_frontend │ ├── CMakeLists.txt │ ├── Makefile │ ├── config │ │ └── pr2_interactive_manipulation.rviz │ ├── icons │ │ ├── classes │ │ │ ├── LookAt.png │ │ │ ├── NavigateTo.svg │ │ │ └── SetGripper.png │ │ ├── facing.png │ │ ├── icon_bg.svg │ │ ├── kinect.png │ │ ├── left.png │ │ ├── overhead.png │ │ ├── right.png │ │ └── top.png │ ├── image_src │ │ ├── facing.png │ │ ├── kinect.png │ │ ├── left.png │ │ ├── overhead.png │ │ └── top.png │ ├── images │ │ ├── splash.png │ │ └── splash.xcf │ ├── include │ │ └── pr2_interactive_manipulation │ │ │ ├── advanced_options_dialog.h │ │ │ ├── arm_locations.h │ │ │ ├── awesome_camera_display.h │ │ │ ├── camera_focus_frontend.h │ │ │ ├── interactive_manipulation_frontend.h │ │ │ ├── interactive_manipulation_frontend_display.h │ │ │ ├── invisible_robot_display.h │ │ │ ├── point_head_camera_display.h │ │ │ ├── point_head_view_controller.h │ │ │ ├── point_tools.h │ │ │ ├── publish_click_camera_display.h │ │ │ └── publish_click_view_controller.h │ ├── launch │ │ ├── big-menus.style │ │ ├── pr2_interactive_manipulation_desktop.launch │ │ └── startRvizRemap.sh │ ├── mainpage.dox │ ├── manifest.xml │ ├── plugin_description.xml │ ├── scripts │ │ └── adjust_rviz_config.py │ └── src │ │ ├── advanced_options_dialog.cpp │ │ ├── advanced_options_dialog.ui │ │ ├── awesome_camera_display.cpp │ │ ├── camera_focus_frontend.cpp │ │ ├── grasp_caller.cpp │ │ ├── interactive_manipulation.ui │ │ ├── interactive_manipulation_frontend.cpp │ │ ├── interactive_manipulation_frontend_display.cpp │ │ ├── invisible_robot_display.cpp │ │ ├── point_head_camera_display.cpp │ │ ├── point_head_view_controller.cpp │ │ ├── point_tools.cpp │ │ ├── publish_click_camera_display.cpp │ │ └── publish_click_view_controller.cpp ├── pr2_interactive_object_detection │ ├── .gitignore │ ├── CMakeLists.txt │ ├── Makefile │ ├── action │ │ └── UserCommand.action │ ├── include │ │ └── pr2_interactive_object_detection │ │ │ ├── msg_saver.h │ │ │ └── pr2_interactive_object_detection_backend.h │ ├── launch │ │ └── pr2_interactive_object_detection_robot.launch │ ├── mainpage.dox │ ├── manifest.xml │ ├── msg │ │ └── .gitignore │ └── src │ │ ├── pr2_interactive_object_detection │ │ └── __init__.py │ │ ├── pr2_interactive_object_detection_backend.cpp │ │ └── recognition_translator.cpp ├── pr2_interactive_object_detection_frontend │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ └── pr2_interactive_object_detection_frontend │ │ │ ├── interactive_object_detection_display.h │ │ │ └── interactive_object_detection_frame.h │ ├── launch │ │ └── pr2_interactive_object_detection_desktop.launch │ ├── mainpage.dox │ ├── manifest.xml │ ├── plugin_description.xml │ └── src │ │ ├── init.cpp │ │ ├── interactive_object_detection_display.cpp │ │ ├── interactive_object_detection_frame.cpp │ │ └── main_frame.ui ├── pr2_pick_and_place_demos │ ├── CMakeLists.txt │ ├── Makefile │ ├── launch │ │ ├── pick_and_place_demo.launch │ │ └── pick_and_place_keyboard_interface.launch │ ├── mainpage.dox │ ├── manifest.xml │ ├── nodes │ │ └── pick_and_place_keyboard_interface.cpp │ ├── scripts │ │ └── run_pick_and_place_demo.py │ ├── src │ │ └── pr2_pick_and_place_demos │ │ │ ├── __init__.py │ │ │ ├── pick_and_place_demo.py │ │ │ └── pick_and_place_manager.py │ └── test │ │ ├── simple_pick_and_place_example.py │ │ └── test_pr2_gripper_grasp_planner_cluster.py ├── pr2_tabletop_manipulation_launch │ ├── CMakeLists.txt │ ├── Makefile │ ├── launch │ │ └── pr2_tabletop_manipulation.launch │ ├── mainpage.dox │ └── manifest.xml └── tf_throttle │ ├── CMakeLists.txt │ ├── Makefile │ ├── launch │ ├── tf_republished.launch │ └── tf_throttled.launch │ ├── mainpage.dox │ ├── manifest.xml │ └── src │ ├── tf_republish.cpp │ └── tf_throttle.cpp ├── manipulation ├── pr2_gripper_grasp_controller │ ├── CMakeLists.txt │ ├── Makefile │ ├── launch │ │ ├── both_grippers_finger_sensor_grasp_posture_action.launch │ │ └── both_grippers_grasp_posture_action.launch │ ├── mainpage.dox │ ├── manifest.xml │ └── nodes │ │ └── pr2_gripper_grasp_controller.cpp ├── pr2_gripper_grasp_planner_cluster │ ├── .gitignore │ ├── CMakeLists.txt │ ├── Makefile │ ├── config │ │ ├── pr2_gripper_model.yaml │ │ ├── robotiq_hand_virtual_gripper_model.yaml │ │ └── schunk_hand_virtual_gripper_model.yaml │ ├── launch │ │ ├── pr2_gripper_grasp_planner_cluster_server.launch │ │ ├── robotiq_hand_grasp_planner_cluster_server.launch │ │ └── schunk_hand_grasp_planner_cluster_server.launch │ ├── mainpage.dox │ ├── manifest.xml │ ├── scripts │ │ └── point_cluster_grasp_planner_server.py │ ├── src │ │ └── pr2_gripper_grasp_planner_cluster │ │ │ ├── __init__.py │ │ │ └── point_cluster_grasp_planner.py │ └── srv │ │ └── SetPointClusterGraspParams.srv ├── pr2_gripper_reactive_approach │ ├── CMakeLists.txt │ ├── Makefile │ ├── mainpage.dox │ ├── manifest.xml │ ├── scripts │ │ └── reactive_grasp_server.py │ ├── src │ │ └── pr2_gripper_reactive_approach │ │ │ ├── __init__.py │ │ │ ├── controller_manager.py │ │ │ ├── controller_params.py │ │ │ ├── hand_sensor_listeners.py │ │ │ ├── joint_states_listener.py │ │ │ ├── reactive_grasp.py │ │ │ └── sensor_info.py │ └── test │ │ └── test_pr2_gripper_reactive_approach_server.py ├── pr2_gripper_sensor_action │ ├── CMakeLists.txt │ ├── Makefile │ ├── launch │ │ └── pr2_gripper_sensor_actions.launch │ ├── mainpage.dox │ ├── manifest.xml │ ├── scripts │ │ └── record_r_acc.sh │ └── src │ │ ├── findContactActionTest.cpp │ │ ├── forceServoActionTest.cpp │ │ ├── grabActionTest.cpp │ │ ├── placeActionTest.cpp │ │ ├── positionActionTest.cpp │ │ ├── pr2_gripper_event_detector_action.cpp │ │ ├── pr2_gripper_findContact_action.cpp │ │ ├── pr2_gripper_forceServo_action.cpp │ │ ├── pr2_gripper_grab_action.cpp │ │ ├── pr2_gripper_release_action.cpp │ │ ├── pr2_gripper_sensor_action.cpp │ │ ├── pr2_gripper_slipServo_action.cpp │ │ └── slipServoActionTest.cpp ├── pr2_gripper_sensor_controller │ ├── CMakeLists.txt │ ├── Makefile │ ├── controller_plugins.xml │ ├── include │ │ └── pr2_gripper_sensor_controller │ │ │ ├── acceleration_observer.h │ │ │ ├── digitalFilter.h │ │ │ ├── gripper_controller.h │ │ │ ├── pr2_gripper_sensor_controller.h │ │ │ └── pressure_observer.h │ ├── launch │ │ ├── pr2_gripper_sensor_controller.launch │ │ ├── pr2_gripper_sensor_controller.yaml │ │ ├── pr2_gripper_sensor_controller_left.yaml │ │ └── pr2_gripper_sensor_controller_right.yaml │ ├── mainpage.dox │ ├── manifest.xml │ └── src │ │ ├── acceleration_observer.cpp │ │ ├── digitalFilter.cpp │ │ ├── pr2_gripper_sensor_controller.cpp │ │ └── pressure_observer.cpp ├── pr2_gripper_sensor_msgs │ ├── .gitignore │ ├── CMakeLists.txt │ ├── Makefile │ ├── action │ │ ├── PR2GripperEventDetector.action │ │ ├── PR2GripperFindContact.action │ │ ├── PR2GripperForceServo.action │ │ ├── PR2GripperGrab.action │ │ ├── PR2GripperRelease.action │ │ └── PR2GripperSlipServo.action │ ├── mainpage.dox │ ├── manifest.xml │ ├── msg │ │ ├── .gitignore │ │ ├── PR2GripperEventDetectorCommand.msg │ │ ├── PR2GripperEventDetectorData.msg │ │ ├── PR2GripperFindContactCommand.msg │ │ ├── PR2GripperFindContactData.msg │ │ ├── PR2GripperForceServoCommand.msg │ │ ├── PR2GripperForceServoData.msg │ │ ├── PR2GripperGrabCommand.msg │ │ ├── PR2GripperGrabData.msg │ │ ├── PR2GripperPressureData.msg │ │ ├── PR2GripperReleaseCommand.msg │ │ ├── PR2GripperReleaseData.msg │ │ ├── PR2GripperSensorRTState.msg │ │ ├── PR2GripperSensorRawData.msg │ │ ├── PR2GripperSlipServoCommand.msg │ │ └── PR2GripperSlipServoData.msg │ └── src │ │ └── pr2_gripper_sensor_msgs │ │ └── __init__.py ├── pr2_interactive_gripper_pose_action │ ├── CMakeLists.txt │ ├── Makefile │ ├── launch │ │ ├── pr2_interactive_gripper_pose_action.launch │ │ └── pr2_interactive_nav_action.launch │ ├── mainpage.dox │ ├── manifest.xml │ └── src │ │ ├── pr2_interactive_gripper_pose_action.cpp │ │ └── pr2_interactive_nav_action.cpp ├── pr2_manipulation_controllers │ ├── .gitignore │ ├── CMakeLists.txt │ ├── Makefile │ ├── cmake │ │ └── FindEigen.cmake │ ├── controller_plugins.xml │ ├── include │ │ └── pr2_manipulation_controllers │ │ │ └── cartesian_trajectory_controller.h │ ├── mainpage.dox │ ├── manifest.xml │ ├── msg │ │ ├── JTTaskControllerState.msg │ │ ├── JTTeleopControllerState.msg │ │ ├── JinvExperimentalControllerState.msg │ │ └── JinvTeleopControllerState.msg │ ├── scripts │ │ └── posture.py │ ├── src │ │ ├── cartesian_trajectory_controller.cpp │ │ ├── jinv_experimental_controller.cpp │ │ ├── jinv_teleop_controller.cpp │ │ ├── jt_task_controller.cpp │ │ └── pr2_manipulation_controllers │ │ │ └── __init__.py │ └── srv │ │ ├── CheckMoving.srv │ │ └── MoveToPose.srv ├── pr2_marker_control │ ├── CMakeLists.txt │ ├── Makefile │ ├── TODO │ ├── include │ │ └── pr2_marker_control │ │ │ ├── cloud_handler.h │ │ │ ├── generate_robot_model.h │ │ │ └── marker_control.h │ ├── launch │ │ ├── desktop.launch │ │ └── marker_control.launch │ ├── mainpage.dox │ ├── manifest.xml │ ├── rviz_marker_control.vcg │ ├── scripts │ │ └── draw_reachable_zones.py │ └── src │ │ ├── cloud_handler.cpp │ │ ├── generate_robot_model.cpp │ │ ├── marker_control.cpp │ │ └── marker_control_node.cpp ├── pr2_object_manipulation_launch │ ├── CMakeLists.txt │ ├── Makefile │ ├── config │ │ ├── camera_configurations.yaml │ │ ├── collision_map_sources_laser.yaml │ │ ├── lcg_left_pr2_hand_descriptions.yaml │ │ ├── object_modeling_self_filter.yaml │ │ ├── pr2_arm_configurations.yaml │ │ ├── pr2_hand_descriptions.yaml │ │ └── self_filter.yaml │ ├── launch │ │ ├── c_jexp.launch │ │ ├── c_jinv.launch │ │ ├── c_jt.launch │ │ ├── c_jtask.launch │ │ ├── c_rmrc.launch │ │ ├── laser+stereo-perception.launch │ │ ├── pr2_manipulation.launch │ │ └── pr2_manipulation_prerequisites.launch │ ├── mainpage.dox │ ├── manifest.xml │ ├── manifest.xml~ │ └── scripts │ │ ├── change_joint_controller_gains.py │ │ └── kinect_monitor.py ├── pr2_object_manipulation_msgs │ ├── .gitignore │ ├── CMakeLists.txt │ ├── Makefile │ ├── action │ │ ├── GetGripperPose.action │ │ ├── GetNavPose.action │ │ ├── GetPose.action │ │ ├── IMGUI.action │ │ ├── PickupIMObject.action │ │ ├── PoseStampedScripted.action │ │ ├── RunScript.action │ │ └── TestGripperPose.action │ ├── mainpage.dox │ ├── manifest.xml │ ├── msg │ │ ├── .gitignore │ │ ├── CameraFocus.msg │ │ ├── IMGUIAdvancedOptions.msg │ │ ├── IMGUICommand.msg │ │ ├── IMGUIOptions.msg │ │ ├── ImageClick.msg │ │ └── Ray.msg │ ├── src │ │ └── pr2_object_manipulation_msgs │ │ │ └── __init__.py │ └── srv │ │ └── ActionInfo.srv ├── pr2_wrappers │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ └── pr2_wrappers │ │ │ ├── base_client.h │ │ │ ├── gripper_controller.h │ │ │ ├── plugs_client.h │ │ │ ├── torso_client.h │ │ │ └── tuck_arms_client.h │ ├── manifest.xml │ └── src │ │ ├── base_client.cpp │ │ ├── gripper_controller.cpp │ │ ├── plugs_client.cpp │ │ ├── torso_client.cpp │ │ └── tuck_arms_client.cpp ├── rgbd_assembler │ ├── .gitignore │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ └── rgbd_assembler │ │ │ ├── msg_saver.h │ │ │ └── utils.h │ ├── launch │ │ ├── openni_node.launch │ │ ├── openni_node_new.launch │ │ ├── rgbd_assembler.launch │ │ ├── rgbd_kinect_assembler.launch │ │ └── sim_rgbd_assembler.launch │ ├── mainpage.dox │ ├── manifest.xml │ ├── src │ │ ├── ping_rgbd_assembler_node.cpp │ │ ├── rgbd_assembler │ │ │ └── __init__.py │ │ ├── rgbd_assembler_kinect_node.cpp │ │ └── rgbd_assembler_node.cpp │ └── srv │ │ └── RgbdAssembly.srv └── segmented_clutter_grasp_planner │ ├── CMakeLists.txt │ ├── Makefile │ ├── launch │ └── segmented_clutter_grasp_planner_server.launch │ ├── mainpage.dox │ ├── manifest.xml │ ├── scripts │ └── segmented_clutter_grasp_planner_server.py │ ├── src │ ├── find_container_action.cpp │ ├── segmented_clutter_grasp_planner │ │ ├── __init__.py │ │ └── segmented_clutter_grasp_planner.py │ ├── test_find_container_action.cpp │ └── write_transformed_pcd.cpp │ └── test │ └── test_segmented_clutter_grasp_planner_server.py ├── navigation └── pr2_navigation_controllers │ ├── CMakeLists.txt │ ├── CMakeLists.txt.user │ ├── Makefile │ ├── include │ └── pr2_navigation_controllers │ │ ├── goal_passer.h │ │ └── pose_follower.h │ ├── manifest.xml │ ├── planner_plugins.xml │ └── src │ ├── goal_passer.cpp │ └── pose_follower.cpp ├── perception ├── interactive_perception_msgs │ ├── .gitignore │ ├── CMakeLists.txt │ ├── Makefile │ ├── action │ │ ├── ObjectRecognitionGui.action │ │ └── ObjectSegmentationGui.action │ ├── mainpage.dox │ ├── manifest.xml │ └── msg │ │ ├── .gitignore │ │ ├── ModelHypothesis.msg │ │ └── ModelHypothesisList.msg ├── object_recognition_gui │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ └── object_recognition_gui │ │ │ ├── mouse_event_signalling_render_panel.h │ │ │ ├── object_recognition_display.h │ │ │ └── object_recognition_rviz_ui.h │ ├── lib │ │ └── rviz_plugin.yaml │ ├── mainpage.dox │ ├── manifest.xml │ ├── plugin_description.xml │ └── src │ │ ├── init.cpp │ │ ├── mouse_event_signalling_render_panel.cpp │ │ ├── object_recognition_display.cpp │ │ ├── object_recognition_frame.ui │ │ ├── object_recognition_gui │ │ └── __init__.py │ │ ├── object_recognition_rviz_ui.cpp │ │ └── ping_object_recognition_gui.cpp ├── robot_self_filter_color │ ├── .gitignore │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ └── robot_self_filter_color │ │ │ ├── self_mask_color.h │ │ │ └── self_see_filter_color.h │ ├── mainpage.dox │ ├── manifest.xml │ └── src │ │ ├── self_filter_color.cpp │ │ ├── self_mask_color.cpp │ │ └── test_filter_color.cpp ├── tabletop_collision_map_processing │ ├── .gitignore │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ └── tabletop_collision_map_processing │ │ │ └── collision_map_interface.h │ ├── mainpage.dox │ ├── manifest.xml │ ├── nodes │ │ └── tabletop_collision_map_processing_node.cpp │ ├── src │ │ ├── collision_map_interface.cpp │ │ └── tabletop_collision_map_processing │ │ │ ├── __init__.py │ │ │ └── collision_map_interface.py │ └── srv │ │ └── TabletopCollisionMapProcessing.srv └── tabletop_object_detector │ ├── .gitignore │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ └── tabletop_object_detector │ │ ├── exhaustive_fit_detector.h │ │ ├── icp_registration_fitter.h │ │ ├── iterative_distance_fitter.h │ │ ├── marker_generator.h │ │ └── model_fitter.h │ ├── launch │ ├── tabletop_complete.launch │ ├── tabletop_complete_standalone.launch │ ├── tabletop_object_recognition.launch │ └── tabletop_segmentation.launch │ ├── mainpage.dox │ ├── manifest.xml │ ├── msg │ ├── Table.msg │ └── TabletopDetectionResult.msg │ ├── src │ ├── iterative_distance_fitter.cpp │ ├── marker_generator.cpp │ ├── model_fitter.cpp │ ├── ping_segment_object_in_hand.cpp │ ├── ping_tabletop_node.cpp │ ├── publish_database_object.cpp │ ├── segment_object_in_hand.cpp │ ├── tabletop_complete_node.cpp │ ├── tabletop_object_detector │ │ └── __init__.py │ ├── tabletop_object_recognition.cpp │ └── tabletop_segmentation.cpp │ └── srv │ ├── AddModelExclusion.srv │ ├── ClearExclusionsList.srv │ ├── NegateExclusions.srv │ ├── SegmentObjectInHand.srv │ ├── TabletopDetection.srv │ ├── TabletopObjectRecognition.srv │ └── TabletopSegmentation.srv ├── rosdep.yaml └── stack.xml /.gitignore: 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