├── experiment ├── CMakeLists.txt ├── camera_calibration │ ├── launch │ │ └── camera_calibration.launch │ ├── save_checkboard_img │ │ ├── Depth │ │ │ └── .gitkeep │ │ ├── IR │ │ │ └── .gitkeep │ │ ├── RGB │ │ │ └── .gitkeep │ │ └── del_png.py │ ├── scripts │ │ ├── IR_cameraintrinsic_parameters.npz │ │ ├── RGB_cameraintrinsic_parameters.npz │ │ └── camera_calibration.py │ ├── src │ │ └── move_calibration_checkerboard.cpp │ ├── urdf │ │ ├── create_chessboard.py │ │ ├── meshes │ │ │ └── d435i.dae │ │ ├── small_checkerboard.sdf │ │ ├── yixiuge_d435i.xacro │ │ └── yixiuge_d435i_gazebo.xacro │ └── world │ │ └── Gravity_free.world ├── data_collection │ ├── Depth │ │ └── .gitkeep │ ├── Point_cloud │ │ └── .gitkeep │ ├── RGB │ │ └── .gitkeep │ ├── config │ │ └── data_collection.cfg │ ├── index_num.txt │ ├── launch │ │ └── data_collection.launch │ └── src │ │ ├── control.cpp │ │ ├── debug.cpp │ │ └── main.cpp ├── depth_image_registration │ ├── scripts │ │ ├── Registration_matrix.txt │ │ └── depth_image_registration.py │ └── src │ │ ├── depth_image_registration │ │ └── depth_image_registration.cpp ├── grasp │ ├── GPD_method │ │ └── src │ │ │ ├── main.cpp │ │ │ └── open_a_file_and_pub_sample.cpp │ ├── config │ │ ├── gpd.cfg │ │ └── grasp.cfg │ ├── geometric_method │ │ └── src │ │ │ ├── control.cpp │ │ │ ├── debug.cpp │ │ │ ├── main.cpp │ │ │ └── recognize.cpp │ ├── img │ │ ├── RGB_mask.png │ │ └── del_png.py │ ├── inc │ │ ├── control.h │ │ ├── debug.h │ │ └── recognize.h │ ├── launch │ │ ├── gpd_run.launch │ │ ├── grasp_world.launch │ │ └── test_gpd.launch │ ├── pcd_save │ │ ├── test_gpd1.pcd │ │ ├── test_gpd2.pcd │ │ ├── test_gpd3.pcd │ │ └── test_gpd4.pcd │ ├── urdf │ │ ├── banana.sdf │ │ ├── banana.urdf │ │ ├── block.sdf │ │ ├── block.urdf │ │ ├── coke_can │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── coke_can.png │ │ │ ├── meshes │ │ │ │ └── coke_can.dae │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── dropbox.urdf │ │ ├── meshes │ │ │ ├── banana.dae │ │ │ └── dropbox.dae │ │ └── table_marble │ │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── table_lightmap.material │ │ │ └── textures │ │ │ │ ├── marble.png │ │ │ │ ├── marble_black.png │ │ │ │ ├── table_lightmap.png │ │ │ │ └── table_lightmap_black.png │ │ │ ├── meshes │ │ │ └── table_lightmap.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ └── world │ │ └── grasp.world ├── hand_eye_calibration │ ├── launch │ │ ├── hand_eye_calibration.launch │ │ └── hand_eye_calibration_result.launch │ ├── rviz │ │ └── rviz_easy_handeye.config │ ├── src │ │ └── reset_robot_pose.cpp │ └── urdf │ │ ├── aruco │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── aruco.material │ │ │ └── textures │ │ │ │ ├── 582_600x600.png │ │ │ │ └── 582_ok.png │ │ └── model.config │ │ └── model.sdf └── package.xml ├── package ├── dh_robotics_gripper │ ├── CMakeLists.txt │ ├── dh_gripper_driver │ │ ├── CATKIN_IGNORE │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── dh_gripper_driver │ │ │ │ ├── dh_gripper_Test.cpp │ │ │ │ ├── include │ │ │ │ ├── dh_ag95_can.h │ │ │ │ ├── dh_device.h │ │ │ │ ├── dh_dh3_can.h │ │ │ │ ├── dh_gripper.h │ │ │ │ ├── dh_gripper_factory.h │ │ │ │ ├── dh_lagacy_gripper.h │ │ │ │ ├── dh_modbus_gripper.h │ │ │ │ └── dh_rgi.h │ │ │ │ └── src │ │ │ │ ├── dh_ag95_can.cpp │ │ │ │ ├── dh_device.cpp │ │ │ │ ├── dh_dh3_can.cpp │ │ │ │ ├── dh_lagacy_gripper.cpp │ │ │ │ ├── dh_modbus_gripper.cpp │ │ │ │ └── dh_rgi.cpp │ │ ├── launch │ │ │ ├── dh_gripper.launch │ │ │ └── dh_gripper_display.launch │ │ ├── package.xml │ │ └── src │ │ │ ├── dh_gripper_Test.cpp │ │ │ └── dh_gripper_driver.cpp │ ├── dh_gripper_msgs │ │ ├── CATKIN_IGNORE │ │ ├── CMakeLists.txt │ │ ├── msg │ │ │ ├── GripperCtrl.msg │ │ │ ├── GripperRotCtrl.msg │ │ │ ├── GripperRotState.msg │ │ │ └── GripperState.msg │ │ └── package.xml │ └── dh_robotics_ag95_gripper │ │ ├── dh_robotics_ag95_description │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ ├── display.launch │ │ │ └── upload_dh_robotics_ag95_gripper.launch │ │ ├── meshes │ │ │ └── visual │ │ │ │ ├── base_link.STL │ │ │ │ ├── crank_Link.STL │ │ │ │ ├── distal_phalanx_Link.STL │ │ │ │ ├── proximal_phalanx_Link.STL │ │ │ │ └── rod_Link.STL │ │ ├── package.xml │ │ ├── urdf.rviz │ │ └── urdf │ │ │ ├── dh_robotics_ag95.urdf │ │ │ ├── dh_robotics_ag95_gripper.transmission.xacro │ │ │ ├── dh_robotics_ag95_gripper.urdf.xacro │ │ │ └── dh_robotics_ag95_gripper.xacro │ │ ├── dh_robotics_ag95_moveit_config │ │ ├── .setup_assistant │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ ├── controllers.yaml │ │ │ ├── dh_robotics_ag95_gripper.srdf │ │ │ ├── fake_controllers.yaml │ │ │ ├── joint_limits.yaml │ │ │ ├── kinematics.yaml │ │ │ └── ompl_planning.yaml │ │ ├── launch │ │ │ ├── default_warehouse_db.launch │ │ │ ├── demo.launch │ │ │ ├── dh_robotics_ag95_gripper_moveit_controller_manager.launch.xml │ │ │ ├── dh_robotics_ag95_gripper_moveit_sensor_manager.launch.xml │ │ │ ├── dh_robotics_ag95_moveit_planning_execution.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 │ │ │ ├── warehouse.launch │ │ │ └── warehouse_settings.launch.xml │ │ └── package.xml │ │ ├── dh_robotics_ag95_simulation │ │ ├── dh_robotics_ag95_gazebo │ │ │ ├── CMakeLists.txt │ │ │ ├── controller │ │ │ │ ├── gripper_controller_dh_robotics.yaml │ │ │ │ └── joint_state_controller.yaml │ │ │ ├── launch │ │ │ │ ├── controller_utils.launch │ │ │ │ ├── dh_robotics_ag95.launch │ │ │ │ ├── dh_robotics_ag95_moveit_rviz_test.launch │ │ │ │ ├── dh_robotics_ag95_moveit_sim.launch │ │ │ │ └── test_kinematics.launch │ │ │ ├── package.xml │ │ │ └── scripts │ │ │ │ └── dh_robotics_ag95_moveit_test.py │ │ ├── dh_robotics_ag95_simulation │ │ │ ├── CMakeLists.txt │ │ │ └── package.xml │ │ └── roboticsgroup_gazebo_plugins │ │ │ ├── CMakeLists.txt │ │ │ ├── README.md │ │ │ ├── include │ │ │ └── roboticsgroup_gazebo_plugins │ │ │ │ ├── disable_link_plugin.h │ │ │ │ └── mimic_joint_plugin.h │ │ │ ├── package.xml │ │ │ └── src │ │ │ ├── disable_link_plugin.cpp │ │ │ └── mimic_joint_plugin.cpp │ │ └── sdelay_launch │ │ ├── CMakeLists.txt │ │ ├── launch │ │ └── test.launch │ │ ├── package.xml │ │ └── scripts │ │ └── timed_roslaunch ├── gazebo-pkgs │ ├── Dockerfile │ ├── LICENSE │ ├── README.md │ ├── TODO.md │ ├── gazebo_grasp_plugin │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── gazebo_grasp_plugin │ │ │ │ ├── GazeboGraspFix.h │ │ │ │ └── GazeboGraspGripper.h │ │ ├── package.xml │ │ └── src │ │ │ ├── GazeboGraspFix.cpp │ │ │ └── GazeboGraspGripper.cpp │ ├── gazebo_state_plugins │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ ├── GazeboMapPublisher.yaml │ │ │ ├── GazeboObjectInfo.yaml │ │ │ └── WorldPlugins.yaml │ │ ├── include │ │ │ └── gazebo_state_plugins │ │ │ │ ├── GazeboMapPublisher.h │ │ │ │ └── GazeboObjectInfo.h │ │ ├── launch │ │ │ └── plugin_loader.launch │ │ ├── package.xml │ │ ├── src │ │ │ ├── GazeboMapPublisher.cpp │ │ │ └── GazeboObjectInfo.cpp │ │ └── test │ │ │ └── object_info_request.cpp │ ├── gazebo_test_tools │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ ├── FakeObjectRecognizer.yaml │ │ │ └── ObjectTFBroadcaster.yaml │ │ ├── include │ │ │ └── gazebo_test_tools │ │ │ │ ├── FakeObjectRecognizer.h │ │ │ │ └── gazebo_cube_spawner.h │ │ ├── launch │ │ │ ├── fake_object_recognizer.launch │ │ │ ├── gazebo_fake_object_recognition.launch │ │ │ ├── object_tf_broadcaster.launch │ │ │ └── spawn_and_recognize_cube.launch │ │ ├── package.xml │ │ ├── src │ │ │ ├── FakeObjectRecognizer.cpp │ │ │ ├── SetGazeboPhysicsClient.cpp │ │ │ ├── cube_spawner.cpp │ │ │ ├── cube_spawner_node.cpp │ │ │ └── fake_object_recognizer_node.cpp │ │ ├── srv │ │ │ └── RecognizeGazeboObject.srv │ │ └── test │ │ │ └── fake_object_recognizer_cmd.cpp │ ├── gazebo_version_helpers │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── gazebo_version_helpers │ │ │ │ └── GazeboVersionHelpers.h │ │ ├── package.xml │ │ └── src │ │ │ └── GazeboVersionHelpers.cpp │ └── gazebo_world_plugin_loader │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── config │ │ └── WorldPluginsTemplate.config │ │ ├── include │ │ └── gazebo_world_plugin_loader │ │ │ └── GazeboPluginLoader.h │ │ ├── launch │ │ └── plugin_loader_template.launch │ │ ├── package.xml │ │ └── src │ │ └── GazeboPluginLoader.cpp ├── general-message-pkgs │ ├── Dockerfile │ ├── LICENSE │ ├── README.md │ ├── object_msgs │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── msg │ │ │ ├── Object.msg │ │ │ └── ObjectPose.msg │ │ ├── package.xml │ │ └── srv │ │ │ ├── ObjectInfo.srv │ │ │ └── RegisterObject.srv │ ├── object_msgs_tools │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ └── ObjectTFBroadcaster.yaml │ │ ├── include │ │ │ └── object_msgs_tools │ │ │ │ ├── ObjectFunctions.h │ │ │ │ └── ObjectTFBroadcaster.h │ │ ├── launch │ │ │ └── object_tf_broadcaster.launch │ │ ├── package.xml │ │ └── src │ │ │ ├── ObjectFunctions.cpp │ │ │ ├── ObjectTFBroadcaster.cpp │ │ │ ├── object_tf_broadcaster_node.cpp │ │ │ └── register_object_client.cpp │ └── path_navigation_msgs │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── action │ │ ├── PathExecution.action │ │ └── TransformPathExecution.action │ │ └── package.xml └── yixiuge_ur10_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ ├── arm_controller_ur10_effort.yaml │ ├── chomp_planning.yaml │ ├── controllers.yaml │ ├── dh_gripper.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── ros_controllers.yaml │ ├── sensors_3d.yaml │ └── ur10.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 │ ├── 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 │ ├── ur10_moveit_controller_manager.launch.xml │ ├── ur10_moveit_planning_execution.launch │ ├── ur10_moveit_sensor_manager.launch.xml │ ├── warehouse.launch │ ├── warehouse_settings.launch.xml │ ├── yixiuge_ur10_moveit_planning_execution.launch │ ├── yixiuge_ur_gazebo.launch │ ├── yixiuge_ur_moveit.launch │ └── yixiuge_ur_upload.launch │ ├── package.xml │ ├── urdf │ ├── meshes │ │ └── cameraholder.dae │ ├── ur.gazebo.xacro │ ├── yixiuge_ur10.xacro │ 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