├── .clang-format ├── .clang-tidy ├── .github └── issue_template.md ├── .gitignore ├── .gitlab-ci.yml ├── .gitlab └── issue_templates │ └── default.md ├── BUILD ├── LICENSE.txt ├── NOTICE.txt ├── README.md ├── apps ├── BUILD ├── predefined_waypoint_movement.py ├── predefined_waypoint_movement.subgraph.json ├── shuffle_box_behavior_hardware.subgraph.json ├── shuffle_box_hardware.py └── simple_joint_control.ipynb ├── controller_stopper ├── BUILD ├── ControllerStopper.cpp ├── ControllerStopper.hpp └── README.md ├── ur_controller ├── BUILD ├── JointSegment.cpp ├── JointSegment.hpp ├── JointTrajectory.cpp ├── JointTrajectory.hpp ├── Pid.hpp ├── README.md ├── ScaledMultiJointController.cpp ├── ScaledMultiJointController.hpp ├── apps │ ├── BUILD │ └── scaled_multi_joint_ur_control.subgraph.json ├── doc │ ├── traj_with_speed_scaling.png │ └── traj_without_speed_scaling.png └── tests │ ├── BUILD │ ├── JointSegment.cpp │ ├── JointTrajectory.cpp │ ├── Pid.cpp │ └── ScaledMultiJointController.cpp ├── ur_msg ├── BUILD ├── README.md ├── dashboardCommand.cpp ├── dashboardCommand.hpp ├── dashboard_command.capnp ├── speed_slider.capnp └── ur_msg_python.py └── ur_robot_driver ├── DashboardClientIsaac.cpp ├── DashboardClientIsaac.hpp ├── README.md ├── UniversalRobots.cpp ├── UniversalRobots.hpp ├── UrclLogHandler.cpp ├── UrclLogHandler.hpp ├── apps ├── BUILD ├── ur10.subgraph.json ├── ur10e.subgraph.json ├── ur16e.subgraph.json ├── ur3.subgraph.json ├── ur3e.subgraph.json ├── ur5.subgraph.json └── ur5e.subgraph.json ├── config ├── BUILD ├── ur10.kinematic.json ├── ur10e.kinematic.json ├── ur16e.kinematic.json ├── ur3.kinematic.json ├── ur3e.kinematic.json ├── ur5.kinematic.json └── ur5e.kinematic.json ├── doc ├── architecture_coarse.svg ├── component_api.md ├── initial_setup_images │ ├── cb3_01_welcome.png │ ├── cb3_05_urcaps_installed.png │ ├── cb3_07_installation_excontrol.png │ ├── cb3_10_prog_structure_urcaps.png │ ├── cb3_11_program_view_excontrol.png │ ├── e-Series.jpg │ ├── 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