├── README.md ├── manipulation_bringup ├── CMakeLists.txt ├── launch │ ├── camera │ │ ├── .old │ │ │ ├── april.launch │ │ │ ├── april_original.launch │ │ │ ├── calibrationdata.tar.gz │ │ │ ├── cam.yaml │ │ │ ├── cameraAprilTag.launch │ │ │ ├── core.launch │ │ │ ├── demo.launch │ │ │ ├── driver_ps3eye │ │ │ ├── everything.launch │ │ │ ├── ost.txt │ │ │ ├── ost.yaml │ │ │ ├── ps3eye.launch │ │ │ ├── ps3eye.yaml │ │ │ ├── uvc.launch │ │ │ └── uvc_ps3eye.launch │ │ ├── april.launch.xml │ │ ├── april.launch.xml~ │ │ ├── april.launch~ │ │ ├── april_camera.launch.xml │ │ ├── april_camera.launch.xml~ │ │ ├── april_rgbd.launch.xml │ │ ├── calibrationdata.tar.gz │ │ ├── calibrationdata │ │ │ ├── left-0000.png │ │ │ ├── left-0001.png │ │ │ ├── left-0002.png │ │ │ ├── left-0003.png │ │ │ ├── left-0004.png │ │ │ ├── left-0005.png │ │ │ ├── left-0006.png │ │ │ ├── left-0007.png │ │ │ ├── left-0008.png │ │ │ ├── left-0009.png │ │ │ ├── left-0010.png │ │ │ ├── left-0011.png │ │ │ ├── left-0012.png │ │ │ ├── left-0013.png │ │ │ ├── left-0014.png │ │ │ ├── left-0015.png │ │ │ ├── left-0016.png │ │ │ ├── left-0017.png │ │ │ ├── left-0018.png │ │ │ ├── left-0019.png │ │ │ ├── left-0020.png │ │ │ ├── left-0021.png │ │ │ ├── left-0022.png │ │ │ ├── left-0023.png │ │ │ ├── left-0024.png │ │ │ ├── left-0025.png │ │ │ ├── left-0026.png │ │ │ ├── left-0027.png │ │ │ ├── left-0028.png │ │ │ ├── left-0029.png │ │ │ ├── left-0030.png │ │ │ ├── left-0031.png │ │ │ ├── left-0032.png │ │ │ ├── left-0033.png │ │ │ ├── left-0034.png │ │ │ ├── left-0035.png │ │ │ ├── left-0036.png │ │ │ ├── left-0037.png │ │ │ ├── left-0038.png │ │ │ ├── left-0039.png │ │ │ ├── left-0040.png │ │ │ ├── left-0041.png │ │ │ ├── left-0042.png │ │ │ ├── left-0043.png │ │ │ ├── left-0044.png │ │ │ ├── left-0045.png │ │ │ ├── left-0046.png │ │ │ ├── left-0047.png │ │ │ ├── left-0048.png │ │ │ ├── left-0049.png │ │ │ ├── left-0050.png │ │ │ ├── left-0051.png │ │ │ ├── left-0052.png │ │ │ ├── left-0053.png │ │ │ ├── left-0054.png │ │ │ ├── left-0055.png │ │ │ ├── left-0056.png │ │ │ ├── left-0057.png │ │ │ ├── left-0058.png │ │ │ ├── left-0059.png │ │ │ ├── left-0060.png │ │ │ ├── left-0061.png │ │ │ ├── left-0062.png │ │ │ ├── left-0063.png │ │ │ ├── left-0064.png │ │ │ ├── left-0065.png │ │ │ ├── left-0066.png │ │ │ ├── left-0067.png │ │ │ ├── left-0068.png │ │ │ ├── left-0069.png │ │ │ ├── left-0070.png │ │ │ ├── left-0071.png │ │ │ ├── left-0072.png │ │ │ ├── left-0073.png │ │ │ ├── left-0074.png │ │ │ ├── left-0075.png │ │ │ ├── left-0076.png │ │ │ ├── left-0077.png │ │ │ ├── left-0078.png │ │ │ ├── left-0079.png │ │ │ ├── left-0080.png │ │ │ ├── left-0081.png │ │ │ ├── left-0082.png │ │ │ ├── left-0083.png │ │ │ ├── left-0084.png │ │ │ ├── left-0085.png │ │ │ ├── left-0086.png │ │ │ ├── left-0087.png │ │ │ ├── left-0088.png │ │ │ ├── left-0089.png │ │ │ ├── left-0090.png │ │ │ ├── left-0091.png │ │ │ ├── left-0092.png │ │ │ ├── left-0093.png │ │ │ ├── left-0094.png │ │ │ ├── left-0095.png │ │ │ ├── left-0096.png │ │ │ ├── left-0097.png │ │ │ ├── ost.txt │ │ │ └── ost.yaml │ │ ├── demo.launch~ │ │ ├── ost.yaml │ │ ├── ps3_eye_davis_337.gpfl │ │ ├── ps3eye.yaml │ │ ├── rgbd.launch │ │ ├── rgbd.launch.xml │ │ ├── uvc_ps3eye.launch.xml │ │ ├── uvc_ps3eye.launch.xml~ │ │ └── uvc_ps3eye.launch~ │ ├── moveit.rviz │ ├── moveit_original.rviz │ ├── moveit_rviz.launch │ ├── ur5_bringup_camera_gripper_rviz.launch │ ├── ur5_bringup_gripper_with_rviz.launch │ ├── ur5_bringup_rgbd_gripper_rviz.launch │ ├── ur5_bringup_with_rviz.launch │ └── ur5_bringup_with_rviz.launch~ └── package.xml ├── manipulation_description ├── 2-F_85_2014-11-10.rar ├── 2-F_85_2014-11-10 │ ├── 2-Finger_85_Adaptive_Gripper-closed.STEP │ ├── 2-Finger_85_Adaptive_Gripper-opened.STEP │ └── gripper_open.stl └── gripper_open.stl ├── ur5_gripper_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 │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_calibrate.rviz │ ├── moveit_rviz.launch │ ├── moveit_world.rviz │ ├── 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 └── scripts │ ├── client.py │ ├── color.py │ ├── force_control.py │ ├── force_script.txt │ ├── forward.py │ ├── forward.pyc │ ├── ft_test.script │ ├── goal.png │ ├── goal.txt.npy │ ├── jacob_matrix.py │ ├── jacobian.py │ ├── jacobian.pyc │ ├── jacobian_matrix.py │ ├── jacobian_matrix.pyc │ ├── old_visual_servo.py │ ├── pcl.py │ ├── pg │ ├── pid.py │ ├── pid.pyc │ ├── planes.py │ ├── planner.py │ ├── robotiq_c2_controller.py │ ├── robotiq_c2_state_publisher.py │ ├── run_script.py │ ├── script.txt │ ├── shape_detection.py │ ├── shape_detection.pyc │ ├── socket │ ├── time │ ├── transform_publisher.py │ └── visual_servo.py └── ur_gripper_description ├── CMakeLists.txt ├── launch ├── test.launch ├── ur10_upload.launch ├── ur3_upload.launch └── ur5_upload.launch ├── meshes ├── robotiq_c2 │ ├── collision │ │ ├── robotiq_85_gripper_adapter_plate.dae │ │ ├── robotiq_85_gripper_base.dae │ │ ├── robotiq_85_gripper_joint_0_L.dae │ │ ├── robotiq_85_gripper_joint_0_R.dae │ │ ├── robotiq_85_gripper_joint_1_L.dae │ │ ├── robotiq_85_gripper_joint_1_R.dae │ │ ├── robotiq_85_gripper_joint_2_L.dae │ │ ├── robotiq_85_gripper_joint_2_R.dae │ │ ├── robotiq_85_gripper_joint_3_L.dae │ │ └── robotiq_85_gripper_joint_3_R.dae │ └── visual │ │ ├── adapter_plate.dae │ │ ├── robotiq_85_gripper_adapter_plate.dae │ │ ├── robotiq_85_gripper_base.dae │ │ ├── robotiq_85_gripper_joint_0_L.dae │ │ ├── robotiq_85_gripper_joint_0_R.dae │ │ ├── robotiq_85_gripper_joint_1_L.dae │ │ ├── robotiq_85_gripper_joint_1_R.dae │ │ ├── robotiq_85_gripper_joint_2_L.dae │ │ ├── robotiq_85_gripper_joint_2_R.dae │ │ ├── robotiq_85_gripper_joint_3_L.dae │ │ └── robotiq_85_gripper_joint_3_R.dae ├── 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 │ ├── 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 ├── package.xml~ └── urdf ├── common.gazebo.xacro ├── gripper ├── robotiq_c2_model.urdf ├── robotiq_c2_model.xacro └── robotiq_c2_model_macro.xacro ├── objects └── cube.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.urdf.xacro ├── ur5_joint_limited_robot.urdf.xacro └── ur5_robot.urdf.xacro /README.md: -------------------------------------------------------------------------------- 1 | # ur5_manipulation 2 | 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