├── README.md ├── robotiq ├── .travis.yml ├── README.md ├── dependencies.rosinstall ├── robotiq_description │ ├── CMakeLists.txt │ ├── config │ │ └── robotiq_85.rviz │ ├── launch │ │ └── display_robotiq85.launch │ ├── meshes │ │ ├── collision │ │ │ ├── robotiq_85_base_link.stl │ │ │ ├── robotiq_85_finger_link.stl │ │ │ ├── robotiq_85_finger_tip_link.stl │ │ │ ├── robotiq_85_inner_knuckle_link.stl │ │ │ └── robotiq_85_knuckle_link.stl │ │ ├── robotiq_85_coupler.stl │ │ └── visual │ │ │ ├── robotiq_85_base_link.dae │ │ │ ├── robotiq_85_finger_link.dae │ │ │ ├── robotiq_85_finger_tip_link.dae │ │ │ ├── robotiq_85_inner_knuckle_link.dae │ │ │ └── robotiq_85_knuckle_link.dae │ ├── package.xml │ └── urdf │ │ ├── robotiq_85_gripper.transmission.xacro │ │ ├── robotiq_85_gripper.urdf.xacro │ │ ├── robotiq_85_gripper.xacro │ │ └── robotiq_85_gripper_sim_base.urdf.xacro └── robotiq_gazebo │ ├── CMakeLists.txt │ ├── include │ └── robotiq_gazebo │ │ ├── disable_link_plugin.h │ │ └── mimic_joint_plugin.h │ ├── package.xml │ └── src │ ├── disable_link_plugin.cpp │ └── mimic_joint_plugin.cpp ├── universal_robot ├── .gitignore ├── .travis.yml ├── CONTRIBUTING.md ├── README.md ├── universal_robot │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── universal_robots │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── ur10_e_moveit_config │ ├── .setup_assistant │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ └── ur10e.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── 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 │ │ ├── trajectory_execution.launch.xml │ │ ├── ur10_e_moveit_controller_manager.launch.xml │ │ ├── ur10_e_moveit_planning_execution.launch │ │ ├── ur10_e_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ ├── package.xml │ └── tests │ │ └── moveit_planning_execution.xml ├── ur10_moveit_config │ ├── .setup_assistant │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ └── ur10.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── 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 │ │ ├── trajectory_execution.launch.xml │ │ ├── ur10_moveit_controller_manager.launch.xml │ │ ├── ur10_moveit_planning_execution.launch │ │ ├── ur10_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ ├── package.xml │ └── tests │ │ └── moveit_planning_execution.xml ├── ur3_e_moveit_config │ ├── .setup_assistant │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ └── ur3e.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── 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 │ │ ├── trajectory_execution.launch.xml │ │ ├── ur3_e_moveit_controller_manager.launch.xml │ │ ├── ur3_e_moveit_planning_execution.launch │ │ ├── ur3_e_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ ├── package.xml │ └── tests │ │ └── moveit_planning_execution.xml ├── ur3_moveit_config │ ├── .setup_assistant │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ └── ur3.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── 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 │ │ ├── trajectory_execution.launch.xml │ │ ├── ur3_moveit_controller_manager.launch.xml │ │ ├── ur3_moveit_planning_execution.launch │ │ ├── ur3_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ ├── package.xml │ └── tests │ │ └── moveit_planning_execution.xml ├── ur5_e_moveit_config │ ├── .setup_assistant │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ └── ur5e.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── 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 │ │ ├── trajectory_execution.launch.xml │ │ ├── ur5_e_moveit_controller_manager.launch.xml │ │ ├── ur5_e_moveit_planning_execution.launch │ │ ├── ur5_e_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ ├── package.xml │ └── tests │ │ └── moveit_planning_execution.xml ├── ur5_moveit_config │ ├── .setup_assistant │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ └── ur5.