├── .gitignore ├── README.md ├── img ├── .DS_Store ├── simulation.png ├── ur5_arm.png └── ur5_gazebo.png ├── jupiter_notebooks ├── .DS_Store ├── InverseKinematicsUR5.ipynb ├── RobotSimulation.ipynb ├── data │ ├── forward_kinematics_quaternions.p │ ├── forward_kinematics_rpy.p │ ├── jacobian_quaternions.p │ └── jacobian_rpy.p └── img │ ├── .DS_Store │ ├── .ipynb_checkpoints │ ├── DHParameter-checkpoint.png │ ├── Rotation_about_z-axis-checkpoint.png │ ├── base_frame-checkpoint.png │ ├── eq4-checkpoint.png │ ├── fk_test-checkpoint.png │ ├── fk_test_zeros-checkpoint.png │ ├── forward-kinematics-01-checkpoint.png │ ├── gazebo_topics-checkpoint.png │ ├── gripper_frame-checkpoint.png │ ├── gripper_offset-checkpoint.png │ ├── gripper_robotiq-checkpoint.png │ ├── ik_server-checkpoint.png │ ├── joint_frames_ur5-checkpoint.png │ ├── joints-checkpoint.png │ ├── matrix-multiplication-in-python-checkpoint.jpg │ └── moveit_setup_assistant-checkpoint.png │ ├── DHParameter.png │ ├── Rotation_about_z-axis.png │ ├── base_frame.png │ ├── fk_test.png │ ├── fk_test_zeros.png │ ├── forward-kinematics-01.png │ ├── gazebo_topics.png │ ├── gripper_custom.png │ ├── gripper_frame.png │ ├── gripper_offset.png │ ├── gripper_robotiq.png │ ├── ik_server.png │ ├── joint_frames_ur5.png │ ├── joints.png │ ├── matrix-multiplication-in-python.jpg │ ├── moveit │ ├── moveit_config1.png │ ├── moveit_config10.png │ ├── moveit_config11.png │ ├── moveit_config2.png │ ├── moveit_config3.png │ ├── moveit_config4.png │ ├── moveit_config5.png │ ├── moveit_config6.png │ ├── moveit_config7.png │ ├── moveit_config8.png │ ├── moveit_config9.png │ ├── moveit_demo.png │ └── moveit_gazebo.png │ ├── moveit_setup_assistant.png │ ├── ur5_rviz.png │ └── ur5_rviz_frames.png └── ur5_pick_place ├── bin_description ├── CMakeLists.txt ├── package.xml └── urdf │ └── bin.urdf ├── gazebo_grasp_plugin ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── include │ └── gazebo_grasp_plugin │ │ ├── GazeboGraspFix.h │ │ └── GazeboGraspGripper.h ├── package.xml └── src │ ├── GazeboGraspFix.cpp │ └── GazeboGraspGripper.cpp ├── gripper_description ├── CMakeLists.txt ├── meshes │ ├── finger_left.dae │ ├── finger_left_collision.dae │ ├── finger_right.dae │ ├── finger_right_collision.dae │ └── gripper_base.dae ├── package.xml └── urdf │ ├── gripper.gazebo.xacro │ ├── gripper.transmission.xacro │ └── gripper.urdf.xacro ├── ur5_arm ├── CMakeLists.txt ├── cfg │ └── view_robot.rviz ├── launch │ ├── ik_server.launch │ └── pick_place_demo.launch ├── package.xml ├── params │ └── ur5_arm_ik.yaml ├── scripts │ ├── gripper_command.py │ ├── ik_server.py │ ├── joint_trajectory_client.py │ └── pick_and_place_moveit.py └── srv │ └── CalculateIK.srv ├── ur5_arm_description ├── CMakeLists.txt ├── launch │ └── view_ur5_arm.launch ├── package.xml └── urdf │ ├── gazebo_plugins.urdf.xacro │ └── ur5_arm.urdf.xacro ├── ur5_arm_gazebo ├── CHANGELOG.rst ├── CMakeLists.txt ├── controller │ ├── controllers.yaml │ └── joint_state_controller.yaml ├── launch │ ├── controller_utils.launch │ ├── ur5_empty_world.launch │ └── ur5_grasping_world.launch ├── models │ ├── kinect_ros │ │ ├── materials │ │ │ └── textures │ │ │ │ └── kinect.png │ │ ├── meshes │ │ │ └── kinect.dae │ │ ├── model-1_2.sdf │ │ ├── model-1_3.sdf │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf │ └── kinematics_bin │ │ ├── kinematics_bin.dae │ │ ├── model.config │ │ └── model.sdf ├── package.xml ├── params │ └── targets.yaml ├── scripts │ └── spawn_target_server.py ├── srv │ └── SpawnTarget.srv ├── urdf │ └── target.urdf.xacro └── worlds │ ├── smart_grasping_mod.world │ └── smart_grasping_mod1.world └── ur5_arm_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config ├── chomp_planning.yaml ├── controllers.yaml ├── fake_controllers.yaml ├── joint_limits.yaml ├── joint_names.yaml ├── kinematics.yaml ├── ompl_planning.yaml ├── ros_controllers.yaml ├── sensors_3d.yaml └── ur5_arm.srdf ├── launch ├── 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