├── .gitignore ├── .travis.yml ├── .vscode └── settings.json ├── BUILD-DOCKER-IMAGE.sh ├── LICENSE ├── README.md ├── RUN-DOCKER.sh ├── dependencies.rosinstall ├── docker ├── Dockerfile ├── bashrc ├── build_container.sh ├── docker-compose.yml └── launch_container.sh ├── ur.code-workspace ├── ur_control ├── CMakeLists.txt ├── config │ ├── gripper_controller.yaml │ ├── ur_controllers.yaml │ └── ur_e_controllers.yaml ├── launch │ ├── ur_controllers.launch │ └── ur_e_controllers.launch ├── package.xml ├── scripts │ ├── cartesian_compliance_controller_examples.py │ ├── compliance_controller_examples.py │ ├── controller_examples.py │ ├── ft_filter.py │ ├── getch.py │ ├── imu.py │ ├── joint_position_keyboard.py │ ├── joint_position_mouse6d.py │ ├── moveit_tutorial.py │ └── wrench_republish.py ├── setup.py ├── src │ └── ur_control │ │ ├── __init__.py │ │ ├── arm.py │ │ ├── compliance_controller.py │ │ ├── constants.py │ │ ├── controllers.py │ │ ├── controllers_connection.py │ │ ├── conversions.py │ │ ├── exceptions.py │ │ ├── filters.py │ │ ├── fzi_cartesian_compliance_controller.py │ │ ├── grippers.py │ │ ├── hybrid_controller.py │ │ ├── impedance_control.py │ │ ├── math_utils.py │ │ ├── mouse_6d.py │ │ ├── spalg.py │ │ ├── traj_utils.py │ │ ├── transformations.py │ │ ├── ur_services.py │ │ └── utils.py └── test │ ├── test_quaternion_functions.py │ └── transformations_bk.py ├── ur_gripper_85_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── cartesian_limits.yaml │ ├── chomp_planning.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── ros_controllers.yaml │ ├── sensors_3d.yaml │ └── ur_robot_gazebo.srdf ├── launch │ ├── chomp_planning_pipeline.launch.xml │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── demo_gazebo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── gazebo.launch │ ├── gazebo_static_tf.launch │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── pilz_industrial_motion_planner_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 │ ├── start_moveit.launch │ ├── trajectory_execution.launch.xml │ ├── ur_robot_gazebo_moveit_controller_manager.launch.xml │ ├── ur_robot_gazebo_moveit_sensor_manager.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml └── package.xml ├── ur_gripper_description ├── CMakeLists.txt ├── config │ └── config.rviz ├── launch │ ├── bringup_with_gripper_85.launch │ ├── display_with_gripper_85.launch │ ├── display_with_gripper_hande.launch │ ├── load_ur_gripper_85.launch.xml │ └── load_ur_gripper_hande.launch.xml ├── package.xml └── urdf │ ├── ur_gripper_85.xacro │ └── ur_gripper_hande.xacro ├── ur_gripper_gazebo ├── CMakeLists.txt ├── launch │ ├── gazebo_to_tf.launch │ ├── inc │ │ ├── load_ur_gripper_85.launch.xml │ │ └── load_ur_gripper_hande.launch.xml │ ├── ur3_cubes_example.launch │ ├── ur3e_cubes_example.launch │ ├── ur3e_with_gripper.launch │ ├── ur5_cubes_example.launch │ ├── ur_gripper_85_cubes.launch │ └── ur_gripper_hande_cubes.launch ├── models │ ├── 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 │ ├── multi_peg_board │ │ ├── meshes │ │ │ └── board.dae │ │ ├── model.config │ │ └── model.sdf │ ├── peg_board │ │ ├── meshes │ │ │ └── board.stl │ │ ├── model.config │ │ └── model.sdf │ ├── simple_peg_board │ │ ├── meshes │ │ │ ├── simple_board.dae │ │ │ └── simple_board.stl │ │ ├── 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 │ └── world_publisher.py ├── setup.py ├── src │ └── ur_gazebo │ │ ├── __init__.py │ │ ├── basic_models.py │ │ ├── gazebo_spawner.py │ │ └── model.py ├── urdf │ ├── ur_gripper_85.xacro │ └── ur_gripper_hande.xacro └── worlds │ ├── cubes_task.world │ └── ur3e.world ├── ur_hande_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── cartesian_limits.yaml │ ├── chomp_planning.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── ros_controllers.yaml │ ├── sensors_3d.yaml │ ├── ur3e.urdf │ ├── ur3e_hande.urdf │ └── ur_robot_gazebo.srdf ├── launch │ ├── chomp_planning_pipeline.launch.xml │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── demo_gazebo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── gazebo.launch │ ├── gazebo_static_tf.launch │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── pilz_industrial_motion_planner_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 │ ├── start_moveit.launch │ ├── trajectory_execution.launch.xml │ ├── ur_robot_gazebo_moveit_controller_manager.launch.xml │ ├── ur_robot_gazebo_moveit_sensor_manager.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml └── package.xml ├── ur_handeye_calibration ├── CMakeLists.txt ├── config │ ├── calibration_data_apriltag.npy │ ├── settings.yaml │ └── tags.yaml ├── launch │ ├── apriltag_detect.launch │ ├── aruco_detect.launch │ ├── camera.launch │ └── ur3e_fixed_handeye_calibration.launch ├── package.xml └── scripts │ ├── calibrate.py │ ├── calibrator.py │ └── capture_camera_poses.py ├── ur_pykdl ├── CMakeLists.txt ├── LICENSE ├── package.xml ├── scripts │ ├── display_urdf.py │ └── ur_kinematics.py ├── setup.py ├── src │ ├── 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