├── .clang-format ├── .github └── workflows │ └── main.yml ├── .github_actions.yml ├── .run-clang-format ├── README.md ├── ROS1_BRIDGE_BUILD_INSTRUCTIONS.md ├── changes.diff ├── crs.rosinstall ├── crs_application ├── CMakeLists.txt ├── README.md ├── config │ ├── main │ │ ├── crs.yaml │ │ ├── motion_planning │ │ │ └── MP_config.yaml │ │ ├── part_localization.yaml │ │ └── rework │ │ │ ├── region_crop.yaml │ │ │ └── region_detection.yaml │ └── swri │ │ ├── crs.yaml │ │ ├── motion_planning │ │ └── MP_config.yaml │ │ ├── part_localization.yaml │ │ └── rework │ │ ├── region_crop.yaml │ │ └── region_detection.yaml ├── include │ └── crs_application │ │ ├── common │ │ ├── common.h │ │ ├── config.h │ │ ├── datatypes.h │ │ └── simulation_object_spawner.h │ │ ├── crs_executive.h │ │ └── task_managers │ │ ├── motion_planning_manager.h │ │ ├── part_registration_manager.h │ │ ├── part_rework_manager.h │ │ ├── process_execution_manager.h │ │ └── scan_acquisition_manager.h ├── launch │ ├── crs.launch.py │ ├── crs.launch.xml │ ├── load_preview_robot_model.launch.xml │ ├── load_robot_model.launch.xml │ ├── registration_startup.launch.py │ └── rework_startup.launch.py ├── package.xml ├── resources │ ├── crs.rviz │ └── crs_process.scxml └── src │ ├── common │ ├── config.cpp │ └── simulation_object_spawner.cpp │ ├── crs_application.cpp │ ├── crs_executive.cpp │ └── task_managers │ ├── motion_planning_manager.cpp │ ├── part_registration_manager.cpp │ ├── part_rework_manager.cpp │ ├── process_execution_manager.cpp │ └── scan_acquisition_manager.cpp ├── crs_area_selection ├── CMakeLists.txt ├── include │ └── crs_area_selection │ │ ├── area_selector.h │ │ ├── area_selector_parameters.h │ │ ├── filter.h │ │ ├── filter_impl.h │ │ └── selection_artist.h ├── package.xml └── src │ ├── area_selection_node.cpp │ ├── area_selector.cpp │ └── selection_artist.cpp ├── crs_gazebo_plugins ├── CMakeLists.txt ├── include │ └── crs_gazebo_plugins │ │ └── joint_pose_trajectory.hpp ├── package.xml └── src │ └── joint_pose_trajectory.cpp ├── crs_gui ├── CMakeLists.txt ├── README.md ├── config │ └── crs_application_demo.rviz ├── include │ └── crs_gui │ │ ├── application_panel.h │ │ ├── register_ros_msgs_for_qt.h │ │ └── widgets │ │ ├── crs_application_widget.h │ │ ├── part_selection_widget.h │ │ ├── polygon_area_selection_widget.h │ │ └── state_machine_interface_widget.h ├── launch │ ├── area_selection_demo.launch.xml │ ├── crs_application_demo.launch.xml │ └── state_machine_interface_demo.launch.xml ├── package.xml ├── plugin_description.xml ├── src │ ├── application_panel.cpp │ ├── nodes │ │ ├── area_selection_widget_demo.cpp │ │ ├── crs_application_demo.cpp │ │ ├── part_selection_widget_demo.cpp │ │ └── state_machine_interface_widget_demo.cpp │ └── widgets │ │ ├── crs_application_widget.cpp │ │ ├── part_selection_widget.cpp │ │ ├── polygon_area_selection_widget.cpp │ │ └── state_machine_interface_widget.cpp └── ui │ ├── crs_application.ui │ ├── part_selection.ui │ ├── polygon_area_selection_widget.ui │ └── state_machine_interface.ui ├── crs_hardware.rosinstall ├── crs_motion_planning ├── CMakeLists.txt ├── README.md ├── include │ └── crs_motion_planning │ │ ├── path_planning_utils.h │ │ └── path_processing_utils.h ├── package.xml └── src │ ├── motion_planning_server.cpp │ ├── path_planning_utils.cpp │ ├── path_processing_utils.cpp │ └── process_planner_test.cpp ├── crs_msgs ├── CMakeLists.txt ├── msg │ ├── ProcessConfiguration.msg │ ├── ProcessMotionPlan.msg │ └── ToolProcessPath.msg ├── package.xml └── srv │ ├── CallFreespaceMotion.srv │ ├── CropToolpaths.srv │ ├── ExecuteAction.srv │ ├── GetAvailableActions.srv │ ├── GetConfiguration.srv │ ├── GetROISelection.srv │ ├── LoadPart.srv │ ├── LocalizeToPart.srv │ ├── PlanProcessMotions.srv │ ├── RobotPositioner.srv │ └── RunRobotScript.srv ├── crs_perception ├── CMakeLists.txt ├── README.md ├── include │ └── crs_perception │ │ └── model_to_point_cloud.hpp ├── package.xml └── src │ ├── model_to_point_cloud.cpp │ └── nodes │ ├── localize_to_part.cpp │ └── test_localize_to_part.cpp ├── crs_process_data ├── CMakeLists.txt ├── data │ ├── main │ │ └── toolpaths │ │ │ ├── part_1 │ │ │ ├── crs.yaml │ │ │ ├── job_toolpath_ls10cm_ps15cm_r0d.yaml │ │ │ ├── job_toolpath_ls10cm_ps20cm_r0d.yaml │ │ │ ├── job_toolpath_ls20cm_ps20cm_r90d.yaml │ │ │ └── part_1.stl │ │ │ ├── part_2 │ │ │ ├── configs │ │ │ │ └── job_0_degrees_20200520T192241.997282_config.yaml │ │ │ ├── crs.yaml │ │ │ ├── job_0_degrees_20200520T192241.997282.yaml │ │ │ ├── job_45_degrees_20200520T192321.124980.yaml │ │ │ ├── job_90_degrees_20200520T192342.971284.yaml │ │ │ ├── job_neg_45_degrees_20200520T192431.034149.yaml │ │ │ ├── job_neg_90_degrees_20200520T192403.508846.yaml │ │ │ └── part_2.stl │ │ │ ├── part_3 │ │ │ ├── crs.yaml │ │ │ ├── job_0_degrees_20200520T192928.608964.yaml │ │ │ ├── job_45_degrees_20200520T193117.992144.yaml │ │ │ ├── job_90_degrees_20200520T193139.616155.yaml │ │ │ ├── job_neg_45_degrees_20200520T193244.746333.yaml │ │ │ ├── job_neg_90_degrees_20200520T193201.590978.yaml │ │ │ └── part_3.stl │ │ │ └── part_5 │ │ │ ├── crs.yaml │ │ │ ├── job_toolpath_ls10cm_ps10cm_r0d.yaml │ │ │ ├── job_toolpath_ls20cm_ps10cm_r0d.yaml │ │ │ ├── job_toolpath_ls20cm_ps15cm_r-20d.yaml │ │ │ ├── job_toolpath_ls20cm_ps15cm_r0d.yaml │ │ │ ├── job_toolpath_ls20cm_ps15cm_r60d.yaml │ │ │ └── part_5.stl │ └── surrogate1 │ │ └── toolpaths │ │ ├── fake_part │ │ ├── configs │ │ │ └── fake_toolpath_config.yaml │ │ ├── crs.yaml │ │ ├── fake_part.stl │ │ └── fake_toolpath.yaml │ │ ├── part_2 │ │ ├── crs.yaml │ │ ├── job_0_degrees_20200520T192241.997282.yaml │ │ ├── job_45_degrees_20200520T192321.124980.yaml │ │ ├── job_90_degrees_20200520T192342.971284.yaml │ │ ├── job_90_mid.yaml │ │ ├── job_90_red.yaml │ │ ├── job_90_red_red.yaml │ │ ├── job_neg_45_degrees_20200520T192431.034149.yaml │ │ ├── job_neg_90_degrees_20200520T192403.508846.yaml │ │ ├── part_2.stl │ │ └── part_2_original.stl │ │ └── swri_part │ │ ├── crs.yaml │ │ ├── job_job_ls10cm_ps10cm_r0d_20200804T170757.524898.yaml │ │ ├── job_reduced.yaml │ │ ├── job_toolpath_ls10cm_ps10cm_r90d_20200804T194320.202533.yaml │ │ └── swri_part.stl └── package.xml ├── crs_robot_comms ├── CMakeLists.txt ├── README.md ├── package.xml └── src │ ├── ur_comms.cpp │ └── ur_comms_sim.cpp ├── crs_support ├── CMakeLists.txt ├── launch │ ├── environment_launch.launch.py │ ├── environment_launch_swri.launch.py │ ├── gazebo_swri_demo.launch.py │ ├── gazebo_test.launch.py │ ├── spawn_cart.launch.py │ └── spawn_part.launch.py ├── meshes │ ├── Mockup │ │ ├── collision │ │ │ ├── Mockup3_6_Cart_collision.stl │ │ │ ├── empty_cart_collision.stl │ │ │ └── mockup_cart_collision_v3.stl │ │ └── visual │ │ │ ├── Mockup3_6_Frame_noTools_small.stl │ │ │ ├── empty_cart.stl │ │ │ ├── mock_up_frame.ply │ │ │ ├── mock_up_frame.stl │ │ │ ├── mockup_cart_v3.stl │ │ │ ├── mockup_cart_v4.stl │ │ │ └── mockup_frame_v3.stl │ ├── Parts │ │ ├── collision │ │ │ └── part1_ch.stl │ │ └── visual │ │ │ ├── part1_ch.stl │ │ │ └── part_from_mockup.stl │ ├── Swri_demo │ │ └── mold_transformed.stl │ ├── end_effector │ │ ├── collision │ │ │ ├── sander_collision.stl │ │ │ └── tool_collision.stl │ │ └── visual │ │ │ ├── ee1.stl │ │ │ ├── ee2.stl │ │ │ ├── ee3.stl │ │ │ ├── sander.stl │ │ │ └── tool.stl │ └── ur10e │ │ ├── collision │ │ ├── base.stl │ │ ├── forearm.stl │ │ ├── forearm_multibody.dae │ │ ├── shoulder.stl │ │ ├── upper_arm_multibody.dae │ │ ├── upperarm.stl │ │ ├── wrist1.stl │ │ ├── wrist2.stl │ │ └── wrist3.stl │ │ └── visual │ │ ├── base.dae │ │ ├── forearm.dae │ │ ├── shoulder.dae │ │ ├── upperarm.dae │ │ ├── wrist1.dae │ │ ├── wrist2.dae │ │ └── wrist3.dae ├── package.xml ├── sdf │ ├── cart.sdf │ └── part1.sdf ├── toolpaths │ └── scanned_part1 │ │ ├── job_45degrees.yaml │ │ ├── job_90degrees.yaml │ │ └── job_long_strips.yaml ├── urdf │ ├── crs.urdf.xacro │ ├── swri_demo.urdf.xacro │ ├── swri_demo_sander.urdf.xacro 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