├── README.md ├── geomagic_control ├── CMakeLists.txt ├── README.md ├── cfg │ └── omni.rviz ├── launch │ ├── geomagic.launch │ └── geomagic_headless.launch ├── msg │ ├── OmniFeedback.msg │ └── PhantomButtonEvent.msg ├── package.xml ├── rosdep.yaml ├── scripts │ └── lockDoF.py └── src │ ├── set_torque.cpp │ ├── torque_calc.cpp │ └── torque_calc1.cpp ├── geomagic_description ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.txt ├── meshes │ ├── base.stl │ ├── lower_arm.stl │ ├── pen.stl │ ├── tip.stl │ ├── torso.stl │ ├── upper_arm.stl │ └── wrist.stl ├── package.xml └── urdf │ ├── omni.dae │ ├── omni.robot.xml │ └── omni.urdf ├── robot_control ├── CMakeLists.txt ├── config │ ├── controllers.yaml │ ├── irb120_control.yaml │ └── joint_names_irb120.yaml ├── launch │ ├── irb120_control.launch │ └── irb120_rqt.launch └── package.xml ├── robot_description ├── CMakeLists.txt ├── config │ ├── joint_names_irb120.yaml │ └── joint_names_irb120t.yaml ├── launch │ └── load_irb120.launch ├── meshes │ └── irb120 │ │ ├── collision │ │ ├── base_link.stl │ │ ├── link_1.stl │ │ ├── link_2.stl │ │ ├── link_3.stl │ │ ├── link_4.stl │ │ ├── link_5.stl │ │ └── link_6.stl │ │ └── visual │ │ ├── base_link.stl │ │ ├── link_1.stl │ │ ├── link_2.stl │ │ ├── link_3.stl │ │ ├── link_4.stl │ │ ├── link_5.stl │ │ └── link_6.stl ├── package.xml └── urdf │ ├── abb_common │ ├── common_colours.xacro │ └── common_materials.xacro │ └── irb120 │ ├── irb120.gazebo │ └── irb120.xacro ├── robot_gazebo ├── CMakeLists.txt ├── config │ ├── irb120_arm_controller.yaml │ ├── irb120_control.yaml │ ├── joint_state_controller.yaml │ └── robot_state_visualize.rviz ├── launch │ ├── irb120_gazebo.launch │ ├── irb120t_gazebo.launch │ └── load_irb120t.launch ├── package.xml ├── urdf │ ├── irb120 │ │ ├── irb120.xacro │ │ └── irb120_macro.xacro │ └── irb120t │ │ ├── irb120t.xacro │ │ └── irb120t_macro.xacro └── world │ └── test1.world ├── robot_interface ├── CMakeLists.txt ├── config │ └── joint_factor.yaml ├── package.xml ├── scripts │ └── initialize.py └── src │ ├── robot_interface.cpp │ ├── robot_interface_pos.cpp │ ├── robot_interface_pos_1.cpp │ └── robot_interface_sensor.cpp ├── testinv.cpp └── testinv.py /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/README.md -------------------------------------------------------------------------------- /geomagic_control/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/geomagic_control/CMakeLists.txt -------------------------------------------------------------------------------- /geomagic_control/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/geomagic_control/README.md -------------------------------------------------------------------------------- /geomagic_control/cfg/omni.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/geomagic_control/cfg/omni.rviz -------------------------------------------------------------------------------- /geomagic_control/launch/geomagic.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/geomagic_control/launch/geomagic.launch -------------------------------------------------------------------------------- /geomagic_control/launch/geomagic_headless.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/geomagic_control/launch/geomagic_headless.launch -------------------------------------------------------------------------------- /geomagic_control/msg/OmniFeedback.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/geomagic_control/msg/OmniFeedback.msg -------------------------------------------------------------------------------- /geomagic_control/msg/PhantomButtonEvent.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/geomagic_control/msg/PhantomButtonEvent.msg -------------------------------------------------------------------------------- /geomagic_control/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/geomagic_control/package.xml -------------------------------------------------------------------------------- /geomagic_control/rosdep.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/geomagic_control/rosdep.yaml -------------------------------------------------------------------------------- /geomagic_control/scripts/lockDoF.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/geomagic_control/scripts/lockDoF.py -------------------------------------------------------------------------------- /geomagic_control/src/set_torque.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/geomagic_control/src/set_torque.cpp -------------------------------------------------------------------------------- /geomagic_control/src/torque_calc.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/geomagic_control/src/torque_calc.cpp -------------------------------------------------------------------------------- /geomagic_control/src/torque_calc1.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/geomagic_control/src/torque_calc1.cpp -------------------------------------------------------------------------------- /geomagic_description/CHANGELOG.rst: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/geomagic_description/CHANGELOG.rst -------------------------------------------------------------------------------- /geomagic_description/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/geomagic_description/CMakeLists.txt -------------------------------------------------------------------------------- /geomagic_description/README.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/geomagic_description/README.txt -------------------------------------------------------------------------------- /geomagic_description/meshes/base.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/geomagic_description/meshes/base.stl -------------------------------------------------------------------------------- /geomagic_description/meshes/lower_arm.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/geomagic_description/meshes/lower_arm.stl -------------------------------------------------------------------------------- /geomagic_description/meshes/pen.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/geomagic_description/meshes/pen.stl -------------------------------------------------------------------------------- /geomagic_description/meshes/tip.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/geomagic_description/meshes/tip.stl -------------------------------------------------------------------------------- /geomagic_description/meshes/torso.