├── LICENSE ├── README.md ├── dual_ur_pics ├── 仿真机器人.jpg ├── 实物与Rviz可视化.png ├── 真实机器人.jpg └── 节点图.png └── src ├── dual_ur_description ├── CMakeLists.txt ├── cmake │ ├── ur_descriptionConfig-version.cmake │ └── ur_descriptionConfig.cmake ├── launch │ ├── display.launch │ ├── dual_ur_e_upload.launch │ ├── dual_ur_upload.launch │ ├── left_dual_ur_e_upload.launch │ ├── state_publish.launch │ ├── test_display.launch │ ├── ur10_upload.launch │ ├── ur3_upload.launch │ ├── ur5_upload.launch │ └── urdf.rviz ├── meshes │ ├── body.STL │ ├── dizuo.STL │ ├── gocator.STL │ ├── tool0.STL │ ├── tooling.STL │ ├── ur10 │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ ├── ur10e │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ ├── ur3 │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ └── ur5 │ │ ├── collision │ │ ├── base.stl │ │ ├── forearm.stl │ │ ├── shoulder.stl │ │ ├── upperarm.stl │ │ ├── wrist1.stl │ │ ├── wrist2.stl │ │ └── wrist3.stl │ │ └── visual │ │ ├── base.dae │ │ ├── forearm.dae │ │ ├── shoulder.dae │ │ ├── upperarm.dae │ │ ├── wrist1.dae │ │ ├── wrist2.dae │ │ └── wrist3.dae ├── package.xml └── urdf │ ├── common.gazebo.xacro │ ├── dh3_urdf.urdf.xacro │ ├── dual_ur10_joint_limited_robot.urdf.xacro │ ├── dual_ur10_robot.urdf.xacro │ ├── dual_ur10e_joint_limited_robot.urdf.xacro │ ├── dual_ur10e_robot.urdf.xacro │ ├── dual_ur_e_gazebo.urdf │ ├── dual_ur_gazebo.urdf │ ├── left_dual_ur10e_robot.urdf.xacro │ ├── test.xacro │ ├── ur.gazebo.xacro │ ├── ur.transmission.xacro │ ├── ur10.urdf.xacro │ ├── ur10e.urdf.xacro │ ├── ur3.urdf.xacro │ ├── ur3_joint_limited_robot.urdf.xacro │ ├── ur3_robot.urdf.xacro │ ├── ur5.urdf.xacro │ ├── ur5_joint_limited_robot.urdf.xacro │ └── ur5_robot.urdf.xacro ├── dual_ur_gazebo ├── CMakeLists.txt ├── controller │ ├── arm_controller_dual_ur (复件).yaml │ ├── arm_controller_dual_ur.yaml │ └── joint_state_controller.yaml ├── launch │ ├── controller_utils.launch │ ├── dual_ur.launch │ ├── dual_ur_e.launch │ ├── dual_ur_e_joint_limited.launch │ ├── dual_ur_joint_limited.launch │ └── left_dual_ur_e.launch └── package.xml └── dual_ur_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config ├── chomp_planning.yaml ├── controllers.yaml ├── dual_ur(备份).srdf ├── dual_ur.srdf ├── dual_ur_e.srdf ├── fake_controllers.yaml ├── joint_limits.yaml ├── kinematics.yaml ├── ompl_planning.yaml ├── ros_controllers.yaml └── sensors_3d.yaml ├── launch ├── chomp_planning_pipeline.launch.xml ├── default_warehouse_db.launch ├── demo.launch ├── demo_gazebo.launch ├── dual_ur_moveit_controller_manager.launch.xml ├── dual_ur_moveit_planning_execution.launch ├── dual_ur_moveit_sensor_manager.launch.xml ├── fake_moveit_controller_manager.launch.xml ├── gazebo.launch ├── joystick_control.launch ├── ledt_dual_ur_moveit_planning_execution.launch ├── move_group.launch ├── moveit.rviz ├── moveit_rviz.launch ├── ompl_planning_pipeline.launch.xml ├── planning_context.launch ├── planning_context_e.launch ├── planning_pipeline.launch.xml ├── ros_controllers.launch ├── run_benchmark_ompl.launch ├── sensor_manager.launch.xml ├── setup_assistant.launch ├── trajectory_execution.launch.xml ├── warehouse.launch └── warehouse_settings.launch.xml └── package.xml /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/README.md -------------------------------------------------------------------------------- /dual_ur_pics/仿真机器人.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/dual_ur_pics/仿真机器人.jpg -------------------------------------------------------------------------------- /dual_ur_pics/实物与Rviz可视化.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/dual_ur_pics/实物与Rviz可视化.png -------------------------------------------------------------------------------- /dual_ur_pics/真实机器人.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/dual_ur_pics/真实机器人.jpg -------------------------------------------------------------------------------- /dual_ur_pics/节点图.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/dual_ur_pics/节点图.png -------------------------------------------------------------------------------- /src/dual_ur_description/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/CMakeLists.txt -------------------------------------------------------------------------------- /src/dual_ur_description/cmake/ur_descriptionConfig-version.cmake: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/cmake/ur_descriptionConfig-version.cmake -------------------------------------------------------------------------------- /src/dual_ur_description/cmake/ur_descriptionConfig.cmake: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/cmake/ur_descriptionConfig.cmake -------------------------------------------------------------------------------- /src/dual_ur_description/launch/display.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/launch/display.launch -------------------------------------------------------------------------------- /src/dual_ur_description/launch/dual_ur_e_upload.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/launch/dual_ur_e_upload.launch -------------------------------------------------------------------------------- /src/dual_ur_description/launch/dual_ur_upload.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/launch/dual_ur_upload.launch -------------------------------------------------------------------------------- /src/dual_ur_description/launch/left_dual_ur_e_upload.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/launch/left_dual_ur_e_upload.launch -------------------------------------------------------------------------------- /src/dual_ur_description/launch/state_publish.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/launch/state_publish.launch -------------------------------------------------------------------------------- /src/dual_ur_description/launch/test_display.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/launch/test_display.launch -------------------------------------------------------------------------------- /src/dual_ur_description/launch/ur10_upload.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/launch/ur10_upload.launch -------------------------------------------------------------------------------- /src/dual_ur_description/launch/ur3_upload.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/launch/ur3_upload.launch -------------------------------------------------------------------------------- /src/dual_ur_description/launch/ur5_upload.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/launch/ur5_upload.launch -------------------------------------------------------------------------------- /src/dual_ur_description/launch/urdf.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/launch/urdf.rviz -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/body.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/body.STL -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/dizuo.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/dizuo.STL -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/gocator.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/gocator.STL -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/tool0.