├── LICENSE ├── Note for German decimal point ├── README.md ├── dual_arm_robot_applications ├── CMakeLists.txt ├── include │ ├── dual_arm_demonstrator_iml │ │ ├── DualArmRobot.h │ │ └── SceneManager.h │ ├── dual_arm_toolbox │ │ ├── TrajectoryProcessor.h │ │ └── Transform.h │ └── ur_logging │ │ ├── Stopwatch.h │ │ ├── UrLogger.h │ │ └── UrMessageListener.h ├── launch │ ├── dual_arm_robot_offline_rviz.launch │ ├── dual_arm_robot_ros_control_rviz.launch │ ├── dual_arm_robot_rviz.launch │ ├── dual_arm_robot_tcp_wrench_publisher.launch │ ├── ur10_ros_control_rviz.launch │ ├── ur5_olddriver_rviz.launch │ ├── ur5_ros_control_hi.launch │ ├── ur5_ros_control_rviz.launch │ └── ur5_rviz.launch ├── meshes │ └── shelf │ │ └── shelf.stl ├── package.xml └── src │ ├── dual_arm_demonstrator_iml │ ├── DualArmRobot.cpp │ └── SceneManager.cpp │ ├── dual_arm_robot_vel_force_experiment.cpp │ ├── dual_arm_toolbox │ ├── TrajectoryProcessor.cpp │ └── Transform.cpp │ ├── executables │ ├── demonstration_setup_helper.cpp │ ├── dual_arm_robot_demonstration.cpp │ ├── dual_arm_robot_lift_experiment_force.cpp │ ├── dual_arm_robot_lift_experiment_force_1.cpp │ ├── dual_arm_robot_lift_experiment_force_2.cpp │ ├── dual_arm_robot_lift_experiment_planning.cpp │ └── dual_arm_robot_logger.cpp │ ├── ur10_force_hold_exp.cpp │ └── ur_logging │ ├── Stopwatch.cpp │ ├── UrLogger.cpp │ └── UrMessageListener.cpp ├── dual_arm_robot_description ├── CMakeLists.txt ├── launch │ ├── display_urdf.launch │ └── dual_arm_robot_upload.launch ├── meshes │ ├── endeffector │ │ ├── ee_frame.stl │ │ └── ee_spring.stl │ └── table │ │ ├── table.stl │ │ ├── table_back.stl │ │ ├── table_camerahanger.stl │ │ ├── table_front.stl │ │ ├── table_ground.stl │ │ ├── table_platform_ur10.stl │ │ ├── table_platform_ur5.stl │ │ └── table_side.stl ├── package.xml ├── src │ └── parser.cpp └── urdf │ ├── dual_arm_robot.urdf.xacro │ ├── endeffector.urdf.xacro │ ├── ikfast_commands.txt │ ├── table.urdf.xacro │ ├── ur10.urdf.xacro │ └── ur5.urdf.xacro ├── dual_arm_robot_driver ├── CMakeLists.txt ├── config │ ├── ur10_controllers.yaml │ └── ur5_controllers.yaml ├── launch │ ├── dual_arm_robot_bringup.launch │ └── dual_arm_robot_bringup_ros_control.launch └── package.xml ├── dual_arm_robot_moveit_config ├── CMakeLists.txt ├── README ├── config │ ├── controllers.yaml │ ├── dual_arm_robot.srdf │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ └── ompl_planning.yaml ├── launch │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── dual_arm_robot_moveit_controller_manager.launch.xml │ ├── dual_arm_robot_moveit_planning_execution.launch │ ├── dual_arm_robot_moveit_sensor_manager.launch.xml │ ├── fake_moveit_controller_manager.launch.xml │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── run_benchmark_ompl.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── trajectory_execution.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml └── package.xml ├── eeff_foam.stl ├── eeff_frame.stl ├── joint_trajectory_admittance_controller ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── controller_plugins.xml ├── images │ ├── new_trajectory.png │ ├── new_trajectory.svg │ ├── trajectory_replacement_future.png │ ├── trajectory_replacement_future.svg │ ├── trajectory_replacement_now.png │ ├── trajectory_replacement_now.svg │ ├── trajectory_replacement_past.png │ └── trajectory_replacement_past.svg ├── include │ ├── admittance_control │ │ └── admittance_control.h │ ├── joint_trajectory_admittance_controller │ │ ├── hardware_interface_adapter.h │ │ ├── init_joint_trajectory.h │ │ ├── joint_trajectory_admittance_controller.h │ │ ├── joint_trajectory_admittance_controller_impl.h │ │ ├── joint_trajectory_msg_utils.h │ │ ├── joint_trajectory_segment.h │ │ └── tolerances.h │ └── trajectory_interface_admittance │ │ ├── pos_vel_acc_state.h │ │ ├── quintic_spline_segment.h │ │ └── trajectory_interface.h ├── mainpage.dox ├── package.xml ├── ros_control_plugins.xml~ ├── rosdoc.yaml ├── src │ └── joint_trajectory_admittance_controller.cpp └── test │ ├── init_joint_trajectory_test.cpp │ ├── joint_trajectory_controller.test │ ├── joint_trajectory_controller_test.cpp │ ├── joint_trajectory_msg_utils_test.cpp │ ├── joint_trajectory_segment_test.cpp │ ├── quintic_spline_segment_test.cpp │ ├── rrbot.cpp │ ├── rrbot.xacro │ ├── rrbot_controllers.yaml │ ├── tolerances.test │ ├── tolerances.yaml │ ├── tolerances_test.cpp │ └── trajectory_interface_test.cpp ├── my_cart_controller_pkg ├── CMakeLists.txt ├── config │ └── ur10_controller_setup.yaml ├── controller_plugins.xml ├── include │ └── my_controller_pkg │ │ └── my_controller_file.h ├── package.xml └── src │ └── my_controller_file.cpp └── my_controller_pkg ├── CMakeLists.txt ├── config └── ur10_controller_setup.yaml ├── 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