├── .gitignore ├── README.md ├── bimanual_manipulation ├── CMakeLists.txt ├── README.md ├── package.xml └── src │ ├── bimanual_manipulation_demo.cpp │ ├── default.rviz │ ├── moveit.rviz │ ├── pick_place_collision.cpp │ └── pick_place_no_collision.cpp ├── dual_ur_robotiq_description ├── CMakeLists.txt ├── cfg │ └── view_robot.rviz ├── launch │ ├── dual_arm_upload.launch │ ├── ur5e_upload.launch │ ├── view_dual_ur5e.launch │ └── view_ur5e.launch ├── meshes │ ├── dual_arm_mount.stl │ └── 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 │ ├── dual_ur_robotiq.urdf.xacro │ ├── robot.urdf.xacro │ ├── ur.gazebo.xacro │ ├── ur.transmission.xacro │ ├── ur5e.urdf.xacro │ ├── ur5e_joint_limited_robot.urdf.xacro │ └── ur5e_robot.urdf.xacro ├── etc └── img │ ├── bimanual_manipulation_demo.gif │ ├── gripper_usb.png │ ├── network_setup.jpg │ ├── network_setup.png │ ├── real_robot.JPG │ ├── router_1.png │ └── router_2.png ├── robot_gazebo ├── CMakeLists.txt ├── controller │ ├── arm_controller_ur5e.yaml │ ├── dual_ur_robotiq_controller.yaml │ └── joint_state_controller.yaml ├── launch │ ├── controller_utils.launch │ ├── dual_ur_robotiq.launch │ ├── ur5e.launch │ └── ur5e_joint_limited.launch ├── package.xml ├── tests │ └── roslaunch_test.xml └── worlds │ ├── cubes.world │ ├── empty.world │ ├── table.world │ └── table_box.world ├── robot_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── cartesian_limits.yaml │ ├── chomp_planning.yaml │ ├── controllers.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── robot.srdf │ ├── 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 │ ├── ompl_planning_pipeline.launch.xml │ ├── pilz_industrial_motion_planner_planning_pipeline.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── robot_moveit_controller_manager.launch.xml │ ├── robot_moveit_planning_execution.launch │ ├── robot_moveit_sensor_manager.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 ├── ur_description ├── CHANGELOG.rst ├── CMakeLists.txt ├── cfg │ └── view_robot.rviz ├── config │ ├── other │ │ ├── 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_dual_arm.launch │ ├── load_ur.launch │ ├── load_ur5e.launch │ ├── other │ │ ├── load_ur10.launch │ │ ├── load_ur10e.launch │ │ ├── load_ur16e.launch │ │ ├── load_ur3.launch │ │ ├── load_ur3e.launch │ │ ├── load_ur5.launch │ │ ├── view_ur10.launch │ │ ├── view_ur10e.launch │ │ ├── view_ur16e.launch │ │ ├── view_ur3.launch │ │ ├── view_ur3e.launch │ │ └── view_ur5.launch │ └── view_ur5e.launch ├── meshes │ ├── other │ │ ├── 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 │ ├── dual_ur5e.urdf.xacro │ ├── inc │ ├── 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