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/tool0.STL -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/tooling.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/tooling.STL -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur10/collision/base.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur10/collision/base.stl -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur10/collision/forearm.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur10/collision/forearm.stl -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur10/collision/shoulder.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur10/collision/shoulder.stl -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur10/collision/upperarm.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur10/collision/upperarm.stl -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur10/collision/wrist1.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur10/collision/wrist1.stl -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur10/collision/wrist2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur10/collision/wrist2.stl -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur10/collision/wrist3.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur10/collision/wrist3.stl -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur10/visual/base.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur10/visual/base.dae -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur10/visual/forearm.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur10/visual/forearm.dae -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur10/visual/shoulder.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur10/visual/shoulder.dae -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur10/visual/upperarm.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur10/visual/upperarm.dae -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur10/visual/wrist1.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur10/visual/wrist1.dae -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur10/visual/wrist2.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur10/visual/wrist2.dae -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur10/visual/wrist3.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur10/visual/wrist3.dae -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur10e/collision/base.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur10e/collision/base.stl -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur10e/collision/forearm.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur10e/collision/forearm.stl -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur10e/collision/shoulder.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur10e/collision/shoulder.stl -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur10e/collision/upperarm.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur10e/collision/upperarm.stl -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur10e/collision/wrist1.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur10e/collision/wrist1.stl -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur10e/collision/wrist2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur10e/collision/wrist2.stl -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur10e/collision/wrist3.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur10e/collision/wrist3.stl -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur10e/visual/base.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur10e/visual/base.dae -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur10e/visual/forearm.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur10e/visual/forearm.dae -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur10e/visual/shoulder.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur10e/visual/shoulder.dae -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur10e/visual/upperarm.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur10e/visual/upperarm.dae -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur10e/visual/wrist1.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur10e/visual/wrist1.dae -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur10e/visual/wrist2.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur10e/visual/wrist2.dae -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur10e/visual/wrist3.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur10e/visual/wrist3.dae -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur3/collision/base.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur3/collision/base.stl -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur3/collision/forearm.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur3/collision/forearm.stl -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur3/collision/shoulder.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur3/collision/shoulder.stl -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur3/collision/upperarm.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur3/collision/upperarm.stl -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur3/collision/wrist1.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur3/collision/wrist1.stl -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur3/collision/wrist2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur3/collision/wrist2.stl -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur3/collision/wrist3.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur3/collision/wrist3.stl -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur3/visual/base.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur3/visual/base.dae -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur3/visual/forearm.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur3/visual/forearm.dae -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur3/visual/shoulder.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur3/visual/shoulder.dae -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur3/visual/upperarm.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur3/visual/upperarm.dae -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur3/visual/wrist1.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur3/visual/wrist1.dae -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur3/visual/wrist2.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur3/visual/wrist2.dae -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur3/visual/wrist3.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur3/visual/wrist3.dae -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur5/collision/base.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur5/collision/base.stl -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur5/collision/forearm.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur5/collision/forearm.stl -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur5/collision/shoulder.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur5/collision/shoulder.stl -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur5/collision/upperarm.