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── 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 │ │ ├── trajectory_execution.launch.xml │ │ ├── ur5_moveit_controller_manager.launch.xml │ │ ├── ur5_moveit_planning_execution.launch │ │ ├── ur5_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ ├── package.xml │ └── tests │ │ └── moveit_planning_execution.xml ├── ur_bringup │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ ├── ur10_bringup.launch │ │ ├── ur10_bringup_joint_limited.launch │ │ ├── ur3_bringup.launch │ │ ├── ur3_bringup_joint_limited.launch │ │ ├── ur5_bringup.launch │ │ ├── ur5_bringup_joint_limited.launch │ │ └── ur_common.launch │ ├── package.xml │ └── tests │ │ └── roslaunch_test.xml ├── ur_description │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ └── view_robot.rviz │ ├── launch │ │ ├── ur10_upload.launch │ │ ├── ur3_upload.launch │ │ ├── ur5_upload.launch │ │ ├── view_ur10.launch │ │ ├── view_ur3.launch │ │ └── view_ur5.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 │ │ ├── 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 │ │ └── 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 │ ├── model.pdf │ ├── package.xml │ └── urdf │ │ ├── common.gazebo.xacro │ │ ├── ur.gazebo.xacro │ │ ├── ur.transmission.xacro │ │ ├── ur10.urdf.xacro │ │ ├── ur10_joint_limited_robot.urdf.xacro │ │ ├── ur10_robot.urdf.xacro │ │ ├── ur3.urdf.xacro │ │ ├── ur3_joint_limited_robot.urdf.xacro │ │ ├── ur3_robot.urdf.xacro │ │ ├── ur5.gazebo.xml │ │ ├── ur5.gazebo_2.xml │ │ ├── ur5.urdf.xacro │ │ ├── ur5_joint_limited_robot.urdf.xacro │ │ ├── ur5_joint_limited_robot_2.urdf.xacro │ │ ├── ur5_joint_limited_robot_3.urdf.xacro │ │ ├── ur5_robot.urdf.xacro │ │ └── ur5_robotiq85_gripper.urdf.xacro ├── ur_driver │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ └── URDriver.cfg │ ├── package.xml │ ├── prog │ ├── prog_reset │ ├── setup.py │ ├── src │ │ └── ur_driver │ │ │ ├── __init__.py │ │ │ ├── deserialize.py │ │ │ ├── deserializeRT.py │ │ │ ├── driver.py │ │ │ ├── io_interface.py │ │ │ ├── testRT_comm.py │ │ │ └── test_comm.py │ ├── test_io.py │ └── test_move.py ├── 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 ├── ur_e_gazebo │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── controller │ │ ├── arm_controller_ur10e.yaml │ │ ├── arm_controller_ur3e.yaml │ │ ├── arm_controller_ur5e.yaml │ │ └── joint_state_controller.yaml │ ├── launch │ │ ├── controller_utils.launch │ │ ├── ur10e.launch │ │ ├── ur10e_joint_limited.launch │ │ ├── ur3e.launch │ │ ├── ur3e_joint_limited.launch │ │ ├── ur5e.launch │ │ └── ur5e_joint_limited.launch │ ├── package.xml │ └── tests │ │ └── roslaunch_test.xml ├── ur_gazebo │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── controller │ │ ├── arm_controller_ur10.yaml │ │ ├── arm_controller_ur3.yaml │ │ ├── arm_controller_ur5.yaml │ │ └── joint_state_controller.yaml │ ├── launch │ │ ├── controller_utils.launch │ │ ├── ur10.launch │ │ ├── ur10_joint_limited.launch │ │ ├── ur3.launch │ │ ├── ur3_joint_limited.launch │ │ ├── ur5.launch │ │ └── ur5_joint_limited.launch │ ├── package.xml │ └── tests │ │ └── roslaunch_test.xml ├── ur_kinematics │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── ur_kinematics │ │ │ ├── ikfast.h │ │ │ ├── ur_kin.h │ │ │ └── ur_moveit_plugin.h │ ├── package.xml │ ├── setup.py │ ├── src │ │ ├── ur_kin.cpp │ │ ├── ur_kin_py.cpp │ │ ├── ur_kinematics │ │ │ ├── __init__.py │ │ │ └── test_analytical_ik.py │ │ └── ur_moveit_plugin.cpp │ └── ur_moveit_plugins.xml └── ur_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── msg │ ├── Analog.msg │ ├── Digital.msg │ ├── IOStates.msg │ ├── MasterboardDataMsg.msg │ ├── RobotModeDataMsg.msg │ ├── RobotStateRTMsg.msg │ └── ToolDataMsg.msg │ ├── package.xml │ └── srv │ ├── SetIO.srv │ ├── SetPayload.srv │ └── SetSpeedSliderFraction.srv ├── ur5_gripper_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── README.md ├── config │ ├── chomp_planning.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── ros_controllers.yaml │ ├── sensors_3d.yaml │ └── ur5.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 │ ├── 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