├── .catkin_tools ├── .gitignore └── profiles │ └── default │ └── config.yaml ├── .gitignore ├── .gitmodules ├── Dockerfile ├── README.md ├── run_benchmark.sh ├── src ├── astar │ ├── CMakeLists.txt │ ├── LICENSE │ ├── ReadMe.md │ ├── cmake │ │ └── astar-config.cmake.in │ ├── include │ │ └── AStar.hpp │ ├── main.cpp │ ├── package.xml │ └── source │ │ └── AStar.cpp ├── moveit_config │ ├── env │ │ ├── .setup_assistant │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ ├── cartesian_limits.yaml │ │ │ ├── chomp_planning.yaml │ │ │ ├── env.srdf │ │ │ ├── fake_controllers.yaml │ │ │ ├── gazebo_controllers.yaml │ │ │ ├── joint_limits.yaml │ │ │ ├── kinematics.yaml │ │ │ ├── ompl_planning.yaml │ │ │ ├── ros_controllers.yaml │ │ │ ├── sensors_3d.yaml │ │ │ ├── simple_moveit_controllers.yaml │ │ │ └── stomp_planning.yaml │ │ ├── launch │ │ │ ├── chomp_planning_pipeline.launch.xml │ │ │ ├── default_warehouse_db.launch │ │ │ ├── demo.launch │ │ │ ├── demo_gazebo.launch │ │ │ ├── env_moveit_controller_manager.launch.xml │ │ │ ├── env_moveit_sensor_manager.launch.xml │ │ │ ├── fake_moveit_controller_manager.launch.xml │ │ │ ├── gazebo.launch │ │ │ ├── joystick_control.launch │ │ │ ├── move_group.launch │ │ │ ├── moveit.rviz │ │ │ ├── moveit_rviz.launch │ │ │ ├── ompl-chomp_planning_pipeline.launch.xml │ │ │ ├── ompl_planning_pipeline.launch.xml │ │ │ ├── pilz_industrial_motion_planner_planning_pipeline.launch.xml │ │ │ ├── planning_context.launch │ │ │ ├── planning_pipeline.launch.xml │ │ │ ├── ros_control_moveit_controller_manager.launch.xml │ │ │ ├── ros_controllers.launch │ │ │ ├── run_benchmark_ompl.launch │ │ │ ├── sensor_manager.launch.xml │ │ │ ├── setup_assistant.launch │ │ │ ├── simple_moveit_controller_manager.launch.xml │ │ │ ├── stomp_planning_pipeline.launch.xml │ │ │ ├── trajectory_execution.launch.xml │ │ │ ├── warehouse.launch │ │ │ └── warehouse_settings.launch.xml │ │ └── package.xml │ ├── gripper │ │ ├── .setup_assistant │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ ├── chomp_planning.yaml │ │ │ ├── env.srdf │ │ │ ├── fake_controllers.yaml │ │ │ ├── joint_limits.yaml │ │ │ ├── kinematics.yaml │ │ │ ├── ompl_planning.yaml │ │ │ ├── ros_controllers.yaml │ │ │ └── sensors_3d.yaml │ │ ├── launch │ │ │ ├── chomp_planning_pipeline.launch.xml │ │ │ ├── default_warehouse_db.launch │ │ │ ├── demo.launch │ │ │ ├── demo_gazebo.launch │ │ │ ├── env_moveit_controller_manager.launch.xml │ │ │ ├── env_moveit_sensor_manager.launch.xml │ │ │ ├── fake_moveit_controller_manager.launch.xml │ │ │ ├── gazebo.launch │ │ │ ├── joystick_control.launch │ │ │ ├── move_group.launch │ │ │ ├── moveit.rviz │ │ │ ├── moveit_rviz.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 │ │ │ ├── trajectory_execution.launch.xml │ │ │ ├── warehouse.launch │ │ │ └── warehouse_settings.launch.xml │ │ └── package.xml │ ├── household_env │ │ ├── .setup_assistant │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ ├── cartesian_limits.yaml │ │ │ ├── chomp_planning.yaml │ │ │ ├── fake_controllers.yaml │ │ │ ├── gazebo_controllers.yaml │ │ │ ├── gazebo_household_env.urdf │ │ │ ├── household_env.srdf │ │ │ ├── joint_limits.yaml │ │ │ ├── kinematics.yaml │ │ │ ├── ompl_planning.yaml │ │ │ ├── ros_controllers.yaml │ │ │ ├── sensors_3d.yaml │ │ │ ├── simple_moveit_controllers.yaml │ │ │ └── stomp_planning.yaml │ │ ├── launch │ │ │ ├── chomp_planning_pipeline.launch.xml │ │ │ ├── default_warehouse_db.launch │ │ │ ├── demo.launch │ │ │ ├── demo_gazebo.launch │ │ │ ├── fake_moveit_controller_manager.launch.xml │ │ │ ├── gazebo.launch │ │ │ ├── household_env_moveit_sensor_manager.launch.xml │ │ │ ├── joystick_control.launch │ │ │ ├── move_group.launch │ │ │ ├── moveit.rviz │ │ │ ├── moveit_rviz.launch │ │ │ ├── ompl-chomp_planning_pipeline.launch.xml │ │ │ ├── ompl_planning_pipeline.launch.xml │ │ │ ├── pilz_industrial_motion_planner_planning_pipeline.launch.xml │ │ │ ├── planning_context.launch │ │ │ ├── planning_pipeline.launch.xml │ │ │ ├── ros_control_moveit_controller_manager.launch.xml │ │ │ ├── ros_controllers.launch │ │ │ ├── run_benchmark_ompl.launch │ │ │ ├── sensor_manager.launch.xml │ │ │ ├── setup_assistant.launch │ │ │ ├── simple_moveit_controller_manager.launch.xml │ │ │ ├── stomp_planning_pipeline.launch.xml │ │ │ ├── trajectory_execution.launch.xml │ │ │ ├── warehouse.launch │ │ │ └── warehouse_settings.launch.xml │ │ └── package.xml │ ├── pog_env │ │ ├── .setup_assistant │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ ├── cartesian_limits.yaml │ │ │ ├── chomp_planning.yaml │ │ │ ├── fake_controllers.yaml │ │ │ ├── gazebo_controllers.yaml │ │ │ ├── joint_limits.yaml │ │ │ ├── kinematics.yaml │ │ │ ├── ompl_planning.yaml │ │ │ ├── pog_env.srdf │ │ │ ├── ros_controllers.yaml │ │ │ ├── sensors_3d.yaml │ │ │ ├── simple_moveit_controllers.yaml │ │ │ └── stomp_planning.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 │ │ │ ├── ompl-chomp_planning_pipeline.launch.xml │ │ │ ├── ompl_planning_pipeline.launch.xml │ │ │ ├── pilz_industrial_motion_planner_planning_pipeline.launch.xml │ │ │ ├── planning_context.launch │ │ │ ├── planning_pipeline.launch.xml │ │ │ ├── pog_env_moveit_sensor_manager.launch.xml │ │ │ ├── ros_control_moveit_controller_manager.launch.xml │ │ │ ├── ros_controllers.launch │ │ │ ├── run_benchmark_ompl.launch │ │ │ ├── sensor_manager.launch.xml │ │ │ ├── setup_assistant.launch │ │ │ ├── simple_moveit_controller_manager.launch.xml │ │ │ ├── stomp_planning_pipeline.launch.xml │ │ │ ├── trajectory_execution.launch.xml │ │ │ ├── warehouse.launch │ │ │ └── warehouse_settings.launch.xml │ │ └── package.xml │ ├── ridgeback_ur_config │ │ ├── .setup_assistant │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ ├── cartesian_limits.yaml │ │ │ ├── chomp_planning.yaml │ │ │ ├── fake_controllers.yaml │ │ │ ├── gazebo_controllers.yaml │ │ │ ├── gazebo_scene.urdf │ │ │ ├── joint_limits.yaml │ │ │ ├── kinematics.yaml │ │ │ ├── ompl_planning.yaml │ │ │ ├── ros_controllers.yaml │ │ │ ├── scene (copy).srdf │ │ │ ├── scene.srdf │ │ │ ├── scene_right_arm.srdf │ │ │ ├── sensors_3d.yaml │ │ │ ├── simple_moveit_controllers.yaml │ │ │ └── stomp_planning.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 │ │ │ ├── ompl-chomp_planning_pipeline.launch.xml │ │ │ ├── ompl_planning_pipeline.launch.xml │ │ │ ├── pilz_industrial_motion_planner_planning_pipeline.launch.xml │ │ │ ├── planning_context.launch │ │ │ ├── planning_pipeline.launch.xml │ │ │ ├── ros_control_moveit_controller_manager.launch.xml │ │ │ ├── ros_controllers.launch │ │ │ ├── run_benchmark_ompl.launch │ │ │ ├── scene_moveit_controller_manager.launch.xml │ │ │ ├── scene_moveit_sensor_manager.launch.xml │ │ │ ├── sensor_manager.launch.xml │ │ │ ├── setup_assistant.launch │ │ │ ├── simple_moveit_controller_manager.launch.xml │ │ │ ├── stomp_planning_pipeline.launch.xml │ │ │ ├── trajectory_execution.launch.xml │ │ │ ├── warehouse.launch │ │ │ └── warehouse_settings.launch.xml │ │ └── package.xml │ ├── sr_env │ │ ├── .setup_assistant │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ ├── cartesian_limits.yaml │ │ │ ├── chomp_planning.yaml │ │ │ ├── fake_controllers.yaml │ │ │ ├── gazebo_controllers.yaml │ │ │ ├── joint_limits.yaml │ │ │ ├── kinematics.yaml │ │ │ ├── ompl_planning.yaml │ │ │ ├── robot.srdf │ │ │ ├── ros_controllers.yaml │ │ │ ├── sensors_3d.yaml │ │ │ ├── simple_moveit_controllers.yaml │ │ │ ├── sr_env.srdf │ │ │ └── stomp_planning.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 │ │ │ ├── ompl-chomp_planning_pipeline.launch.xml │ │ │ ├── ompl_planning_pipeline.launch.xml │ │ │ ├── pilz_industrial_motion_planner_planning_pipeline.launch.xml │ │ │ ├── planning_context.launch │ │ │ ├── planning_pipeline.launch.xml │ │ │ ├── ros_control_moveit_controller_manager.launch.xml │ │ │ ├── ros_controllers.launch │ │ │ ├── run_benchmark_ompl.launch │ │ │ ├── sensor_manager.launch.xml │ │ │ ├── setup_assistant.launch │ │ │ ├── simple_moveit_controller_manager.launch.xml │ │ │ ├── sr_env_moveit_sensor_manager.launch.xml │ │ │ ├── stomp_planning_pipeline.launch.xml │ │ │ ├── trajectory_execution.launch.xml │ │ │ ├── warehouse.launch │ │ │ └── warehouse_settings.launch.xml │ │ └── package.xml │ ├── tieta_env │ │ ├── .setup_assistant │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ ├── cartesian_limits.yaml │ │ │ ├── chomp_planning.yaml │ │ │ ├── fake_controllers.yaml │ │ │ ├── gazebo_controllers.yaml │ │ │ ├── joint_limits.yaml │ │ │ ├── kinematics.yaml │ │ │ ├── ompl_planning.yaml │ │ │ ├── ros_controllers.yaml │ │ │ ├── sensors_3d.yaml │ │ │ ├── simple_moveit_controllers.yaml │ │ │ ├── stomp_planning.yaml │ │ │ └── tieta_env.srdf │ │ ├── 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 │ │ │ ├── ompl-chomp_planning_pipeline.launch.xml │ │ │ ├── ompl_planning_pipeline.launch.xml │ │ │ ├── pilz_industrial_motion_planner_planning_pipeline.launch.xml │ │ │ ├── planning_context.launch │ │ │ ├── planning_pipeline.launch.xml │ │ │ ├── ros_control_moveit_controller_manager.launch.xml │ │ │ ├── ros_controllers.launch │ │ │ ├── run_benchmark_ompl.launch │ │ │ ├── sensor_manager.launch.xml │ │ │ ├── setup_assistant.launch │ │ │ ├── simple_moveit_controller_manager.launch.xml │ │ │ ├── stomp_planning_pipeline.launch.xml │ │ │ ├── tieta_env_moveit_sensor_manager.launch.xml │ │ │ ├── trajectory_execution.launch.xml │ │ │ ├── warehouse.launch │ │ │ └── warehouse_settings.launch.xml │ │ └── package.xml │ ├── uam_env │ │ ├── .setup_assistant │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ ├── cartesian_limits.yaml │ │ │ ├── chomp_planning.yaml │ │ │ ├── fake_controllers.yaml │ │ │ ├── gazebo_controllers.yaml │ │ │ ├── joint_limits.yaml │ │ │ ├── kinematics.yaml │ │ │ ├── ompl_planning.yaml │ │ │ ├── ros_controllers.yaml │ │ │ ├── sensors_3d.yaml │ │ │ ├── simple_moveit_controllers.yaml │ │ │ ├── stomp_planning.yaml │ │ │ ├── uam_env.srdf │ │ │ └── uam_scene.srdf │ │ ├── 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 │ │ │ ├── ompl-chomp_planning_pipeline.launch.xml │ │ │ ├── ompl_planning_pipeline.launch.xml │ │ │ ├── pilz_industrial_motion_planner_planning_pipeline.launch.xml │ │ │ ├── planning_context.launch │ │ │ ├── planning_pipeline.launch.xml │ │ │ ├── ros_control_moveit_controller_manager.launch.xml │ │ │ ├── ros_controllers.launch │ │ │ ├── run_benchmark_ompl.launch │ │ │ ├── sensor_manager.launch.xml │ │ │ ├── setup_assistant.launch │ │ │ ├── simple_moveit_controller_manager.launch.xml │ │ │ ├── stomp_planning_pipeline.launch.xml │ │ │ ├── trajectory_execution.launch.xml │ │ │ ├── uam_env_moveit_sensor_manager.launch.xml │ │ │ ├── warehouse.launch │ │ │ └── warehouse_settings.launch.xml │ │ └── package.xml │ └── vkc_demo │ │ ├── .setup_assistant │ │ ├── CMakeLists.txt │ │ ├── config │ │ ├── cartesian_limits.yaml │ │ ├── chomp_planning.yaml │ │ ├── fake_controllers.yaml │ │ ├── gazebo_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ ├── ros_controllers.yaml │ │ ├── scene.srdf │ │ ├── sensors_3d.yaml │ │ ├── simple_moveit_controllers.yaml │ │ ├── stomp_planning.yaml │ │ └── vkc_demo.srdf │ │ ├── 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 │ │ ├── ompl-chomp_planning_pipeline.launch.xml │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── pilz_industrial_motion_planner_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── ros_control_moveit_controller_manager.launch.xml │ │ ├── ros_controllers.launch │ │ ├── run_benchmark_ompl.launch │ │ ├── scene_moveit_controller_manager.launch.xml │ │ ├── scene_moveit_sensor_manager.launch.xml │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── simple_moveit_controller_manager.launch.xml │ │ ├── stomp_planning_pipeline.launch.xml │ │ ├── trajectory_execution.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ │ └── package.xml ├── pictures │ ├── vkc_big_task_move_all_cups_with_plate_into_cabinet.gif │ ├── vkc_big_task_move_chair_away_from_path_way.gif │ ├── vkc_big_task_move_cup_with_plate.gif │ ├── vkc_move_ball_with_stick.gif │ ├── vkc_open_cabinet_door.gif │ ├── vkc_pick_stick.gif │ ├── vkc_urdf_move_bottle_with_gripper.gif │ └── vkc_urdf_pick_bottle_with_gripper.gif ├── robot_description │ ├── aerialvkc_v3000_description │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ └── joint_names_aerialvkc_v3000_description.yaml │ │ ├── launch │ │ │ ├── display.launch │ │ │ └── gazebo.launch │ │ ├── meshes │ │ │ ├── arm_link_I.STL │ │ │ ├── arm_link_II.STL │ │ │ ├── base_link.STL │ │ │ ├── crazyflie11 │ │ │ │ └── base_link.STL │ │ │ ├── crazyflie22 │ │ │ │ └── base_link.STL │ │ │ ├── crazyflie33 │ │ │ │ └── base_link.STL │ │ │ ├── crazyflie44 │ │ │ │ └── base_link.STL │ │ │ ├── gear_arm_link_I.STL │ │ │ ├── gear_arm_link_II.STL │ │ │ ├── gripper_arm_link_I.STL │ │ │ ├── gripper_arm_link_II.STL │ │ │ ├── gripper_base_link.STL │ │ │ ├── hinge_link_I.STL │ │ │ ├── hinge_link_II.STL │ │ │ ├── hinge_link_III.STL │ │ │ ├── hinge_link_IV.STL │ │ │ ├── normal_arm_link_I.STL │ │ │ ├── normal_arm_link_II.STL │ │ │ ├── prolink_III_I.STL │ │ │ ├── prolink_III_II.STL │ │ │ ├── prolink_III_III.STL │ │ │ ├── prolink_III_IV.STL │ │ │ ├── prolink_II_I.STL │ │ │ ├── prolink_II_II.STL │ │ │ ├── prolink_II_III.STL │ │ │ ├── prolink_II_IV.STL │ │ │ ├── prolink_IV_I.STL │ │ │ ├── prolink_IV_II.STL │ │ │ ├── prolink_IV_III.STL │ │ │ ├── prolink_IV_IV.STL │ │ │ ├── prolink_I_I.STL │ │ │ ├── prolink_I_II.STL │ │ │ ├── prolink_I_III.STL │ │ │ └── prolink_I_IV.STL │ │ ├── package.xml │ │ └── urdf │ │ │ ├── aerialvkc_v3000_description.urdf │ │ │ ├── aerialvkc_v3000_description.urdf.xacro │ │ │ └── aerialvkc_v3000_description_simplify.urdf.xacro │ ├── dingo_description │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ └── description.launch │ │ ├── meshes │ │ │ ├── diff_chassis.dae │ │ │ ├── diff_chassis_collision.stl │ │ │ ├── hokuyo_ust10.stl │ │ │ ├── omni_chassis.dae │ │ │ ├── omni_chassis_collision.stl │ │ │ ├── sick-lms1xx-bracket.stl │ │ │ └── wheel.stl │ │ ├── package.xml │ │ ├── scripts │ │ │ └── env_run │ │ └── urdf │ │ │ ├── accessories.urdf.xacro │ │ │ ├── accessories │ │ │ ├── hokuyo_ust10.urdf.xacro │ │ │ ├── intel_realsense.urdf.xacro │ │ │ ├── sick_lms1xx_mount.urdf.xacro │ │ │ └── vlp16_mount.urdf.xacro │ │ │ ├── configs │ │ │ ├── base │ │ │ └── front_laser │ │ │ ├── dingo-d.urdf.xacro │ │ │ ├── dingo-o.gazebo │ │ │ ├── dingo-o.urdf.xacro │ │ │ ├── dingo.gazebo │ │ │ ├── dingo.urdf.xacro │ │ │ └── empty.urdf │ ├── husky_description │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ └── description.launch │ │ ├── meshes │ │ │ ├── accessories │ │ │ │ ├── 300_mm_sensor_arch.dae │ │ │ │ ├── 300_mm_sensor_arch.stl │ │ │ │ ├── 510_mm_sensor_arch.dae │ │ │ │ ├── 510_mm_sensor_arch.stl │ │ │ │ ├── kinect.dae │ │ │ │ ├── kinect.jpg │ │ │ │ ├── kinect.tga │ │ │ │ ├── lidar_mount.stl │ │ │ │ ├── lms1xx_mount.dae │ │ │ │ └── lms1xx_mount.stl │ │ │ ├── base_link.dae │ │ │ ├── base_link.stl │ │ │ ├── bumper.dae │ │ │ ├── bumper_extension.dae │ │ │ ├── large_top_plate.dae │ │ │ ├── large_top_plate_collision.stl │ │ │ ├── top_chassis.dae │ │ │ ├── top_chassis.stl │ │ │ ├── top_plate.dae │ │ │ ├── top_plate.stl │ │ │ ├── user_rail.dae │ │ │ ├── user_rail.stl │ │ │ ├── wheel.dae │ │ │ └── wheel.stl │ │ ├── package.xml │ │ └── urdf │ │ │ ├── accessories │ │ │ ├── kinect_camera.urdf.xacro │ │ │ ├── sensor_arch.urdf.xacro │ │ │ └── sick_lms1xx_mount.urdf.xacro │ │ │ ├── decorations.urdf.xacro │ │ │ ├── empty.urdf │ │ │ ├── husky.urdf.xacro │ │ │ └── wheel.urdf.xacro │ ├── husky_ur_description │ │ ├── CMakeLists.txt │ │ ├── meshes │ │ │ ├── 3-finger-gripper_fixed-urdf.stl │ │ │ ├── dual_arm_bulkhead.dae │ │ │ └── dual_arm_bulkhead_collision.stl │ │ ├── package.xml │ │ ├── scripts │ │ │ ├── setup_husky_dual_ur3_e_envar │ │ │ ├── setup_husky_dual_ur3_envar │ │ │ ├── setup_husky_dual_ur5_e_envar │ │ │ ├── setup_husky_dual_ur5_envar │ │ │ ├── setup_husky_ur3_e_envar │ │ │ ├── setup_husky_ur3_envar │ │ │ ├── setup_husky_ur5_e_envar │ │ │ └── setup_husky_ur5_envar │ │ └── urdf │ │ │ ├── deploy_husky_ur5e.urdf.xacro │ │ │ ├── dingo_ur3_e_description.urdf.xacro │ │ │ ├── husky_dual_ur3_description.urdf.xacro │ │ │ ├── husky_dual_ur3_e_description.urdf.xacro │ │ │ ├── husky_dual_ur5_description.urdf.xacro │ │ │ ├── husky_dual_ur5_e_description.urdf.xacro │ │ │ ├── husky_ur3_description.urdf.xacro │ │ │ ├── husky_ur3_e_description.urdf.xacro │ │ │ ├── husky_ur5_description.urdf.xacro │ │ │ └── husky_ur5_e_description.urdf.xacro │ ├── mobile_kinova_description │ │ ├── CMakeLists.txt │ │ ├── arms │ │ │ └── gen3 │ │ │ │ └── 7dof │ │ │ │ ├── meshes │ │ │ │ ├── base_link.STL │ │ │ │ ├── bracelet_no_vision_link.STL │ │ │ │ ├── bracelet_with_vision_link.STL │ │ │ │ ├── end_effector_link.STL │ │ │ │ ├── forearm_link.STL │ │ │ │ ├── half_arm_1_link.STL │ │ │ │ ├── half_arm_2_link.STL │ │ │ │ ├── shoulder_link.STL │ │ │ │ ├── spherical_wrist_1_link.STL │ │ │ │ └── spherical_wrist_2_link.STL │ │ │ │ └── urdf │ │ │ │ ├── gen3_macro.xacro │ │ │ │ └── gen3_transmission_macro.xacro │ │ ├── config │ │ │ └── joint_names_mobile_manipulator_description.yaml │ │ ├── grippers │ │ │ └── robotiq_2f_85 │ │ │ │ ├── LICENSE │ │ │ │ ├── README.md │ │ │ │ ├── config │ │ │ │ └── joint_limits.yaml │ │ │ │ ├── meshes │ │ │ │ ├── collision │ │ │ │ │ ├── robotiq_arg2f_85_base_link.stl │ │ │ │ │ ├── robotiq_arg2f_85_inner_finger.dae │ │ │ │ │ ├── robotiq_arg2f_85_inner_knuckle.dae │ │ │ │ │ ├── robotiq_arg2f_85_outer_finger.dae │ │ │ │ │ ├── robotiq_arg2f_85_outer_knuckle.dae │ │ │ │ │ └── robotiq_arg2f_base_link.stl │ │ │ │ └── visual │ │ │ │ │ ├── robotiq_arg2f_85_base_link.dae │ │ │ │ │ ├── robotiq_arg2f_85_inner_finger.dae │ │ │ │ │ ├── robotiq_arg2f_85_inner_knuckle.dae │ │ │ │ │ ├── robotiq_arg2f_85_outer_finger.dae │ │ │ │ │ ├── robotiq_arg2f_85_outer_knuckle.dae │ │ │ │ │ ├── robotiq_arg2f_85_pad.dae │ │ │ │ │ └── robotiq_gripper_coupling.stl │ │ │ │ └── urdf │ │ │ │ ├── robotiq_2f_85_macro.xacro │ │ │ │ ├── robotiq_2f_85_transmission_macro.xacro │ │ │ │ ├── robotiq_arg2f.xacro │ │ │ │ └── robotiq_arg2f_85_model_macro.xacro │ │ ├── launch │ │ │ ├── display.launch │ │ │ └── gazebo.launch │ │ ├── meshes │ │ │ ├── b_l_wheel_link.STL │ │ │ ├── b_r_wheel_link.STL │ │ │ ├── base_link.STL │ │ │ ├── f_l_wheel_link.STL │ │ │ ├── f_r_wheel_link.STL │ │ │ └── hokuyo.dae │ │ ├── package.xml │ │ └── urdf │ │ │ ├── common_properties.xacro │ │ │ ├── kortex_robot.xacro │ │ │ ├── main.xacro │ │ │ ├── mobile_kinova.xacro │ │ │ ├── mobile_manipulator_description.gazebo.xacro │ │ │ └── mobile_manipulator_description.urdf.xacro │ ├── pan_tilt_description │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ └── view_model.launch │ │ ├── package.xml │ │ ├── rviz │ │ │ └── view_model.rviz │ │ └── urdf │ │ │ ├── kinect_dk.xacro │ │ │ ├── mesh │ │ │ ├── base.stl │ │ │ ├── pitch.stl │ │ │ └── yaw.stl │ │ │ ├── pan_tilt.urdf.xacro │ │ │ └── pan_tilt_st.urdf.xacro │ ├── ridgeback_description │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ └── description.launch │ │ ├── meshes │ │ │ ├── 3dm-gxX.stl │ │ │ ├── axle.stl │ │ │ ├── body-collision.stl │ │ │ ├── body.stl │ │ │ ├── end-cover.stl │ │ │ ├── lights.stl │ │ │ ├── rocker.stl │ │ │ ├── side-cover.stl │ │ │ ├── top.stl │ │ │ ├── ust-10lx.stl │ │ │ └── wheel.stl │ │ ├── package.xml │ │ ├── scripts │ │ │ └── env_run │ │ └── urdf │ │ │ ├── accessories.urdf.xacro │ │ │ ├── accessories │ │ │ ├── hokuyo_ust-10lx_mount.urdf.xacro │ │ │ ├── microstrain_imu.urdf.xacro │ │ │ ├── sick_lms1xx_mount.urdf.xacro │ │ │ └── sick_s300_mount.urdf.xacro │ │ │ ├── configs │ │ │ ├── base │ │ │ ├── base_sick │ │ │ ├── dual_hokuyo_lasers │ │ │ ├── dual_sick_lasers │ │ │ └── empty │ │ │ ├── empty.urdf │ │ │ ├── ridgeback.gazebo │ │ │ └── ridgeback.urdf.xacro │ ├── ridgeback_dual_arm_description │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ └── view_model.launch │ │ ├── mesh │ │ │ ├── 3-finger-gripper_fixed-urdf.stl │ │ │ ├── ridgeback-2xur5e-all-simp-urdf.stl │ │ │ ├── ridgeback-2xur5e-all-urdf.stl │ │ │ └── ridgeback_2xur5-sup-simp-urdf.stl │ │ ├── package.xml │ │ ├── rviz │ │ │ └── view_model.rviz │ │ └── urdf │ │ │ ├── kinect_dk.xacro │ │ │ ├── ridgeback_dual_arm.urdf.xacro │ │ │ └── t.xacro │ ├── robotiq_2f_85_gripper_visualization │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── launch │ │ │ └── test_2f_85_model.launch │ │ ├── meshes │ │ │ ├── collision │ │ │ │ ├── robotiq_arg2f_85_base_link.stl │ │ │ │ ├── robotiq_arg2f_85_inner_finger.dae │ │ │ │ ├── robotiq_arg2f_85_inner_knuckle.dae │ │ │ │ ├── robotiq_arg2f_85_outer_finger.dae │ │ │ │ ├── robotiq_arg2f_85_outer_knuckle.dae │ │ │ │ └── robotiq_arg2f_base_link.stl │ │ │ └── visual │ │ │ │ ├── robotiq_arg2f_85_base_link.dae │ │ │ │ ├── robotiq_arg2f_85_inner_finger.dae │ │ │ │ ├── robotiq_arg2f_85_inner_knuckle.dae │ │ │ │ ├── robotiq_arg2f_85_outer_finger.dae │ │ │ │ ├── robotiq_arg2f_85_outer_knuckle.dae │ │ │ │ ├── robotiq_arg2f_85_pad.dae │ │ │ │ └── robotiq_gripper_coupling.stl │ │ ├── package.xml │ │ ├── urdf │ │ │ ├── robotiq_arg2f.xacro │ │ │ ├── robotiq_arg2f_85_model.xacro │ │ │ ├── robotiq_arg2f_85_model_macro.xacro │ │ │ └── robotiq_arg2f_transmission.xacro │ │ └── visualize.rviz │ ├── robotiq_3f_gripper_visualization │ │ ├── CMakeLists.txt │ │ ├── cfg │ │ │ ├── robotiq-3f-gripper_articulated.urdf │ │ │ ├── robotiq-3f-gripper_articulated.xacro │ │ │ ├── robotiq-3f-gripper_articulated_macro.xacro │ │ │ ├── robotiq-3f-gripper_finger_articulated_macro.xacro │ │ │ ├── robotiq-3f-gripper_mesh.urdf │ │ │ ├── robotiq-3f-gripper_mesh.xacro │ │ │ ├── robotiq-3f-gripper_mesh.xml │ │ │ ├── robotiq-3f-gripper_mesh_macro.xacro │ │ │ └── robotiq_hand_macro.urdf.xacro │ │ ├── launch │ │ │ └── robotiq_gripper_upload.launch │ │ ├── meshes │ │ │ ├── robotiq-3f-gripper │ │ │ │ ├── collision │ │ │ │ │ ├── GRIPPER_CLOSED.stl │ │ │ │ │ ├── GRIPPER_OPEN.stl │ │ │ │ │ ├── GRIPPER_OPEN_FINGER_1.stl │ │ │ │ │ ├── GRIPPER_OPEN_FINGER_2.stl │ │ │ │ │ ├── GRIPPER_OPEN_FINGER_3.stl │ │ │ │ │ └── GRIPPER_OPEN_PALM.stl │ │ │ │ └── visual │ │ │ │ │ ├── GRIPPER_CLOSED.stl │ │ │ │ │ ├── GRIPPER_OPEN.stl │ │ │ │ │ ├── GRIPPER_OPEN_FINGER_1.stl │ │ │ │ │ ├── GRIPPER_OPEN_FINGER_2.stl │ │ │ │ │ ├── GRIPPER_OPEN_FINGER_3.stl │ │ │ │ │ └── GRIPPER_OPEN_PALM.stl │ │ │ └── robotiq-3f-gripper_articulated │ │ │ │ ├── collision │ │ │ │ ├── link_0.STL │ │ │ │ ├── link_1.STL │ │ │ │ ├── link_2.STL │ │ │ │ ├── link_3.STL │ │ │ │ └── palm.STL │ │ │ │ └── visual │ │ │ │ ├── link_0.dae │ │ │ │ ├── link_1.dae │ │ │ │ ├── link_2.dae │ │ │ │ ├── link_3.dae │ │ │ │ └── palm.dae │ │ └── package.xml │ ├── ur_description │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── cfg │ │ │ └── view_robot.rviz │ │ ├── config │ │ │ ├── ur10 │ │ │ │ ├── default_kinematics.yaml │ │ │ │ ├── joint_limits.yaml │ │ │ │ ├── physical_parameters.yaml │ │ │ │ └── visual_parameters.yaml │ │ │ ├── ur10e │ │ │ │ ├── default_kinematics.yaml │ │ │ │ ├── joint_limits.yaml │ │ │ │ ├── physical_parameters.yaml │ │ │ │ └── visual_parameters.yaml │ │ │ ├── ur16e │ │ │ │ ├── default_kinematics.yaml │ │ │ │ ├── joint_limits.yaml │ │ │ │ ├── physical_parameters.yaml │ │ │ │ └── visual_parameters.yaml │ │ │ ├── ur3 │ │ │ │ ├── default_kinematics.yaml │ │ │ │ ├── joint_limits.yaml │ │ │ │ ├── physical_parameters.yaml │ │ │ │ └── visual_parameters.yaml │ │ │ ├── ur3e │ │ │ │ ├── default_kinematics.yaml │ │ │ │ ├── joint_limits.yaml │ │ │ │ ├── physical_parameters.yaml │ │ │ │ └── visual_parameters.yaml │ │ │ ├── ur5 │ │ │ │ ├── default_kinematics.yaml │ │ │ │ ├── joint_limits.yaml │ │ │ │ ├── physical_parameters.yaml │ │ │ │ └── visual_parameters.yaml │ │ │ └── ur5e │ │ │ │ ├── default_kinematics.yaml │ │ │ │ ├── joint_limits.yaml │ │ │ │ ├── physical_parameters.yaml │ │ │ │ └── visual_parameters.yaml │ │ ├── launch │ │ │ ├── load_ur.launch │ │ │ ├── load_ur10.launch │ │ │ ├── load_ur10e.launch │ │ │ ├── load_ur16e.launch │ │ │ ├── load_ur3.launch │ │ │ ├── load_ur3e.launch │ │ │ ├── load_ur5.launch │ │ │ ├── load_ur5e.launch │ │ │ ├── view_ur10.launch │ │ │ ├── view_ur10e.launch │ │ │ ├── view_ur16e.launch │ │ │ ├── view_ur3.launch │ │ │ ├── view_ur3e.launch │ │ │ ├── view_ur5.launch │ │ │ └── view_ur5e.launch │ │ ├── meshes │ │ │ ├── ur10 │ │ │ │ ├── collision │ │ │ │ │ ├── base.stl │ │ │ │ │ ├── forearm.stl │ │ │ │ │ ├── shoulder.stl │ │ │ │ │ ├── upperarm.stl │ │ │ │ │ ├── wrist1.stl │ │ │ │ │ ├── wrist2.stl │ │ │ │ │ └── wrist3.stl │ │ │ │ └── visual │ │ │ │ │ ├── base.dae │ │ │ │ │ ├── forearm.dae │ │ │ │ │ ├── shoulder.dae │ │ │ │ │ ├── upperarm.dae │ │ │ │ │ ├── wrist1.dae │ │ │ │ │ ├── wrist2.dae │ │ │ │ │ └── wrist3.dae │ │ │ ├── ur10e │ │ │ │ ├── collision │ │ │ │ │ ├── base.stl │ │ │ │ │ ├── forearm.stl │ │ │ │ │ ├── shoulder.stl │ │ │ │ │ ├── upperarm.stl │ │ │ │ │ ├── wrist1.stl │ │ │ │ │ ├── wrist2.stl │ │ │ │ │ └── wrist3.stl │ │ │ │ └── visual │ │ │ │ │ ├── base.dae │ │ │ │ │ ├── forearm.dae │ │ │ │ │ ├── shoulder.dae │ │ │ │ │ ├── upperarm.dae │ │ │ │ │ ├── wrist1.dae │ │ │ │ │ ├── wrist2.dae │ │ │ │ │ └── wrist3.dae │ │ │ ├── ur16e │ │ │ │ ├── collision │ │ │ │ │ ├── forearm.stl │ │ │ │ │ └── upperarm.stl │ │ │ │ └── visual │ │ │ │ │ ├── forearm.dae │ │ │ │ │ └── upperarm.dae │ │ │ ├── ur3 │ │ │ │ ├── collision │ │ │ │ │ ├── base.stl │ │ │ │ │ ├── forearm.stl │ │ │ │ │ ├── shoulder.stl │ │ │ │ │ ├── upperarm.stl │ │ │ │ │ ├── wrist1.stl │ │ │ │ │ ├── wrist2.stl │ │ │ │ │ └── wrist3.stl │ │ │ │ └── visual │ │ │ │ │ ├── base.dae │ │ │ │ │ ├── forearm.dae │ │ │ │ │ ├── shoulder.dae │ │ │ │ │ ├── upperarm.dae │ │ │ │ │ ├── wrist1.dae │ │ │ │ │ ├── wrist2.dae │ │ │ │ │ └── wrist3.dae │ │ │ ├── ur3e │ │ │ │ ├── collision │ │ │ │ │ ├── base.stl │ │ │ │ │ ├── forearm.stl │ │ │ │ │ ├── shoulder.stl │ │ │ │ │ ├── upperarm.stl │ │ │ │ │ ├── wrist1.stl │ │ │ │ │ ├── wrist2.stl │ │ │ │ │ └── wrist3.stl │ │ │ │ └── visual │ │ │ │ │ ├── base.dae │ │ │ │ │ ├── forearm.dae │ │ │ │ │ ├── shoulder.dae │ │ │ │ │ ├── upperarm.dae │ │ │ │ │ ├── wrist1.dae │ │ │ │ │ ├── wrist2.dae │ │ │ │ │ └── wrist3.dae │ │ │ ├── ur5 │ │ │ │ ├── collision │ │ │ │ │ ├── base.stl │ │ │ │ │ ├── forearm.stl │ │ │ │ │ ├── shoulder.stl │ │ │ │ │ ├── upperarm.stl │ │ │ │ │ ├── wrist1.stl │ │ │ │ │ ├── wrist2.stl │ │ │ │ │ └── wrist3.stl │ │ │ │ └── visual │ │ │ │ │ ├── base.dae │ │ │ │ │ ├── forearm.dae │ │ │ │ │ ├── shoulder.dae │ │ │ │ │ ├── upperarm.dae │ │ │ │ │ ├── wrist1.dae │ │ │ │ │ ├── wrist2.dae │ │ │ │ │ └── wrist3.dae │ │ │ └── ur5e │ │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ ├── model.pdf │ │ ├── package.xml │ │ ├── tests │ │ │ ├── roslaunch_test_ur10.xml │ │ │ ├── roslaunch_test_ur10e.xml │ │ │ ├── roslaunch_test_ur16e.xml │ │ │ ├── roslaunch_test_ur3.xml │ │ │ ├── roslaunch_test_ur3e.xml │ │ │ ├── roslaunch_test_ur5.xml │ │ │ └── roslaunch_test_ur5e.xml │ │ └── urdf │ │ │ ├── inc │ │ │ ├── ur10_macro.xacro │ │ │ ├── ur10e_macro.xacro │ │ │ ├── ur16e_macro.xacro │ │ │ ├── ur3_macro.xacro │ │ │ ├── ur3e_macro.xacro │ │ │ ├── ur5_macro.xacro │ │ │ ├── ur5e_macro.xacro │ │ │ ├── ur_common.xacro │ │ │ ├── ur_macro.xacro │ │ │ └── ur_transmissions.xacro │ │ │ ├── ur.xacro │ │ │ ├── ur10.xacro │ │ │ ├── ur10e.xacro │ │ │ ├── ur16e.xacro │ │ │ ├── ur3.xacro │ │ │ ├── ur3e.xacro │ │ │ ├── ur5.xacro │ │ │ └── ur5e.xacro │ ├── ur_e_description │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── cfg │ │ │ └── view_robot.rviz │ │ ├── launch │ │ │ ├── ur10e_upload.launch │ │ │ ├── ur3e_upload.launch │ │ │ ├── ur5e_upload.launch │ │ │ ├── view_ur10e.launch │ │ │ ├── view_ur3e.launch │ │ │ └── view_ur5e.launch │ │ ├── meshes │ │ │ ├── ur10e │ │ │ │ ├── collision │ │ │ │ │ ├── base.stl │ │ │ │ │ ├── forearm.stl │ │ │ │ │ ├── shoulder.stl │ │ │ │ │ ├── upperarm.stl │ │ │ │ │ ├── wrist1.stl │ │ │ │ │ ├── wrist2.stl │ │ │ │ │ └── wrist3.stl │ │ │ │ └── visual │ │ │ │ │ ├── base.dae │ │ │ │ │ ├── forearm.dae │ │ │ │ │ ├── shoulder.dae │ │ │ │ │ ├── upperarm.dae │ │ │ │ │ ├── wrist1.dae │ │ │ │ │ ├── wrist2.dae │ │ │ │ │ └── wrist3.dae │ │ │ ├── ur3e │ │ │ │ ├── collision │ │ │ │ │ ├── base.stl │ │ │ │ │ ├── forearm.stl │ │ │ │ │ ├── shoulder.stl │ │ │ │ │ ├── upperarm.stl │ │ │ │ │ ├── wrist1.stl │ │ │ │ │ ├── wrist2.stl │ │ │ │ │ └── wrist3.stl │ │ │ │ └── visual │ │ │ │ │ ├── base.dae │ │ │ │ │ ├── forearm.dae │ │ │ │ │ ├── shoulder.dae │ │ │ │ │ ├── upperarm.dae │ │ │ │ │ ├── wrist1.dae │ │ │ │ │ ├── wrist2.dae │ │ │ │ │ └── wrist3.dae │ │ │ └── ur5e │ │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── 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 │ │ └── urdf │ │ │ ├── common.gazebo.xacro │ │ │ ├── ur.gazebo.xacro │ │ │ ├── ur.transmission.xacro │ │ │ ├── ur10e.urdf.xacro │ │ │ ├── ur10e_joint_limited_robot.urdf.xacro │ │ │ ├── ur10e_robot.urdf.xacro │ │ │ ├── ur3e.urdf.xacro │ │ │ ├── ur3e_joint_limited_robot.urdf.xacro │ │ │ ├── ur3e_robot.urdf.xacro │ │ │ ├── ur5e.urdf.xacro │ │ │ ├── ur5e_joint_limited_robot.urdf.xacro │ │ │ └── ur5e_robot.urdf.xacro │ └── velodyne_description │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── launch │ │ └── example.launch │ │ ├── meshes │ │ ├── HDL32E_base.dae │ │ ├── HDL32E_base.stl │ │ ├── HDL32E_scan.dae │ │ ├── HDL32E_scan.stl │ │ ├── VLP16_base_1.dae │ │ ├── VLP16_base_1.stl │ │ ├── VLP16_base_2.dae │ │ ├── VLP16_base_2.stl │ │ ├── VLP16_scan.dae │ │ └── VLP16_scan.stl │ │ ├── package.xml │ │ ├── rviz │ │ └── example.rviz │ │ ├── urdf │ │ ├── HDL-32E.urdf.xacro │ │ ├── VLP-16.urdf.xacro │ │ └── example.urdf.xacro │ │ └── world │ │ └── example.world ├── rviz_lighting │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ └── rviz_lighting.rviz │ ├── launch │ │ └── rviz_lighting.launch │ ├── package.xml │ ├── plugin_description.xml │ ├── src │ │ ├── AmbientLightDisplay.cpp │ │ ├── AmbientLightDisplay.h │ │ ├── LightDisplay.cpp │ │ ├── LightDisplay.h │ │ ├── LightVisual.cpp │ │ └── LightVisual.h │ └── urdf │ │ └── rviz_lighting.urdf ├── scene_builder │ ├── CMakeLists.txt │ ├── input │ │ └── .gitignore │ ├── launch │ │ ├── view_object.launch │ │ └── view_scene.launch │ ├── output │ │ └── .gitignore │ ├── package.xml │ ├── rviz │ │ ├── bigai_tamp_scene.rviz │ │ ├── view_object.rviz │ │ └── view_scene.rviz │ ├── scripts │ │ ├── db_loader.py │ │ ├── global_settings.py │ │ ├── mesh_object.py │ │ ├── parse_graph.py │ │ ├── scene_bulder.py │ │ ├── transformation.py │ │ ├── xacro_ros.py │ │ └── xacro_scene.py │ └── tools │ │ ├── manipulate_mesh.py │ │ ├── mesh_part2whole.py │ │ └── transformation.py ├── vkc │ ├── CMakeLists.txt │ ├── cmake │ │ └── vkc-config.cmake.in │ ├── include │ │ └── vkc │ │ │ ├── action │ │ │ ├── ActionCreatorFactory.h │ │ │ ├── TaskPlanParser.h │ │ │ ├── action_base.h │ │ │ ├── action_sequence.h │ │ │ ├── actions.h │ │ │ ├── goto_action.h │ │ │ ├── pick_action.h │ │ │ ├── place_action.h │ │ │ └── use_action.h │ │ │ ├── construct_vkc.h │ │ │ ├── env │ │ │ ├── arena_env.h │ │ │ ├── benchmark_env.h │ │ │ ├── household_env.h │ │ │ ├── open_door_env.h │ │ │ ├── uam_env.h │ │ │ ├── urdf_scene_env.h │ │ │ └── vkc_env_basic.h │ │ │ ├── interactive_object │ │ │ ├── ball.h │ │ │ ├── cabinet.h │ │ │ ├── interface_object.h │ │ │ └── stick.h │ │ │ ├── object │ │ │ ├── basic_ball.h │ │ │ ├── basic_cabinet.h │ │ │ ├── basic_chair.h │ │ │ ├── basic_door.h │ │ │ ├── basic_drawer.h │ │ │ ├── basic_fridge.h │ │ │ ├── basic_hook.h │ │ │ ├── basic_marker.h │ │ │ ├── basic_object.h │ │ │ ├── basic_obs.h │ │ │ ├── basic_stick.h │ │ │ ├── basic_table.h │ │ │ ├── basic_wall.h │ │ │ └── objects.h │ │ │ ├── planner │ │ │ ├── huskey_ik_define.h │ │ │ ├── ikfast.h │ │ │ ├── long_horizon.h │ │ │ ├── prob_generator.h │ │ │ ├── prob_ompl_define.h │ │ │ ├── prob_translator.h │ │ │ ├── prob_translator_utils.h │ │ │ ├── traj_init.h │ │ │ └── ur_kin.h │ │ │ └── utils.h │ ├── package.xml │ └── src │ │ ├── action │ │ └── actions.cpp │ │ ├── construct_vkc.cpp │ │ ├── env │ │ ├── urdf_scene_env.cpp │ │ └── vkc_env_basic.cpp │ │ ├── planner │ │ ├── long_horizon.cpp │ │ ├── prob_generator.cpp │ │ ├── prob_translator.cpp │ │ ├── prob_translator_utils.cpp │ │ ├── traj_init.cpp │ │ └── ur_kin.cpp │ │ └── utils.cpp └── vkc_example │ ├── CMakeLists.txt │ ├── config │ ├── display.rviz │ ├── env.rviz │ ├── tool_use_env.rviz │ ├── vkc_demo.rviz │ └── vkc_view.rviz │ ├── env │ ├── env.urdf.xacro │ ├── pog_env.xacro │ ├── sr_env.xacro │ ├── tieta_env.xacro │ ├── uam_env.xacro │ ├── vkc_big_task.urdf.xacro │ └── vkc_demo.urdf.xacro │ ├── iks │ └── .gitkeep │ ├── include │ └── vkc_example │ │ ├── scene_objects.h │ │ └── utils.h │ ├── launch │ ├── arena_env.launch │ ├── benchmark_env.launch │ ├── display.launch │ ├── household_env.launch │ ├── open_door_env.launch │ ├── pog_env.launch │ ├── replay_trajectory.launch │ ├── sr_env.launch │ ├── tieta_env.launch │ ├── tieta_env_tablechair.launch │ ├── uam_env.launch │ ├── urdf_scene_env.launch │ └── vkc_big_task.launch │ ├── package.xml │ ├── scripts │ └── ros_movement.py │ ├── src │ ├── household_env_node.cpp │ └── utils.cpp │ ├── task_plan │ ├── my_plan │ └── place_ball_to_cabinet │ ├── trajectory │ ├── .gitkeep │ ├── household_env_0.csv │ ├── household_env_0_1.csv │ ├── household_env_1.csv │ ├── household_env_10.csv │ ├── household_env_11.csv │ ├── household_env_12.csv │ ├── household_env_13.csv │ ├── household_env_14.csv │ ├── household_env_15.csv │ ├── household_env_16.csv │ ├── household_env_17.csv │ ├── household_env_2.csv │ ├── 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