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur5/collision/upperarm.stl -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur5/collision/wrist1.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur5/collision/wrist1.stl -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur5/collision/wrist2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur5/collision/wrist2.stl -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur5/collision/wrist3.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur5/collision/wrist3.stl -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur5/visual/base.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur5/visual/base.dae -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur5/visual/forearm.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur5/visual/forearm.dae -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur5/visual/shoulder.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur5/visual/shoulder.dae -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur5/visual/upperarm.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur5/visual/upperarm.dae -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur5/visual/wrist1.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur5/visual/wrist1.dae -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur5/visual/wrist2.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur5/visual/wrist2.dae -------------------------------------------------------------------------------- /src/dual_ur_description/meshes/ur5/visual/wrist3.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/meshes/ur5/visual/wrist3.dae -------------------------------------------------------------------------------- /src/dual_ur_description/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/package.xml -------------------------------------------------------------------------------- /src/dual_ur_description/urdf/common.gazebo.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/urdf/common.gazebo.xacro -------------------------------------------------------------------------------- /src/dual_ur_description/urdf/dh3_urdf.urdf.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/urdf/dh3_urdf.urdf.xacro -------------------------------------------------------------------------------- /src/dual_ur_description/urdf/dual_ur10_joint_limited_robot.urdf.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/urdf/dual_ur10_joint_limited_robot.urdf.xacro -------------------------------------------------------------------------------- /src/dual_ur_description/urdf/dual_ur10_robot.urdf.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/urdf/dual_ur10_robot.urdf.xacro -------------------------------------------------------------------------------- /src/dual_ur_description/urdf/dual_ur10e_joint_limited_robot.urdf.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/urdf/dual_ur10e_joint_limited_robot.urdf.xacro -------------------------------------------------------------------------------- /src/dual_ur_description/urdf/dual_ur10e_robot.urdf.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/urdf/dual_ur10e_robot.urdf.xacro -------------------------------------------------------------------------------- /src/dual_ur_description/urdf/dual_ur_e_gazebo.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/urdf/dual_ur_e_gazebo.urdf -------------------------------------------------------------------------------- /src/dual_ur_description/urdf/dual_ur_gazebo.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/urdf/dual_ur_gazebo.urdf -------------------------------------------------------------------------------- /src/dual_ur_description/urdf/left_dual_ur10e_robot.urdf.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/urdf/left_dual_ur10e_robot.urdf.xacro -------------------------------------------------------------------------------- /src/dual_ur_description/urdf/test.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/urdf/test.xacro -------------------------------------------------------------------------------- /src/dual_ur_description/urdf/ur.gazebo.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/urdf/ur.gazebo.xacro -------------------------------------------------------------------------------- /src/dual_ur_description/urdf/ur.transmission.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/urdf/ur.transmission.xacro -------------------------------------------------------------------------------- /src/dual_ur_description/urdf/ur10.urdf.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/urdf/ur10.urdf.xacro -------------------------------------------------------------------------------- /src/dual_ur_description/urdf/ur10e.urdf.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/urdf/ur10e.urdf.xacro -------------------------------------------------------------------------------- /src/dual_ur_description/urdf/ur3.urdf.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/urdf/ur3.urdf.xacro -------------------------------------------------------------------------------- /src/dual_ur_description/urdf/ur3_joint_limited_robot.urdf.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/urdf/ur3_joint_limited_robot.urdf.xacro -------------------------------------------------------------------------------- /src/dual_ur_description/urdf/ur3_robot.urdf.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/urdf/ur3_robot.urdf.xacro -------------------------------------------------------------------------------- /src/dual_ur_description/urdf/ur5.urdf.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/urdf/ur5.urdf.xacro -------------------------------------------------------------------------------- /src/dual_ur_description/urdf/ur5_joint_limited_robot.urdf.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/urdf/ur5_joint_limited_robot.urdf.xacro -------------------------------------------------------------------------------- /src/dual_ur_description/urdf/ur5_robot.urdf.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_description/urdf/ur5_robot.urdf.xacro -------------------------------------------------------------------------------- /src/dual_ur_gazebo/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_gazebo/CMakeLists.txt -------------------------------------------------------------------------------- /src/dual_ur_gazebo/controller/arm_controller_dual_ur (复件).yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_gazebo/controller/arm_controller_dual_ur (复件).yaml -------------------------------------------------------------------------------- /src/dual_ur_gazebo/controller/arm_controller_dual_ur.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_gazebo/controller/arm_controller_dual_ur.yaml -------------------------------------------------------------------------------- /src/dual_ur_gazebo/controller/joint_state_controller.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_gazebo/controller/joint_state_controller.yaml -------------------------------------------------------------------------------- /src/dual_ur_gazebo/launch/controller_utils.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_gazebo/launch/controller_utils.launch -------------------------------------------------------------------------------- /src/dual_ur_gazebo/launch/dual_ur.