├── README.md └── src ├── CMakeLists.txt └── dual_ur5_arm-master ├── .gitignore ├── .travis.yml ├── .vscode └── settings.json ├── CMakeLists.txt ├── README_ur.md ├── dual_ur5_control ├── CMakeLists.txt ├── flash model │ ├── flash.SLDASM │ ├── flash_body.SLDPRT │ ├── flash_body.STL │ ├── flash_body_final.STL │ ├── flash_body_new.STL │ ├── flash_body_new_bottom_middle.STL │ ├── flash_body_new_middle.STL │ ├── flash_body_new_middle_other_direction.STL │ ├── flash_body_realign.SLDPRT │ ├── flash_body_realign.STL │ ├── flash_body_realign_frame1.STL │ ├── flash_body_realign_frame1_new.STL │ ├── flash_body_realign_frame2.STL │ ├── flash_body_realign_frame3.STL │ ├── flash_hat.SLDPRT │ ├── flash_hat.STL │ ├── flash_hat_align.STL │ ├── flash_hat_final.STL │ └── ~$flash_body.SLDPRT ├── meshes │ ├── flash_body.STL │ ├── flash_body_final.STL │ ├── flash_body_new.STL │ ├── flash_body_new_middle_other_direction.STL │ ├── flash_body_realign.STL │ ├── flash_body_realign_frame1_new.STL │ ├── flash_hat.STL │ └── flash_hat_final.STL ├── package.xml ├── script │ ├── arm_follow_joint_trajectory.py │ ├── arm_follow_joint_trajectory_tmp.py │ ├── backup │ │ ├── dual_ur5_joint_trajectory.h5 │ │ ├── dual_ur5_joint_trajectory_diff_start_pose_same_goal_pose.h5 │ │ ├── dual_ur5_joint_trajectory_diff_start_same_goal.h5 │ │ ├── dual_ur5_joint_trajectory_diff_start_same_goal_new.h5 │ │ ├── dual_ur5_joint_trajectory_same_start_diff_goal.h5 │ │ └── dual_ur5_joint_trajectory_same_start_goal.h5 │ ├── compare_tp_result.py │ ├── dual_traj_record.xls │ ├── dual_traj_record_diff_start_same_goal.xls │ ├── dual_traj_record_diff_start_same_goal_new.xls │ ├── dual_traj_record_same_start_diff_goal.xls │ ├── dual_traj_record_same_start_goal.xls │ ├── dual_ur5_compare_diff_TP.py │ ├── dual_ur5_execute_motion.py │ ├── dual_ur5_joint_trajectory.h5 │ ├── dual_ur5_joint_trajectory_DIFF_TIME_PARAMETERIZATION.h5 │ ├── dual_ur5_joint_trajectory_diff_start_pose_same_goal_pose.h5 │ ├── dual_ur5_joint_trajectory_diff_start_same_goal.h5 │ ├── dual_ur5_joint_trajectory_diff_start_same_goal_new.h5 │ ├── dual_ur5_joint_trajectory_same_start_diff_goal.h5 │ ├── dual_ur5_joint_trajectory_same_start_goal.h5 │ ├── dual_ur5_motion.py │ ├── gripper_effort_control.py │ ├── traj_pair_lr_9-TOTG.png │ └── traj_pair_lr_9-ori.png └── sdf │ └── flash_body │ ├── meshes │ └── flash_body.STL │ ├── model.config │ └── model.sdf ├── dual_ur5_limited_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── chomp_planning.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── ros_controllers.yaml │ ├── sensors_3d.yaml │ └── ur5.srdf ├── launch │ ├── chomp_planning_pipeline.launch.xml │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── demo_gazebo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── gazebo.launch │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── ompl_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 │ ├── trajectory_execution.launch.xml │ ├── ur5_moveit_controller_manager.launch.xml │ ├── ur5_moveit_sensor_manager.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml └── package.xml ├── dual_ur5_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── chomp_planning.yaml │ ├── controllers.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── ros_controllers.yaml │ ├── sensors_3d.yaml │ └── ur5.srdf ├── launch │ ├── chomp_planning_pipeline.launch.xml │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── demo_gazebo.launch │ ├── dual_ur5_arm_bringup_moveit.launch │ ├── dual_ur5_moveit_controller_manager.launch │ ├── fake_moveit_controller_manager.