├── .github ├── ISSUE_TEMPLATE │ ├── bug_report.md │ ├── config.yml │ └── feature_request.md ├── PULL_REQUEST_TEMPLATE.md └── workflows │ ├── jira-link.yaml │ ├── pre-commit.yaml │ └── stale.yaml ├── .gitignore ├── .gitmodules ├── .pre-commit-config.yaml ├── .yamato └── sonar.yml ├── CHANGELOG.md ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── Documentation ├── 0_ros_setup.md ├── 1_set_up_the_scene.md ├── 2_set_up_the_data_collection_scene.md ├── 3_data_collection_model_training.md ├── 4_pick_and_place.md ├── 5_more_randomizers.md ├── Gifs │ ├── 0_demo.gif │ ├── 1_URDF_importer.gif │ ├── 1_import_prefabs.gif │ ├── 1_package_imports.gif │ ├── 1_package_imports_short.gif │ ├── 1_robot_settings.gif │ ├── 1_rp_materials.gif │ ├── 2_aspect_ratio.gif │ ├── 2_light_randomizer.gif │ ├── 2_object_position_randomizer.gif │ ├── 2_robot_randomizer_settings.gif │ ├── 2_y_rotation_randomizer.gif │ ├── 2_y_rotation_randomizer_settings.gif │ ├── 4_trajectory_field.png │ └── 5_camera_randomizer.gif ├── Images │ ├── 0_GIT_installed.png │ ├── 0_data_collection_environment.png │ ├── 0_json_environment.png │ ├── 0_scene.png │ ├── 1_URDF_importer.png │ ├── 1_alphabet_material.png │ ├── 1_assets_preview.png │ ├── 1_build_support.png │ ├── 1_camera_settings.png │ ├── 1_create_new_project.png │ ├── 1_directional_light.png │ ├── 1_floor_settings.png │ ├── 1_forward_renderer.png │ ├── 1_forward_renderer_inspector.png │ ├── 1_hierarchy.png │ ├── 1_install_unity_version_1.png │ ├── 1_install_unity_version_2.png │ ├── 1_package_manager.png │ ├── 1_package_manager_complete.png │ ├── 1_robot_settings.png │ ├── 1_scene_overview.png │ ├── 1_set_solver_type.png │ ├── 2_Pose_Estimation_Data_Collection.png │ ├── 2_RobotArmReachablePositionRandomizerSetting.png │ ├── 2_cube_label.png │ ├── 2_domain_randomization.png │ ├── 2_final_perception_script.png │ ├── 2_fixed_length_scenario.png │ ├── 2_light_randomizer_settings.png │ ├── 2_multiple_objects.png │ ├── 2_perception_camera.png │ ├── 2_scenario_auto.png │ ├── 2_tags.png │ ├── 2_tutorial_id_label_config.png │ ├── 2_y_rotation_randomizer.png │ ├── 3_data_logs.png │ ├── 3_output_path.png │ ├── 3_performance_model.png │ ├── 3_publish_object.png │ ├── 3_saved_data.png │ ├── 3_tensorboard.png │ ├── 4_Pose_Estimation_ROS.png │ ├── 4_ROS_objects.png │ ├── 4_docker_daemon.png │ ├── 4_ros_connect.png │ ├── 4_ros_settings.png │ ├── 4_terminal.png │ ├── 4_trajectory_field.png │ ├── 5_uniform_pose_randomizer_settings.png │ ├── button_error.png │ ├── cube_environment.png │ ├── faq_base_mat.png │ ├── path_data.png │ └── unity_motionplan.png ├── install_unity.md ├── quick_demo_full.md ├── quick_demo_train.md └── troubleshooting.md ├── LICENSE ├── Model ├── .gitignore ├── Dockerfile ├── README.md ├── config.yaml ├── documentation │ ├── codebase_structure.md │ ├── docs │ │ ├── docker_id_image.png │ │ ├── docker_settings.png │ │ ├── jupyter_notebook_local.png │ │ ├── kubeflow_details_pipeline.png │ │ ├── network.png │ │ ├── performance_model.png │ │ ├── successful_run_jupyter_notebook.png │ │ └── tensorboard.png │ ├── running_on_docker.md │ ├── running_on_the_cloud.md │ └── tensorboard.md ├── environment-gpu.yml ├── environment.yml ├── kubeflow │ ├── README.md │ ├── evaluate_pipeline.py │ └── train_pipeline.py ├── pose_estimation │ ├── __init__.py │ ├── __init__.pyc │ ├── cli.py │ ├── evaluate.py │ ├── evaluation_metrics │ │ ├── __init__.py │ │ ├── orientation_average_quaternion_error.py │ │ └── translation_average_mean_square_error.py │ ├── logger.py │ ├── model.py │ ├── pose_estimation_estimator.py │ ├── single_cube_dataset.py │ ├── storage │ │ ├── __init__.py │ │ ├── checkpoint.py │ │ ├── download.py │ │ ├── exceptions.py │ │ ├── gcs.py │ │ └── kfp_output.py │ └── train.py ├── setup.py └── tests │ ├── config │ └── test_config.yaml │ ├── test_average_orientation_quaternion_error.py │ ├── test_average_translation_mean_square_error.py │ ├── test_evaluate.py │ ├── test_linear_normalized_activation.py │ ├── test_single_cube_dataset.py │ ├── test_single_cube_dataset │ ├── Datasetbbde242f-b4c3-4111-8b74-219b67a06d92 │ │ └── captures_000.json │ ├── Logs │ │ └── heartbeat.txt │ └── RGB34ff62fd-df0e-490e-b001-79fbe1ac1a7d │ │ ├── rgb_10.png │ │ ├── rgb_11.png │ │ ├── rgb_2.png │ │ ├── rgb_3.png │ │ ├── rgb_4.png │ │ ├── rgb_5.png │ │ ├── rgb_6.png │ │ ├── rgb_7.png │ │ ├── rgb_8.png │ │ └── rgb_9.png │ └── test_train.py ├── PoseEstimationDemoProject ├── .gitignore ├── Assets │ ├── IdLabelConfig.asset │ ├── IdLabelConfig.asset.meta │ ├── Readme.asset │ ├── Readme.asset.meta │ ├── Resources.meta │ ├── Resources │ │ ├── ROSConnectionPrefab.prefab │ │ └── ROSConnectionPrefab.prefab.meta │ ├── Scenes.meta │ ├── Scenes │ │ ├── TutorialPoseEstimation.unity │ │ └── TutorialPoseEstimation.unity.meta │ ├── Settings.meta │ ├── Settings │ │ ├── ForwardRenderer.asset │ │ ├── ForwardRenderer.asset.meta │ │ ├── SampleSceneProfile.asset │ │ ├── SampleSceneProfile.asset.meta │ │ ├── UniversalRP-HighQuality.asset │ │ ├── UniversalRP-HighQuality.asset.meta │ │ ├── UniversalRP-LowQuality.asset │ │ ├── UniversalRP-LowQuality.asset.meta │ │ ├── UniversalRP-MediumQuality.asset │ │ └── UniversalRP-MediumQuality.asset.meta │ ├── TutorialAssets.meta │ └── TutorialAssets │ │ ├── Materials.meta │ │ ├── Materials │ │ ├── AlphabetCubeMaterial.mat │ │ ├── AlphabetCubeMaterial.mat.meta │ │ ├── NavyFloor.mat │ │ ├── NavyFloor.mat.meta │ │ ├── NonsymmetricCubeTexture.png │ │ ├── NonsymmetricCubeTexture.png.meta │ │ ├── SymmetricCubeTexture.png │ │ ├── SymmetricCubeTexture.png.meta │ │ ├── TableMarkers.mat │ │ ├── TableMarkers.mat.meta │ │ ├── rep_White_Laminate.mat │ │ ├── rep_White_Laminate.mat.meta │ │ ├── unity-tab-square-white.png │ │ └── unity-tab-square-white.png.meta │ │ ├── Prefabs.meta │ │ ├── Prefabs │ │ ├── Part1.meta │ │ ├── Part1 │ │ │ ├── Cube.prefab │ │ │ ├── Cube.prefab.meta │ │ │ ├── Floor.prefab │ │ │ ├── Floor.prefab.meta │ │ │ ├── Goal.prefab │ │ │ ├── Goal.prefab.meta │ │ │ ├── Meshes.meta │ │ │ ├── Meshes │ │ │ │ ├── SymmetryCube.fbx │ │ │ │ ├── SymmetryCube.fbx.meta │ │ │ │ ├── TableMesh.fbx │ │ │ │ └── TableMesh.fbx.meta │ │ │ ├── Table.prefab │ │ │ └── Table.prefab.meta │ │ ├── Part4.meta │ │ └── Part4 │ │ │ ├── ROSObjects.prefab │ │ │ └── ROSObjects.prefab.meta │ │ ├── RosMessages.meta │ │ ├── RosMessages │ │ ├── Moveit.meta │ │ ├── Moveit │ │ │ ├── msg.meta │ │ │ └── msg │ │ │ │ ├── RobotTrajectory.cs │ │ │ │ └── RobotTrajectory.cs.meta │ │ ├── Ur3Moveit.meta │ │ └── Ur3Moveit │ │ │ ├── msg.meta │ │ │ ├── msg │ │ │ ├── UR3MoveitJoints.cs │ │ │ ├── UR3MoveitJoints.cs.meta │ │ │ ├── UR3Trajectory.cs │ │ │ └── UR3Trajectory.cs.meta │ │ │ ├── srv.meta │ │ │ └── srv │ │ │ ├── MoverServiceRequest.cs │ │ │ ├── MoverServiceRequest.cs.meta │ │ │ ├── MoverServiceResponse.cs │ │ │ ├── MoverServiceResponse.cs.meta │ │ │ ├── PoseEstimationServiceRequest.cs │ │ │ ├── PoseEstimationServiceRequest.cs.meta │ │ │ ├── PoseEstimationServiceResponse.cs │ │ │ └── PoseEstimationServiceResponse.cs.meta │ │ ├── Scripts.meta │ │ ├── Scripts │ │ ├── PerceptionRandomizers.meta │ │ ├── PerceptionRandomizers │ │ │ ├── LightRandomizer.cs │ │ │ ├── LightRandomizer.cs.meta │ │ │ ├── LightRandomizerTag.cs │ │ │ ├── LightRandomizerTag.cs.meta │ │ │ ├── RobotArmObjectPositionRandomizer.cs │ │ │ ├── RobotArmObjectPositionRandomizer.cs.meta │ │ │ ├── RobotArmObjectPositionRandomizerTag.cs │ │ │ ├── RobotArmObjectPositionRandomizerTag.cs.meta │ │ │ ├── SurfaceObjectPlacer.cs │ │ │ ├── SurfaceObjectPlacer.cs.meta │ │ │ ├── UniformPoseRandomizer.cs │ │ │ ├── UniformPoseRandomizer.cs.meta │ │ │ ├── UniformPoseRandomizerTag.cs │ │ │ ├── UniformPoseRandomizerTag.cs.meta │ │ │ ├── YRotationRandomizer.cs │ │ │ ├── YRotationRandomizer.cs.meta │ │ │ ├── YRotationRandomizerTag.cs │ │ │ └── YRotationRandomizerTag.cs.meta │ │ ├── PoseEstimationScenario.cs │ │ ├── PoseEstimationScenario.cs.meta │ │ ├── TrajectoryPlanner.cs │ │ └── TrajectoryPlanner.cs.meta │ │ ├── URDFs.meta │ │ └── URDFs │ │ ├── ur3_with_gripper.meta │ │ └── ur3_with_gripper │ │ ├── Materials.meta │ │ ├── Materials │ │ ├── Default.mat │ │ ├── Default.mat.meta │ │ ├── LightGrey.mat │ │ ├── LightGrey.mat.meta │ │ ├── rgba-0.1-0.1-0.1-1.mat │ │ ├── rgba-0.1-0.1-0.1-1.mat.meta │ │ ├── rgba-0.792156862745098-0.819607843137255-0.933333333333333-1.mat │ │ ├── rgba-0.792156862745098-0.819607843137255-0.933333333333333-1.mat.meta │ │ ├── rgba-0.9-0.9-0.9-1.mat │ │ └── rgba-0.9-0.9-0.9-1.mat.meta │ │ ├── robotiq_2f_140_gripper_visualization.meta │ │ ├── robotiq_2f_140_gripper_visualization │ │ ├── CMakeLists.txt │ │ ├── CMakeLists.txt.meta │ │ ├── README.md │ │ ├── README.md.meta │ │ ├── launch.meta │ │ ├── launch │ │ │ ├── test_2f_140_model.launch │ │ │ └── test_2f_140_model.launch.meta │ │ ├── meshes.meta │ │ ├── meshes │ │ │ ├── collision.meta │ │ │ ├── collision │ │ │ │ ├── robotiq_arg2f_140_inner_finger.prefab │ │ │ │ ├── robotiq_arg2f_140_inner_finger.prefab.meta │ │ │ │ ├── robotiq_arg2f_140_inner_finger.stl │ │ │ │ ├── robotiq_arg2f_140_inner_finger.stl.meta │ │ │ │ ├── robotiq_arg2f_140_inner_finger_0.asset │ │ │ │ ├── robotiq_arg2f_140_inner_finger_0.asset.meta │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle.prefab │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle.prefab.meta │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle.stl │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle.stl.meta │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle_0.asset │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle_0.asset.meta │ │ │ │ ├── robotiq_arg2f_140_outer_finger.prefab │ │ │ │ ├── robotiq_arg2f_140_outer_finger.prefab.meta │ │ │ │ ├── robotiq_arg2f_140_outer_finger.stl │ │ │ │ ├── robotiq_arg2f_140_outer_finger.stl.meta │ │ │ │ ├── robotiq_arg2f_140_outer_finger_0.asset │ │ │ │ ├── robotiq_arg2f_140_outer_finger_0.asset.meta │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle.prefab │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle.prefab.meta │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle.stl │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle.stl.meta │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle_0.asset │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle_0.asset.meta │ │ │ │ ├── robotiq_arg2f_base_link.prefab │ │ │ │ ├── robotiq_arg2f_base_link.prefab.meta │ │ │ │ ├── robotiq_arg2f_base_link.stl │ │ │ │ ├── robotiq_arg2f_base_link.stl.meta │ │ │ │ ├── robotiq_arg2f_base_link_0.asset │ │ │ │ ├── robotiq_arg2f_base_link_0.asset.meta │ │ │ │ ├── robotiq_arg2f_coupling.prefab │ │ │ │ ├── robotiq_arg2f_coupling.prefab.meta │ │ │ │ ├── robotiq_arg2f_coupling.stl │ │ │ │ ├── robotiq_arg2f_coupling.stl.meta │ │ │ │ ├── robotiq_arg2f_coupling_0.asset │ │ │ │ └── robotiq_arg2f_coupling_0.asset.meta │ │ │ ├── visual.meta │ │ │ └── visual │ │ │ │ ├── robotiq_arg2f_140_inner_finger.prefab │ │ │ │ ├── robotiq_arg2f_140_inner_finger.prefab.meta │ │ │ │ ├── robotiq_arg2f_140_inner_finger.stl │ │ │ │ ├── robotiq_arg2f_140_inner_finger.stl.meta │ │ │ │ ├── robotiq_arg2f_140_inner_finger_0.asset │ │ │ │ ├── robotiq_arg2f_140_inner_finger_0.asset.meta │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle.prefab │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle.prefab.meta │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle.stl │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle.stl.meta │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle_0.asset │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle_0.asset.meta │ │ │ │ ├── robotiq_arg2f_140_outer_finger.prefab │ │ │ │ ├── robotiq_arg2f_140_outer_finger.prefab.meta │ │ │ │ ├── robotiq_arg2f_140_outer_finger.stl │ │ │ │ ├── robotiq_arg2f_140_outer_finger.stl.meta │ │ │ │ ├── robotiq_arg2f_140_outer_finger_0.asset │ │ │ │ ├── robotiq_arg2f_140_outer_finger_0.asset.meta │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle.prefab │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle.prefab.meta │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle.stl │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle.stl.meta │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle_0.asset │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle_0.asset.meta │ │ │ │ ├── robotiq_arg2f_base_link.prefab │ │ │ │ ├── robotiq_arg2f_base_link.prefab.meta │ │ │ │ ├── robotiq_arg2f_base_link.stl │ │ │ │ ├── robotiq_arg2f_base_link.stl.meta │ │ │ │ ├── robotiq_arg2f_base_link_0.asset │ │ │ │ ├── robotiq_arg2f_base_link_0.asset.meta │ │ │ │ ├── robotiq_arg2f_coupling.prefab │ │ │ │ ├── robotiq_arg2f_coupling.prefab.meta │ │ │ │ ├── robotiq_arg2f_coupling.stl │ │ │ │ ├── robotiq_arg2f_coupling.stl.meta │ │ │ │ ├── robotiq_arg2f_coupling_0.asset │ │ │ │ └── robotiq_arg2f_coupling_0.asset.meta │ │ ├── package.xml │ │ ├── package.xml.meta │ │ ├── urdf.meta │ │ ├── urdf │ │ │ ├── robotiq_arg2f.xacro │ │ │ ├── robotiq_arg2f.xacro.meta │ │ │ ├── robotiq_arg2f_140_model.xacro │ │ │ ├── robotiq_arg2f_140_model.xacro.meta │ │ │ ├── robotiq_arg2f_140_model_macro.xacro │ │ │ ├── robotiq_arg2f_140_model_macro.xacro.meta │ │ │ ├── robotiq_arg2f_transmission.xacro │ │ │ └── robotiq_arg2f_transmission.xacro.meta │ │ ├── visualize.rviz │ │ └── visualize.rviz.meta │ │ ├── ur3_with_gripper.urdf │ │ ├── ur3_with_gripper.urdf.meta │ │ ├── ur_description.meta │ │ └── ur_description │ │ ├── CHANGELOG.rst │ │ ├── CHANGELOG.rst.meta │ │ ├── CMakeLists.txt │ │ ├── CMakeLists.txt.meta │ │ ├── Materials.meta │ │ ├── Materials │ │ ├── LightGrey.mat │ │ ├── LightGrey.mat.meta │ │ ├── Material_001.mat │ │ ├── Material_001.mat.meta │ │ ├── Material_002.mat │ │ └── Material_002.mat.meta │ │ ├── cfg.meta │ │ ├── cfg │ │ ├── view_robot.rviz │ │ └── view_robot.rviz.meta │ │ ├── launch.meta │ │ ├── launch │ │ ├── ur10_upload.launch │ │ ├── ur10_upload.launch.meta │ │ ├── ur3_upload.launch │ │ ├── ur3_upload.launch.meta │ │ ├── ur5_upload.launch │ │ ├── ur5_upload.launch.meta │ │ ├── view_ur10.launch │ │ ├── view_ur10.launch.meta │ │ ├── view_ur3.launch │ │ ├── view_ur3.launch.meta │ │ ├── view_ur5.launch │ │ └── view_ur5.launch.meta │ │ ├── meshes.meta │ │ ├── meshes │ │ ├── ur3.meta │ │ └── ur3 │ │ │ ├── collision.meta │ │ │ ├── collision │ │ │ ├── base.prefab │ │ │ ├── base.prefab.meta │ │ │ ├── base.stl │ │ │ ├── base.stl.meta │ │ │ ├── base_0.asset │ │ │ ├── base_0.asset.meta │ │ │ ├── forearm.prefab │ │ │ ├── forearm.prefab.meta │ │ │ ├── forearm.stl │ │ │ ├── forearm.stl.meta │ │ │ ├── forearm_0.asset │ │ │ ├── forearm_0.asset.meta │ │ │ ├── shoulder.prefab │ │ │ ├── shoulder.prefab.meta │ │ │ ├── shoulder.stl │ │ │ ├── shoulder.stl.meta │ │ │ ├── shoulder_0.asset │ │ │ ├── shoulder_0.asset.meta │ │ │ ├── upperarm.prefab │ │ │ ├── upperarm.prefab.meta │ │ │ ├── upperarm.stl │ │ │ ├── upperarm.stl.meta │ │ │ ├── upperarm_0.asset │ │ │ ├── upperarm_0.asset.meta │ │ │ ├── wrist1.prefab │ │ │ ├── wrist1.prefab.meta │ │ │ ├── wrist1.stl │ │ │ ├── wrist1.stl.meta │ │ │ ├── wrist1_0.asset │ │ │ ├── wrist1_0.asset.meta │ │ │ ├── wrist2.prefab │ │ │ ├── wrist2.prefab.meta │ │ │ ├── wrist2.stl │ │ │ ├── wrist2.stl.meta │ │ │ ├── wrist2_0.asset │ │ │ ├── wrist2_0.asset.meta │ │ │ ├── wrist3.prefab │ │ │ ├── wrist3.prefab.meta │ │ │ ├── wrist3.stl │ │ │ ├── wrist3.stl.meta │ │ │ ├── wrist3_0.asset │ │ │ └── wrist3_0.asset.meta │ │ │ ├── visual.meta │ │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── base.dae.meta │ │ │ ├── forearm.dae │ │ │ ├── forearm.dae.meta │ │ │ ├── shoulder.dae │ │ │ ├── shoulder.dae.meta │ │ │ ├── upperarm.dae │ │ │ ├── upperarm.dae.meta │ │ │ ├── wrist1.dae │ │ │ ├── wrist1.dae.meta │ │ │ ├── wrist2.dae │ │ │ ├── wrist2.dae.meta │ │ │ ├── wrist3.dae │ │ │ └── wrist3.dae.meta │ │ ├── model.pdf │ │ ├── model.pdf.meta │ │ ├── package.xml │ │ ├── package.xml.meta │ │ ├── urdf.meta │ │ └── urdf │ │ ├── common.gazebo.xacro │ │ ├── common.gazebo.xacro.meta │ │ ├── ur.gazebo.xacro │ │ ├── ur.gazebo.xacro.meta │ │ ├── ur.transmission.xacro │ │ ├── ur.transmission.xacro.meta │ │ ├── ur10.urdf.xacro │ │ ├── ur10.urdf.xacro.meta │ │ ├── ur10_joint_limited_robot.urdf.xacro │ │ ├── ur10_joint_limited_robot.urdf.xacro.meta │ │ ├── ur10_robot.urdf.xacro │ │ ├── ur10_robot.urdf.xacro.meta │ │ ├── ur3.urdf.xacro │ │ ├── ur3.urdf.xacro.meta │ │ ├── ur3_joint_limited_robot.urdf.xacro │ │ ├── ur3_joint_limited_robot.urdf.xacro.meta │ │ ├── ur3_robot.urdf.xacro │ │ ├── ur3_robot.urdf.xacro.meta │ │ ├── ur5.urdf.xacro │ │ ├── ur5.urdf.xacro.meta │ │ ├── ur5_joint_limited_robot.urdf.xacro │ │ ├── ur5_joint_limited_robot.urdf.xacro.meta │ │ ├── ur5_robot.urdf.xacro │ │ └── ur5_robot.urdf.xacro.meta ├── Packages │ ├── manifest.json │ └── packages-lock.json └── ProjectSettings │ ├── AudioManager.asset │ ├── ClusterInputManager.asset │ ├── DynamicsManager.asset │ ├── EditorBuildSettings.asset │ ├── EditorSettings.asset │ ├── GraphicsSettings.asset │ ├── InputManager.asset │ ├── NavMeshAreas.asset │ ├── PackageManagerSettings.asset │ ├── Physics2DSettings.asset │ ├── PresetManager.asset │ ├── ProjectSettings.asset │ ├── ProjectVersion.txt │ ├── QualitySettings.asset │ ├── TagManager.asset │ ├── TimeManager.asset │ ├── URPProjectSettings.asset │ ├── UnityConnectSettings.asset │ ├── VFXManager.asset │ ├── VersionControlSettings.asset │ └── XRSettings.asset ├── README.md ├── ROS ├── .gitignore └── src │ └── ur3_moveit │ ├── CMakeLists.txt │ ├── URDF │ ├── ur3_with_gripper.urdf │ └── ur3_with_gripper.xacro │ ├── __init__.py │ ├── config │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── params.yaml │ ├── ros_controllers.yaml │ ├── sensors_3d.yaml │ └── ur3_with_gripper.srdf │ ├── controllers │ ├── joint_state_controller.yaml │ └── ur3_griper_controller.yaml │ ├── launch │ ├── controller_utils.launch │ ├── demo.launch │ ├── move_group.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── pose_est.launch │ ├── ros_controllers.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── trajectory_execution.launch.xml │ ├── ur3_with_gripper_moveit_controller_manager.launch.xml │ └── ur3_with_gripper_moveit_sensor_manager.launch.xml │ ├── msg │ ├── UR3MoveitJoints.msg │ └── UR3Trajectory.msg │ ├── package.xml │ ├── scripts │ ├── mover.py │ ├── pose_estimation_script.py │ └── server_endpoint.py │ ├── setup.py │ ├── src │ └── ur3_moveit │ │ └── setup_and_run_model.py │ └── srv │ ├── MoverService.srv │ └── PoseEstimationService.srv ├── Third Party Notices.md └── docker ├── Dockerfile ├── set-up-workspace └── tutorial /.github/ISSUE_TEMPLATE/bug_report.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Unity-Technologies/Robotics-Object-Pose-Estimation/HEAD/.github/ISSUE_TEMPLATE/bug_report.md -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/config.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Unity-Technologies/Robotics-Object-Pose-Estimation/HEAD/.github/ISSUE_TEMPLATE/config.yml 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