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_gazebo/launch/dual_ur.launch -------------------------------------------------------------------------------- /src/dual_ur_gazebo/launch/dual_ur_e.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_gazebo/launch/dual_ur_e.launch -------------------------------------------------------------------------------- /src/dual_ur_gazebo/launch/dual_ur_e_joint_limited.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_gazebo/launch/dual_ur_e_joint_limited.launch -------------------------------------------------------------------------------- /src/dual_ur_gazebo/launch/dual_ur_joint_limited.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_gazebo/launch/dual_ur_joint_limited.launch -------------------------------------------------------------------------------- /src/dual_ur_gazebo/launch/left_dual_ur_e.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_gazebo/launch/left_dual_ur_e.launch -------------------------------------------------------------------------------- /src/dual_ur_gazebo/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_gazebo/package.xml -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/.setup_assistant: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/.setup_assistant -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/CMakeLists.txt -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/config/chomp_planning.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/config/chomp_planning.yaml -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/config/controllers.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/config/controllers.yaml -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/config/dual_ur(备份).srdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/config/dual_ur(备份).srdf -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/config/dual_ur.srdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/config/dual_ur.srdf -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/config/dual_ur_e.srdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/config/dual_ur_e.srdf -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/config/fake_controllers.yaml -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/config/joint_limits.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/config/joint_limits.yaml -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/config/kinematics.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/config/kinematics.yaml -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/config/ompl_planning.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/config/ompl_planning.yaml -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/config/ros_controllers.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/config/ros_controllers.yaml -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/config/sensors_3d.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/config/sensors_3d.yaml -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/launch/chomp_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/launch/chomp_planning_pipeline.launch.xml -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/launch/default_warehouse_db.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/launch/default_warehouse_db.launch -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/launch/demo.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/launch/demo.launch -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/launch/demo_gazebo.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/launch/demo_gazebo.launch -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/launch/dual_ur_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/launch/dual_ur_moveit_controller_manager.launch.xml -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/launch/dual_ur_moveit_planning_execution.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/launch/dual_ur_moveit_planning_execution.launch -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/launch/dual_ur_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/launch/dual_ur_moveit_sensor_manager.launch.xml -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/launch/fake_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/launch/fake_moveit_controller_manager.launch.xml -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/launch/gazebo.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/launch/gazebo.launch -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/launch/joystick_control.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/launch/joystick_control.launch -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/launch/ledt_dual_ur_moveit_planning_execution.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/launch/ledt_dual_ur_moveit_planning_execution.launch -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/launch/move_group.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/launch/move_group.launch -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/launch/moveit.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/launch/moveit.rviz -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/launch/moveit_rviz.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/launch/moveit_rviz.launch -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/launch/ompl_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/launch/ompl_planning_pipeline.launch.xml -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/launch/planning_context.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/launch/planning_context.launch -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/launch/planning_context_e.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/launch/planning_context_e.launch -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/launch/planning_pipeline.launch.xml -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/launch/ros_controllers.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/launch/ros_controllers.launch -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/launch/run_benchmark_ompl.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/launch/run_benchmark_ompl.launch -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/launch/sensor_manager.launch.xml -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/launch/setup_assistant.launch -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/launch/trajectory_execution.launch.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/launch/trajectory_execution.launch.xml -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/launch/warehouse.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/launch/warehouse.launch -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/launch/warehouse_settings.launch.xml -------------------------------------------------------------------------------- /src/dual_ur_moveit_config/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuankepang/dual-arm/HEAD/src/dual_ur_moveit_config/package.xml --------------------------------------------------------------------------------