├── README.md ├── cai_env ├── CMakeLists.txt ├── launch │ ├── custom_world.launch │ ├── urdf_part_spawn.launch │ └── xacro_part_spawn.launch ├── media │ └── materials │ │ ├── scripts │ │ └── table.material │ │ └── textures │ │ └── table.png ├── meshes │ ├── Hole.STL │ ├── basket.STL │ ├── bolt_holder.STL │ ├── bottom_table.STL │ ├── chair_pin(14ea).STL │ ├── part1.STL │ ├── part2.STL │ ├── part3.STL │ ├── part4.STL │ ├── part5.STL │ ├── reverse_part5.STL │ ├── robot_base.STL │ ├── screw1(4ea).STL │ ├── screw2(6ea).STL │ ├── table.STL │ ├── table.dae │ ├── table_cover.STL │ ├── wood_bolt.STL │ └── wood_pin_holder.STL ├── package.xml ├── urdf │ ├── Hole.urdf.xacro │ ├── Table2.urdf.xacro │ ├── basket.urdf.xacro │ ├── bolt_holder.urdf.xacro │ ├── chair_pin.urdf │ ├── chair_pin.urdf.xacro │ ├── part1.urdf │ ├── part2.urdf │ ├── part3.urdf │ ├── part4.urdf │ ├── part5.urdf │ ├── reverse_part5.urdf │ ├── robot_base.urdf.xacro │ ├── screw1.urdf │ ├── screw1.urdf.xacro │ ├── screw2.urdf │ ├── screw2.urdf.xacro │ ├── steel_bolt2.urdf.xacro │ ├── table.urdf.xacro │ ├── wood_bolt.urdf.xacro │ └── wood_pin_holder.urdf.xacro └── worlds │ └── factory_world.world ├── gazebo_ros_link_attacher ├── CMakeLists.txt ├── README.md ├── include │ └── gazebo_ros_link_attacher.h ├── launch │ └── test_attacher.launch ├── package.xml ├── scripts │ ├── attach.py │ ├── demo.py │ ├── demo_multiple.py │ ├── detach.py │ └── spawn_models.py ├── src │ └── gazebo_ros_link_attacher.cpp ├── srv │ └── Attach.srv ├── ss.png └── worlds │ └── test_attacher.world ├── gripper_ur5 ├── CMakeLists.txt ├── config │ ├── gazebo_ros_control_params.yaml │ ├── gripper_controller.yaml │ ├── joint_names_gripper.yaml │ └── ur5_gripper_controller.yaml ├── launch │ ├── display.launch │ ├── gazebo.launch │ ├── gazebo_env_setting.launch │ ├── gazebo_spawn.launch │ ├── ur5.launch │ ├── ur5_gripepr.launch │ └── ur5_upload.launch ├── manual.md ├── meshes │ ├── finger_link1.STL │ ├── finger_link2.STL │ └── gripper_body.STL ├── package.xml ├── src │ ├── part_spawn.py │ ├── robot_sorting.py │ ├── robot_sorting2.py │ ├── robot_sorting_yolo.py │ ├── spawn.py │ ├── test.py │ └── ur5_gripper.py └── urdf │ ├── camera.urdf.xacro │ ├── gripper.urdf.xacro │ └── ur5_gripper.urdf.xacro ├── gripper_ur5_moveit_config ├── CMakeLists.txt ├── config │ ├── chomp_planning.yaml │ ├── controllers.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_planning_execution.launch │ ├── 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 │ ├── ur5_moveit_controller_manager.launch.xml │ ├── ur5_moveit_sensor_manager.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml └── package.xml ├── img └── grasp_detection.gif ├── universal_robot ├── universal_robot │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── universal_robots │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── ur5_moveit_config │ ├── 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 │ │ │ └── visual │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ └── wrist2.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.urdf.xacro │ │ ├── ur5_joint_limited_robot.urdf.xacro │ │ └── ur5_robot.urdf.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 ├── 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 │ ├── setup.py │ └── src │ ├── ur_kin.cpp │ ├── ur_kin_py.cpp │ └── ur_moveit_plugin.cpp ├── workcell ├── materials │ └── textures │ │ ├── Bin.png │ │ ├── CardboardBoxes.png │ │ ├── ControlPanel.png │ │ ├── Conveyor.png │ │ ├── Door_Window.png │ │ ├── Floor.png │ │ ├── Mesh.png │ │ ├── Pallet.png │ │ ├── PalletWrap.png │ │ ├── Pillar.png │ │ ├── Plywood.png │ │ ├── RollupDoor.png │ │ ├── RubberMat.png │ │ ├── Shelves.png │ │ ├── Stairs.png │ │ ├── Wall_Concrete.png │ │ ├── Wall_Corrugated.png │ │ ├── WorkCell_Render.png │ │ └── Yellow.png ├── meshes │ └── mesh.dae ├── model.config └── model.sdf └── yolov3_pytorch_ros ├── CMakeLists.txt ├── LICENSE ├── README.md ├── classes ├── coco.names ├── screw.names └── voc.names ├── config ├── yolov3-cai-tiny.cfg ├── yolov3-tiny.cfg ├── yolov3-voc.cfg └── 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