├── BUILD-DOCKER-IMAGE.sh ├── INCL-SUDO-ENV.sh ├── INCL-USER-ENV.sh ├── README.md ├── RUN-DOCKER.sh ├── SETUP-DEVEL-MACHINE.sh ├── dependencies.rosinstall ├── docker-workspace.code-workspace ├── docker ├── Dockerfile ├── README.md ├── bashrc ├── docker-compose.yml ├── gazebo-gui.ini ├── launch_gazebo.sh ├── orocos_kinematics_dynamics.tar.xz └── sip-4.19.8.tar.gz ├── ur3_description ├── CMakeLists.txt ├── config │ └── config.rviz ├── launch │ ├── display_with_gripper_85.launch │ ├── display_with_gripper_hande.launch │ └── display_with_gripper_hande_camera.launch ├── meshes │ ├── camera │ │ └── camera_coupler.stl │ └── gripper │ │ ├── cuboid_gripper.stl │ │ ├── cylinder_gripper.dae │ │ ├── cylinder_gripper.stl │ │ ├── fujifilm_gripper.dae │ │ ├── hand-e │ │ ├── finger_1.dae │ │ ├── finger_2.dae │ │ └── hand-e.dae │ │ ├── hexagon_gripper.stl │ │ ├── hexagone_gripper.dae │ │ ├── star_gripper.stl │ │ ├── trapezoid_gripper.stl │ │ └── triangular_gripper.stl ├── package.xml └── urdf │ ├── camera │ ├── realsense_rs435.urdf.xacro │ └── realsense_rs435_wrist.urdf.xacro │ ├── common.gazebo.xacro │ ├── ur.gazebo.xacro │ ├── ur.transmission.xacro │ └── ur3e │ ├── ur3e.urdf.xacro │ ├── ur3e_joint_limited_robot.urdf.xacro │ ├── ur3e_peg_gripper.urdf.xacro │ ├── ur3e_robot.urdf.xacro │ ├── ur3e_robotiq85_gripper.urdf.xacro │ ├── ur3e_robotiq_hande_gripper.urdf.xacro │ └── ur3e_robotiq_hande_gripper_camera.urdf.xacro ├── ur3_gazebo ├── CMakeLists.txt ├── config │ └── gazebo_ros_control_params.yaml ├── launch │ ├── gazebo_to_tf.launch │ ├── inc │ │ ├── load_ur_gripper_85.launch.xml │ │ ├── load_ur_gripper_hande.launch.xml │ │ └── load_ur_simple_gripper.launch.xml │ ├── ur3_cubes_example.launch │ ├── ur3e_cubes_example.launch │ ├── ur3e_floating.launch │ ├── ur3e_with_gripper.launch │ ├── ur5_cubes_example.launch │ ├── ur_basic.launch │ ├── ur_gripper_85_cubes.launch │ ├── ur_gripper_hande_cubes.launch │ ├── ur_peg.launch │ ├── ur_peg_alone.launch │ └── ur_table.launch ├── models │ ├── Apriltag36_11_00000 │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── Apriltag.material │ │ │ └── textures │ │ │ │ └── tag36_11_00000.png │ │ ├── model.config │ │ └── model.sdf │ ├── Apriltag36_11_00001 │ │ ├── model.config │ │ ├── model.sdf │ │ ├── scripts │ │ │ └── Apriltag.material │ │ └── textures │ │ │ └── tag36_11_00001.png │ ├── aruco_visual_marker_0 │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── aruco_visual_marker_0_marker.material │ │ │ └── textures │ │ │ │ ├── aruco_mark_0.png │ │ │ │ └── aruco_mark_0.svg │ │ ├── model.config │ │ └── model.sdf │ ├── button │ │ ├── model.config │ │ ├── model.sdf │ │ └── model_format.sdf │ ├── floor │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── checkboard.material │ │ │ └── textures │ │ │ │ ├── checkboard.png │ │ │ │ └── checkerboard.jpg │ │ ├── model.config │ │ └── model.sdf │ ├── green_table │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── repeated.material │ │ │ └── textures │ │ │ │ └── green_texture.jpg │ │ ├── model.config │ │ └── model.sdf │ ├── hinged_door │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── Metal_Aluminum_Anodized.png │ │ │ │ └── Metal_Rough.png │ │ ├── meshes │ │ │ ├── door.dae │ │ │ └── frame.dae │ │ ├── model copy.sdf │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf │ ├── large_base │ │ ├── model.config │ │ └── model.sdf │ ├── lens_ring │ │ ├── model.config │ │ ├── model.sdf │ │ └── ring.dae │ ├── media │ │ └── materials │ │ │ ├── scripts │ │ │ └── custom.material │ │ │ └── textures │ │ │ ├── tag36_11_00000.png │ │ │ └── tag36_11_00001.png │ ├── multi_peg_board │ │ ├── meshes │ │ │ └── board.dae │ │ ├── model.config │ │ └── model.sdf │ ├── peg_board │ │ ├── meshes │ │ │ └── board.stl │ │ ├── model.config │ │ └── model.sdf │ ├── peg_cube │ │ ├── meshes │ │ │ └── peg-cube.stl │ │ ├── model.config │ │ └── model.sdf │ ├── peg_cylinder │ │ ├── meshes │ │ │ └── peg-cylinder.stl │ │ ├── model.config │ │ ├── model.sdf │ │ ├── peg-cube.stl │ │ ├── peg-hexagon.stl │ │ └── peg-star.stl │ ├── peg_hexagon │ │ ├── meshes │ │ │ └── peg-cylinder.stl │ │ ├── model.config │ │ ├── model.sdf │ │ ├── peg-cube.stl │ │ ├── peg-hexagon.stl │ │ └── peg-star.stl │ ├── peg_star │ │ ├── meshes │ │ │ └── peg-cylinder.stl │ │ ├── model.config │ │ ├── model.sdf │ │ ├── peg-cube.stl │ │ ├── peg-hexagon.stl │ │ └── peg-star.stl │ ├── simple_peg_board │ │ ├── meshes │ │ │ ├── board-cuboid.stl │ │ │ ├── board-cylinder.stl │ │ │ ├── board-hexagon.stl │ │ │ ├── board-star.stl │ │ │ ├── board-trapezoid.stl │ │ │ ├── board-triangular.stl │ │ │ └── cuboid_board.stl │ │ ├── model.config │ │ └── model.sdf │ ├── small_base │ │ ├── model.config │ │ └── model.sdf │ ├── spring │ │ ├── model.config │ │ └── model.sdf │ ├── ur3_base │ │ ├── meshes │ │ │ ├── dualbase-big.dae │ │ │ ├── dualbase.dae │ │ │ └── ur3_base.stl │ │ ├── model-bunri.sdf │ │ ├── model.config │ │ └── model.sdf │ ├── ur3_table │ │ ├── meshes │ │ │ └── ur3_table.stl │ │ ├── model.config │ │ └── model.sdf │ ├── ur3e_base │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── repeated.material │ │ │ └── textures │ │ │ │ └── green_texture.jpg │ │ ├── meshes │ │ │ ├── ur3e_base.dae │ │ │ ├── ur3e_base.stl │ │ │ └── ur3e_base_table.stl │ │ ├── model.config │ │ ├── model.sdf │ │ └── model_base.sdf │ ├── ur3e_table │ │ ├── meshes │ │ │ └── ur3e_table.stl │ │ ├── model.config │ │ └── model.sdf │ ├── ur_base │ │ ├── model.config │ │ └── model.sdf │ ├── visual_marker │ │ ├── model.config │ │ └── model.sdf │ ├── wood_cube │ │ ├── model.config │ │ ├── model.rsdf │ │ └── model.sdf │ └── wooden_peg │ │ ├── model.config │ │ ├── model.rsdf │ │ └── model.sdf ├── package.xml ├── scripts │ ├── gazebo_to_tf.py │ └── spawner.py ├── setup.py ├── src │ └── ur_gazebo │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── basic_models.cpython-36.pyc │ │ ├── gazebo_spawner.cpython-36.pyc │ │ └── model.cpython-36.pyc │ │ ├── basic_models.py │ │ ├── gazebo_spawner.py │ │ ├── gazebo_spawner.pyc │ │ ├── model.py │ │ └── model.pyc ├── urdf │ ├── ur_gripper_85.xacro │ ├── ur_gripper_hande.xacro │ └── ur_simple_gripper.xacro └── worlds │ ├── cubes_task.world │ ├── push_cubes_task.world │ └── ur3e.world ├── ur3e_openai ├── .gitignore ├── CMakeLists.txt ├── README.md ├── msg │ └── RLExperimentInfo.msg ├── package.xml ├── rosdoc.yaml ├── scripts │ ├── multiplot_reward.py │ └── plotter_utils.py ├── setup.py └── src │ └── ur3e_openai │ ├── __init__.py │ ├── common.py │ ├── control │ ├── admittance_controller.py │ ├── controller.py │ └── parallel_controller.py │ ├── controllers_connection.py │ ├── cost_utils.py │ ├── gazebo_connection.py │ ├── initialize_logger.py │ ├── peg_gazebo_connection.py │ ├── robot_env.py │ ├── robot_envs │ ├── __init__.py │ ├── ur3e_env.py │ └── utils.py │ ├── robot_gazebo_env_goal.py │ └── task_envs │ ├── __init__.py │ ├── force_control │ └── peg_in_hole.py │ ├── task_envs_list.py │ └── ur3e_force_control.py ├── ur3e_rl ├── CMakeLists.txt ├── README.md ├── config │ ├── real │ │ └── peg_in_hole.yaml │ └── simulation │ │ ├── multiple_peg_in_hole.yaml │ │ └── single_peg_in_hole.yaml ├── package.xml └── scripts │ ├── evaluate_policy.py │ ├── simple_env.py │ └── tf2rl_sac.py ├── ur_control ├── CMakeLists.txt ├── config │ ├── forces_filter.xml │ ├── forces_rqt_multiplot.xml │ ├── gripper_controller.yaml │ ├── my_robot_calibration-left.yaml │ ├── my_robot_calibration-right.yaml │ ├── ur_controllers.yaml │ └── ur_e_controllers.yaml ├── launch │ ├── ur3e_bringup.launch │ ├── ur_controllers.launch │ └── ur_e_controllers.launch ├── package.xml ├── scripts │ ├── __pycache__ │ │ ├── getch.cpython-36.pyc │ │ └── getch.cpython-38.pyc │ ├── getch.py │ ├── joint_position_keyboard.py │ ├── sim_controller_examples.py │ └── wrench_republish.py ├── setup.py └── src │ └── ur_control │ ├── __init__.py │ ├── __pycache__ │ ├── admittance_control.cpython-36.pyc │ ├── arm.cpython-36.pyc │ ├── arm.cpython-38.pyc │ ├── compliant_controller.cpython-36.pyc │ ├── constants.cpython-36.pyc │ ├── constants.cpython-38.pyc │ ├── 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