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── gazebo.launch │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── ompl_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 │ ├── trajectory_execution.launch.xml │ ├── ur5_moveit_controller_manager.launch.xml │ ├── ur5_moveit_sensor_manager.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml └── package.xml ├── raw_totg ├── CMakeLists.txt ├── package.xml ├── script │ └── test_TOTG_server.py ├── src │ ├── Example.cpp │ ├── Path.cpp │ ├── Path.h │ ├── Test.cpp │ ├── Trajectory.cpp │ ├── Trajectory.h │ ├── add_time_optimal_parameterization_server.cpp │ ├── get_minimum_time_server.cpp │ └── plotTrajectory.m └── srv │ ├── GetMinTime.srv │ └── PathToTraj.srv ├── srtp_task ├── CMakeLists.txt ├── include │ ├── dual_arm.h │ └── time_optimal_trajectory_generation.h ├── mesh │ ├── chair_back.STL │ ├── chair_back_collision.STL │ ├── chair_leg.STL │ └── chair_surface.STL ├── package.xml └── src │ ├── assemble_test.cpp │ ├── continuous_action_test.cpp │ ├── dual_arm.cpp │ ├── dual_arm_test.cpp │ ├── stl_rviz_test.cpp │ └── time_optimal_trajectory_generation.cpp ├── universal_robot ├── CHANGELOG.rst ├── CMakeLists.txt └── package.xml ├── ur5_moveit_config ├── .setup_assistant ├── CHANGELOG.rst ├── CMakeLists.txt ├── config │ ├── controllers.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ └── ur5.srdf ├── launch │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── my_bringup.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 │ ├── ur5_moveit_controller_manager.launch.xml │ ├── ur5_moveit_planning_execution.launch │ ├── ur5_moveit_sensor_manager.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml ├── package.xml └── tests │ └── moveit_planning_execution.xml ├── ur_description ├── CHANGELOG.rst ├── CMakeLists.txt ├── launch │ ├── dual_ur5_upload.launch │ ├── load_flash.launch │ ├── test.launch │ ├── ur10_upload.launch │ ├── ur3_upload.launch │ └── ur5_upload.launch ├── meshes │ ├── flash_body │ │ ├── meshes │ │ │ ├── flash_body.STL │ │ │ ├── flash_body_final.STL │ │ │ ├── flash_body_realign_frame1.STL │ │ │ ├── flash_body_realign_frame1_new.STL │ │ │ ├── flash_body_realign_frame2.STL │ │ │ └── flash_body_realign_frame3.STL │ │ ├── model.config │ │ └── model.sdf │ ├── flash_hat │ │ ├── meshes │ │ │ └── flash_hat_final.STL │ │ ├── model.config │ │ ├── model.sdf │ │ └── model_test.sdf │ ├── gripper │ │ ├── base.stl │ │ ├── l1.stl │ │ ├── l2.stl │ │ ├── r1.stl │ │ └── r2.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 │ ├── 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 │ │ ├── base_link.STL │ │ ├── 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 ├── model.pdf ├── package.xml └── urdf │ ├── common.gazebo.xacro │ ├── dual_ur5_limited.urdf │ ├── ur.gazebo.xacro │ ├── ur.transmission.xacro │ ├── ur10.urdf.xacro │ ├── ur10_joint_limited_robot.urdf.xacro │ ├── ur10_robot.urdf.xacro │ ├── ur3.urdf.xacro │ ├── ur3_joint_limited_robot.urdf.xacro │ ├── ur3_robot.urdf.xacro │ ├── ur5.dae │ ├── ur5.gv │ ├── ur5.pdf │ ├── ur5.urdf │ ├── ur5.urdf.xacro │ ├── ur5_joint_limited_robot.urdf.xacro │ ├── ur5_robot.urdf │ ├── ur5_robot.urdf.xacro │ ├── ur5_robot12.urdf │ ├── ur5_robot1232.urdf │ └── ur5_robot_backup_original_range.urdf ├── ur_gazebo ├── CHANGELOG.rst ├── CMakeLists.txt ├── controller │ ├── arm_controller_ur10.yaml │ ├── arm_controller_ur3.yaml │ ├── arm_controller_ur5.yaml │ ├── dual_ur5_controller.yaml │ └── joint_state_controller.yaml ├── launch │ ├── controller_utils.launch │ ├── dual_ur5_arm_world.launch │ ├── ur10.launch │ ├── 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