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/geomagic_description/meshes/torso.stl -------------------------------------------------------------------------------- /geomagic_description/meshes/upper_arm.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/geomagic_description/meshes/upper_arm.stl -------------------------------------------------------------------------------- /geomagic_description/meshes/wrist.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/geomagic_description/meshes/wrist.stl -------------------------------------------------------------------------------- /geomagic_description/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/geomagic_description/package.xml -------------------------------------------------------------------------------- /geomagic_description/urdf/omni.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/geomagic_description/urdf/omni.dae -------------------------------------------------------------------------------- /geomagic_description/urdf/omni.robot.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/geomagic_description/urdf/omni.robot.xml -------------------------------------------------------------------------------- /geomagic_description/urdf/omni.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/geomagic_description/urdf/omni.urdf -------------------------------------------------------------------------------- /robot_control/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_control/CMakeLists.txt -------------------------------------------------------------------------------- /robot_control/config/controllers.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_control/config/controllers.yaml -------------------------------------------------------------------------------- /robot_control/config/irb120_control.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_control/config/irb120_control.yaml -------------------------------------------------------------------------------- /robot_control/config/joint_names_irb120.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_control/config/joint_names_irb120.yaml -------------------------------------------------------------------------------- /robot_control/launch/irb120_control.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_control/launch/irb120_control.launch -------------------------------------------------------------------------------- /robot_control/launch/irb120_rqt.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_control/launch/irb120_rqt.launch -------------------------------------------------------------------------------- /robot_control/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_control/package.xml -------------------------------------------------------------------------------- /robot_description/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_description/CMakeLists.txt -------------------------------------------------------------------------------- /robot_description/config/joint_names_irb120.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_description/config/joint_names_irb120.yaml -------------------------------------------------------------------------------- /robot_description/config/joint_names_irb120t.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_description/config/joint_names_irb120t.yaml -------------------------------------------------------------------------------- /robot_description/launch/load_irb120.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_description/launch/load_irb120.launch -------------------------------------------------------------------------------- /robot_description/meshes/irb120/collision/base_link.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_description/meshes/irb120/collision/base_link.stl -------------------------------------------------------------------------------- /robot_description/meshes/irb120/collision/link_1.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_description/meshes/irb120/collision/link_1.stl -------------------------------------------------------------------------------- /robot_description/meshes/irb120/collision/link_2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_description/meshes/irb120/collision/link_2.stl -------------------------------------------------------------------------------- /robot_description/meshes/irb120/collision/link_3.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_description/meshes/irb120/collision/link_3.stl -------------------------------------------------------------------------------- /robot_description/meshes/irb120/collision/link_4.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_description/meshes/irb120/collision/link_4.stl -------------------------------------------------------------------------------- /robot_description/meshes/irb120/collision/link_5.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_description/meshes/irb120/collision/link_5.stl -------------------------------------------------------------------------------- /robot_description/meshes/irb120/collision/link_6.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_description/meshes/irb120/collision/link_6.stl -------------------------------------------------------------------------------- /robot_description/meshes/irb120/visual/base_link.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_description/meshes/irb120/visual/base_link.stl -------------------------------------------------------------------------------- /robot_description/meshes/irb120/visual/link_1.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_description/meshes/irb120/visual/link_1.stl -------------------------------------------------------------------------------- /robot_description/meshes/irb120/visual/link_2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_description/meshes/irb120/visual/link_2.stl -------------------------------------------------------------------------------- /robot_description/meshes/irb120/visual/link_3.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_description/meshes/irb120/visual/link_3.stl -------------------------------------------------------------------------------- /robot_description/meshes/irb120/visual/link_4.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_description/meshes/irb120/visual/link_4.stl -------------------------------------------------------------------------------- /robot_description/meshes/irb120/visual/link_5.