├── .DS_Store ├── AUTHORS ├── IK_debug_numpy.py ├── IK_debug_sympy.py ├── LICENSE ├── README.md ├── figures ├── .DS_Store ├── 1-intro │ ├── amazon_robo_arm.png │ ├── gazebo_intro_v2.png │ ├── moveit_intro_v3.png │ └── relevance.png ├── 3-theory │ ├── Inertial-Frame.png │ ├── codecogseqn3.gif │ ├── dh_eq_1.png │ ├── dh_eq_2.png │ ├── dh_eq_3_v2.png │ ├── euler_rotation_matrices_c.png │ ├── ex_rot_matrices.png │ ├── fk_ik_3.png │ ├── homo_tf_2.png │ ├── homog_tf_2_exp.png │ ├── homog_transform_eqns.png │ ├── in_rot_matrices.png │ ├── mod_dh_params_labeled_3.png │ ├── mod_dh_params_labeled_4.png │ ├── mod_dh_table_2.png │ ├── robo_arm_sol_complete_2.png │ ├── robo_arm_sol_summary_3.png │ ├── robo_arm_w.png │ ├── rot_deriv_1.png │ ├── rot_deriv_2.png │ ├── rot_deriv_3.png │ ├── rot_derivation_ab_3.png │ ├── scara_anthro_wksp.png │ ├── spherical_wrist_def_2.png │ └── workspace_RRR.jpg ├── 4-requirements │ ├── eval_criteria_v2.png │ ├── gazebo-req-2.gif │ └── moveit_demo_v3.gif ├── 5-implementation │ ├── DH_Table.png │ ├── R0_3.png │ ├── R3_6.png │ ├── R3_6_calc_v2.png │ ├── W_eqn.png │ ├── dh_eq_3.png │ ├── dh_eq_3_v2.png │ ├── homog_rotation.png │ ├── ik1_v4.png │ ├── kr210_arch_5.png │ ├── sag_eqn.png │ ├── theta1_eqn.png │ ├── theta2_eqn.png │ ├── theta2_eqn_v2.png │ ├── theta3_eqn.png │ ├── theta3_v2.png │ ├── thetas_1_2.png │ ├── thetas_4_5_6_v2.png │ ├── urdf_table.png │ ├── wc_1.png │ ├── wc_1_v2.png │ └── wc_calc_v2.png └── 6-testing │ ├── ee_plot_1_v2.png │ ├── ee_plot_1_v3.png │ ├── ee_plot_2_v2.png │ ├── ee_plot_2_v3.png │ ├── ee_plot_3_v2.png │ ├── ee_plot_3_v3.png │ ├── ee_plot_4_v2.png │ ├── ee_plot_4_v3.png │ ├── ee_plot_5_v2.png │ ├── ee_plot_5_v3.png │ ├── ee_plot_6_v2.png │ ├── ee_plot_6_v3.png │ ├── gazebo_moveit_sync_v2.gif │ └── path_following_v2.gif ├── gazebo_grasp_plugin ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ └── gazebo_grasp_plugin │ │ ├── GazeboGraspFix.h │ │ └── GazeboGraspGripper.h ├── package.xml └── src │ ├── GazeboGraspFix.cpp │ └── GazeboGraspGripper.cpp ├── kr210_claw_moveit ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── controllers.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── kuka_arm.srdf │ └── ompl_planning.yaml ├── launch │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── joystick_control.launch │ ├── kuka_arm_moveit_controller_manager.launch.xml │ ├── kuka_arm_moveit_sensor_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 │ ├── warehouse.launch │ └── warehouse_settings.launch.xml └── package.xml ├── kuka_arm ├── CMakeLists.txt ├── config │ ├── forward_kinematics.rviz │ ├── kr210_controllers.yaml │ ├── kuka_arm.rviz │ └── target_spawn_locations.yaml ├── include │ └── kuka_arm │ │ └── trajectory_sampler.h ├── launch │ ├── cafe.launch │ ├── empty_world.launch │ ├── forward_kinematics.launch │ ├── inverse_kinematics.launch │ ├── load_urdf.launch │ ├── robot_control.launch │ ├── robot_description.launch │ ├── spawn_target.launch │ └── target_description.launch ├── meshes │ ├── gripper │ │ ├── finger_left.dae │ │ ├── finger_left_collision.dae │ │ ├── finger_right.dae │ │ ├── finger_right_collision.dae │ │ └── gripper_base.dae │ └── kr210l150 │ │ ├── collision │ │ ├── base_link.stl │ │ ├── link_1.stl │ │ ├── link_2.stl │ │ ├── link_3.stl │ │ ├── link_4.stl │ │ ├── link_5.stl │ │ └── link_6.stl │ │ └── visual │ │ ├── base_link.dae │ │ ├── link_1.dae │ │ ├── link_2.dae │ │ ├── link_3.dae │ │ ├── link_4.dae │ │ ├── link_5.dae │ │ └── link_6.dae ├── models │ ├── kinematics_bin │ │ ├── kinematics_bin.dae │ │ ├── model.config │ │ └── model.sdf │ └── kinematics_shelf │ │ ├── kinematics_shelf.dae │ │ ├── model.config │ │ └── model.sdf ├── package.xml ├── scripts │ ├── IK_server.py │ ├── safe_spawner.sh │ └── target_spawn.py ├── src │ └── trajectory_sampler.cpp ├── srv │ └── CalculateIK.srv ├── urdf │ ├── kr210.gazebo.xacro │ ├── kr210.urdf.xacro │ └── target.urdf.xacro └── worlds │ └── cafe.world └── misc_images ├── misc1.png ├── misc2.png └── misc3.png /.DS_Store: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Salman-H/pick-place-robot/HEAD/.DS_Store -------------------------------------------------------------------------------- /AUTHORS: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Salman-H/pick-place-robot/HEAD/AUTHORS -------------------------------------------------------------------------------- /IK_debug_numpy.py: -------------------------------------------------------------------------------- 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