├── .gitignore ├── Dockerfile ├── LICENSE ├── README.md ├── asset ├── agv_arm3 │ ├── CMakeLists.txt │ ├── config │ │ └── joint_names_agv_arm3.yaml │ ├── export.log │ ├── launch │ │ ├── display.launch │ │ └── gazebo.launch │ ├── meshes │ │ ├── R_STR_02_upfloor.STL │ │ ├── arm_base_link.STL │ │ ├── back_link1.STL │ │ ├── back_link2.STL │ │ ├── base_link.STL │ │ ├── d415_link.STL │ │ ├── end_Link.STL │ │ ├── finger_link1.STL │ │ ├── finger_link2.STL │ │ ├── front_link1.STL │ │ ├── front_link2.STL │ │ ├── left_link.STL │ │ ├── lidar_link.STL │ │ ├── link1.STL │ │ ├── link2.STL │ │ ├── link3.STL │ │ ├── link4.STL │ │ ├── link5.STL │ │ ├── link6.STL │ │ ├── pc_link.STL │ │ ├── pwr_link.STL │ │ ├── right_link.STL │ │ └── upper_link.STL │ ├── package.xml │ ├── urdf │ │ ├── agv_arm3.csv │ │ ├── agv_arm3.urdf │ │ ├── agv_arm3.xacro │ │ ├── agv_base.xacro │ │ ├── agv_se.gv │ │ ├── agv_se.pdf │ │ └── hmqr5.xacro │ └── world │ │ └── hmqr5.world.xacro ├── door │ ├── CMakeLists.txt │ ├── config │ │ └── joint_names_door.yaml │ ├── export.log │ ├── launch │ │ ├── display.launch │ │ └── gazebo.launch │ ├── meshes │ │ ├── door_cover_link.STL │ │ ├── door_hinge_link.STL │ │ ├── door_link.STL │ │ ├── ic_l.STL │ │ ├── ic_m.STL │ │ └── ic_s.STL │ ├── package.xml │ ├── urdf │ │ ├── door.csv │ │ ├── door.rviz │ │ └── door.urdf │ └── world │ │ ├── door.world │ │ └── door_world.world ├── omni_rob │ ├── CMakeLists.txt │ ├── ReadMe.md │ ├── launch │ │ ├── mabi_base_gazebo.launch │ │ ├── omni_base_gazebo.launch │ │ ├── omni_ur5_ft_sensor.launch │ │ ├── omni_ur5_gazebo.launch │ │ ├── omni_ur5_upload.launch │ │ └── omni_z1_gazebo.launch │ ├── package.xml │ ├── rviz │ │ ├── ft_sensor.rviz │ │ └── img_and_pointcloud.rviz │ ├── scripts │ │ ├── base_controller.py │ │ ├── camera_trans_pub.py │ │ ├── fake_odom.py │ │ └── rob_teleop.py │ ├── urdf │ │ ├── agv_base.xacro │ │ ├── agv_base_show.xacro │ │ ├── baxter_gripper.xacro │ │ ├── demo.rviz │ │ ├── omni_base.xacro │ │ ├── omni_ur5.xacro │ │ └── omni_z1.xacro │ └── world │ │ └── omni_rob.rviz ├── realsense_ros_gazebo │ ├── CMakeLists.txt │ ├── README.md │ ├── doc │ │ ├── d435.png │ │ ├── r200.png │ │ ├── t265.png │ │ └── t265_graph.png │ ├── include │ │ └── realsense_gazebo_plugin │ │ │ ├── RealSensePlugin.h │ │ │ └── gazebo_ros_realsense.h │ ├── launch │ │ ├── description.launch │ │ ├── simulation.launch │ │ └── simulation_agv_arm.launch │ ├── meshes │ │ ├── realsense_d435.stl │ │ ├── realsense_r200 │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── realsense_diffuse.png │ │ │ ├── meshes │ │ │ │ └── realsense.dae │ │ │ ├── model.config │ │ │ └── model.sdf │ │ └── realsense_t265.stl │ ├── package.xml │ ├── src │ │ ├── RealSensePlugin.cpp │ │ └── gazebo_ros_realsense.cpp │ ├── urdf │ │ ├── agv_arm_rs.urdf │ │ ├── agv_arm_rs2.urdf │ │ ├── d435.urdf │ │ ├── test.xacro │ │ ├── test_agv_arm.xacro │ │ └── test_agv_arm_new.xacro │ └── xacro │ │ ├── depthcam.xacro │ │ ├── inertia_calc.xacro │ │ └── tracker.xacro ├── rethink_ee_description │ ├── CMakeLists.txt │ ├── meshes │ │ ├── electric_gripper │ │ │ ├── electric_gripper_base.DAE │ │ │ ├── electric_gripper_base.STL │ │ │ ├── electric_gripper_w_fingers.DAE │ │ │ ├── electric_gripper_w_fingers.STL │ │ │ └── fingers │ │ │ │ ├── basic_hard_tip.DAE │ │ │ │ ├── basic_hard_tip.STL │ │ │ │ ├── basic_soft_tip.DAE │ │ │ │ ├── basic_soft_tip.STL │ │ │ │ ├── extended_narrow.DAE │ │ │ │ ├── extended_narrow.STL │ │ │ │ ├── extended_wide.DAE │ │ │ │ ├── extended_wide.STL │ │ │ │ ├── half_round_tip.DAE │ │ │ │ ├── half_round_tip.STL │ │ │ │ ├── limiter.DAE │ │ │ │ ├── limiter.STL │ │ │ │ ├── paddle_tip.DAE │ │ │ │ ├── paddle_tip.STL │ │ │ │ ├── standard_narrow.DAE │ │ │ │ ├── standard_narrow.STL │ │ │ │ ├── standard_wide.DAE │ │ │ │ └── standard_wide.STL │ │ └── pneumatic_gripper │ │ │ ├── archive │ │ │ ├── pneumatic_gripper.STL │ │ │ └── pneumatic_gripper_30mm_cup.STL │ │ │ ├── pneumatic_gripper_base.DAE │ │ │ ├── pneumatic_gripper_base.STL │ │ │ ├── pneumatic_gripper_w_cup.DAE │ │ │ └── pneumatic_gripper_w_cup.STL │ ├── package.xml │ └── urdf │ │ ├── electric_gripper │ │ ├── example_end_effector.urdf.xacro │ │ ├── fingers │ │ │ ├── basic_hard_tip.xacro │ │ │ ├── basic_soft_tip.xacro │ │ │ ├── extended_narrow.xacro │ │ │ ├── extended_wide.xacro │ │ │ ├── half_round_tip.xacro │ │ │ ├── none.xacro │ │ │ ├── paddle_tip.xacro │ │ │ ├── standard_narrow.xacro │ │ │ └── standard_wide.xacro │ │ └── rethink_electric_gripper.xacro │ │ ├── null_gripper │ │ ├── example_end_effector.urdf.xacro │ │ └── null_gripper.xacro │ │ └── pneumatic_gripper │ │ ├── example_end_effector.urdf.xacro │ │ ├── pneumatic_gripper_base.xacro │ │ └── rethink_pneumatic_gripper.xacro ├── ur5_description │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ └── view_robot.rviz │ ├── launch │ │ ├── ur5_upload.launch │ │ └── view_ur5.launch │ ├── meshes │ │ └── 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 │ ├── package.xml │ └── urdf │ │ ├── common.gazebo.xacro │ │ ├── torque_sensor.xacro │ │ ├── ur.gazebo.xacro │ │ ├── ur.transmission.xacro │ │ ├── ur5.gv │ │ ├── ur5.pdf │ │ ├── ur5.urdf │ │ ├── ur5.urdf.xacro │ │ ├── ur5_joint_limited_robot.urdf.xacro │ │ ├── ur5_robot.urdf │ │ └── ur5_robot.urdf.xacro └── ur5_gazebo │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── controller │ ├── arm_controller_ur5.yaml │ ├── gripper_controller.yaml │ ├── gripper_pos_controller.yaml │ ├── joint_state_controller.yaml │ ├── ur5_gazebo_effort_controller.yaml │ ├── ur5_gazebo_effort_position_controller.yaml │ └── ur5_gazebo_state_controller.yaml │ ├── launch │ ├── controller_utils.launch │ ├── gripper_controller.launch │ ├── ur5.launch │ ├── ur5_effort_controller.launch │ ├── ur5_effort_position_controller.launch │ ├── ur5_joint_limited.launch │ ├── ur5_state.launch │ └── ur5_state_controller.launch │ ├── package.xml │ └── tests │ └── roslaunch_test.xml ├── interactive_marker ├── CMakeLists.txt ├── include │ └── interactive_marker │ │ └── interactive_marker.h ├── package.xml └── src │ ├── interactive_marker.cpp │ └── interactive_marker_node.cpp ├── open_door_mpc ├── CMakeLists.txt ├── launch │ ├── rob_demo.launch │ └── rob_demo.rviz ├── msg │ ├── RobActions.msg │ └── RobStates.msg ├── package.xml └── script │ ├── __pycache__ │ ├── simulation_code.cpython-310.pyc │ ├── simulation_code.cpython-38.pyc │ └── trajectory_generator_ee.cpython-38.pyc │ ├── diff_rob_mpc_ur5_demo.py │ ├── gif │ ├── rob_oa1653964772.6445339.gif │ ├── rob_oa1653965195.6321232.gif │ ├── rob_oa1653965272.7860146.gif │ ├── rob_oa1653965325.1415062.gif │ ├── rob_oa1653965774.425927.gif │ ├── rob_oa1653965813.8165407.gif │ ├── rob_oa1653965899.2045672.gif │ ├── rob_oa1653965934.7856593.gif │ ├── rob_oa1653966017.4716344.gif │ ├── rob_oa1653966174.9099264.gif │ └── rob_oa1653966241.6184812.gif │ ├── mobile_manipulator_mpc_demo.py │ ├── modern_robotics │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── __version__.cpython-38.pyc │ │ └── core.cpython-38.pyc │ ├── __version__.py │ └── core.py │ ├── trajectory_generator_ee.py │ └── utils │ ├── __pycache__ │ ├── hmqr5_agl_map.cpython-38.pyc │ ├── hmqr5_dh.cpython-38.pyc │ ├── mr_casadi.cpython-310.pyc │ ├── mr_casadi.cpython-38.pyc │ ├── omnirob_hmqr5.cpython-38.pyc │ ├── omnirob_hmqr5_ros.cpython-38.pyc │ ├── omnirob_ur5.cpython-38.pyc │ ├── omnirob_ur5_ros.cpython-38.pyc │ ├── sdf.cpython-310.pyc │ ├── sdf.cpython-38.pyc │ ├── ur5_dh.cpython-310.pyc │ ├── ur5_dh.cpython-38.pyc │ ├── visualization.cpython-38.pyc │ └── z1_dh.cpython-38.pyc │ ├── cas_kin_dyn.py │ ├── drawWrench.py │ ├── hmqr5_agl_map.py │ ├── hmqr5_dh.py │ ├── mr_casadi.py │ ├── omnirob_hmqr5.py │ ├── omnirob_hmqr5_ros.py │ ├── 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