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_description/meshes/irb120/visual/link_5.stl -------------------------------------------------------------------------------- /robot_description/meshes/irb120/visual/link_6.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_description/meshes/irb120/visual/link_6.stl -------------------------------------------------------------------------------- /robot_description/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_description/package.xml -------------------------------------------------------------------------------- /robot_description/urdf/abb_common/common_colours.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_description/urdf/abb_common/common_colours.xacro -------------------------------------------------------------------------------- /robot_description/urdf/abb_common/common_materials.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_description/urdf/abb_common/common_materials.xacro -------------------------------------------------------------------------------- /robot_description/urdf/irb120/irb120.gazebo: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_description/urdf/irb120/irb120.gazebo -------------------------------------------------------------------------------- /robot_description/urdf/irb120/irb120.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_description/urdf/irb120/irb120.xacro -------------------------------------------------------------------------------- /robot_gazebo/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_gazebo/CMakeLists.txt -------------------------------------------------------------------------------- /robot_gazebo/config/irb120_arm_controller.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_gazebo/config/irb120_arm_controller.yaml -------------------------------------------------------------------------------- /robot_gazebo/config/irb120_control.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_gazebo/config/irb120_control.yaml -------------------------------------------------------------------------------- /robot_gazebo/config/joint_state_controller.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_gazebo/config/joint_state_controller.yaml -------------------------------------------------------------------------------- /robot_gazebo/config/robot_state_visualize.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_gazebo/config/robot_state_visualize.rviz -------------------------------------------------------------------------------- /robot_gazebo/launch/irb120_gazebo.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_gazebo/launch/irb120_gazebo.launch -------------------------------------------------------------------------------- /robot_gazebo/launch/irb120t_gazebo.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_gazebo/launch/irb120t_gazebo.launch -------------------------------------------------------------------------------- /robot_gazebo/launch/load_irb120t.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_gazebo/launch/load_irb120t.launch -------------------------------------------------------------------------------- /robot_gazebo/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_gazebo/package.xml -------------------------------------------------------------------------------- /robot_gazebo/urdf/irb120/irb120.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_gazebo/urdf/irb120/irb120.xacro -------------------------------------------------------------------------------- /robot_gazebo/urdf/irb120/irb120_macro.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_gazebo/urdf/irb120/irb120_macro.xacro -------------------------------------------------------------------------------- /robot_gazebo/urdf/irb120t/irb120t.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_gazebo/urdf/irb120t/irb120t.xacro -------------------------------------------------------------------------------- /robot_gazebo/urdf/irb120t/irb120t_macro.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_gazebo/urdf/irb120t/irb120t_macro.xacro -------------------------------------------------------------------------------- /robot_gazebo/world/test1.world: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_gazebo/world/test1.world -------------------------------------------------------------------------------- /robot_interface/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_interface/CMakeLists.txt -------------------------------------------------------------------------------- /robot_interface/config/joint_factor.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_interface/config/joint_factor.yaml -------------------------------------------------------------------------------- /robot_interface/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_interface/package.xml -------------------------------------------------------------------------------- /robot_interface/scripts/initialize.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_interface/scripts/initialize.py -------------------------------------------------------------------------------- /robot_interface/src/robot_interface.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_interface/src/robot_interface.cpp -------------------------------------------------------------------------------- /robot_interface/src/robot_interface_pos.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_interface/src/robot_interface_pos.cpp -------------------------------------------------------------------------------- /robot_interface/src/robot_interface_pos_1.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_interface/src/robot_interface_pos_1.cpp -------------------------------------------------------------------------------- /robot_interface/src/robot_interface_sensor.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/robot_interface/src/robot_interface_sensor.cpp -------------------------------------------------------------------------------- /testinv.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/testinv.cpp -------------------------------------------------------------------------------- /testinv.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iyerkritika/modular_teleop/HEAD/testinv.py --------------------------------------------------------------------------------