├── .gitignore ├── README.md ├── ansible ├── README.md ├── inventory ├── roles │ ├── ros_user │ │ ├── files │ │ │ └── logrotate-ros.conf │ │ └── tasks │ │ │ └── main.yml │ ├── ubr_ros1 │ │ ├── files │ │ │ ├── melodic.rosinstall │ │ │ └── noetic.rosinstall │ │ ├── tasks │ │ │ └── main.yml │ │ └── templates │ │ │ ├── robot.j2 │ │ │ └── roscore.j2 │ └── ubr_ros2 │ │ ├── files │ │ └── jazzy.repos │ │ ├── tasks │ │ └── main.yml │ │ └── templates │ │ ├── cyclonedds.j2 │ │ ├── cyclonesysctl.j2 │ │ └── robot.j2 ├── ubr_jazzy.yml └── ubr_ros1.yml ├── docker ├── Dockerfile ├── README.md └── ros_entrypoint.sh ├── ubr1_bringup ├── CMakeLists.txt ├── config │ ├── default_controllers.yaml │ └── fixed_lag_smoother.yaml ├── launch │ ├── head_camera.launch.py │ └── robot.launch.py ├── package.xml └── scripts │ ├── controller_reset.py │ ├── profile_base.py │ └── test_accelerations.py ├── ubr1_calibration ├── CMakeLists.txt ├── README.md ├── config │ ├── calibrate.yaml │ ├── calibrate_base.yaml │ ├── calibration_poses.yaml │ ├── camera_in_hand │ │ ├── calibrate.yaml │ │ └── capture.yaml │ ├── capture.yaml │ └── checkerboard_2d │ │ ├── calibrate.yaml │ │ └── capture.yaml ├── launch │ ├── calibrate.launch.py │ └── calibrate_base.launch.py ├── package.xml └── scripts │ ├── calibrate_from_bag │ ├── calibrate_manually │ ├── camera_in_hand │ └── camera_in_hand_manually │ ├── camera_reconfigure.py │ └── checkerboard_2d │ └── checkerboard_2d_manually ├── ubr1_demo ├── CMakeLists.txt ├── include │ └── ubr1_demo │ │ ├── generate_grasps_from_msg.hpp │ │ └── pick_place_task.hpp ├── launch │ ├── pick_place.launch.py │ └── simple_grasping.launch.py ├── package.xml └── src │ ├── generate_grasps_from_msg.cpp │ ├── pick_and_place.cpp │ └── pick_place_task.cpp ├── ubr1_description ├── CMakeLists.txt ├── meshes │ ├── base_laser_link.STL │ ├── base_link.STL │ ├── base_link_col.STL │ ├── bellows_link.STL │ ├── bellows_link_col.STL │ ├── elbow_flex_link.STL │ ├── estop_link.STL │ ├── fixed_torso_link.STL │ ├── forearm_roll_link.STL │ ├── forearm_roll_link_col.STL │ ├── gripper_link.STL │ ├── gripper_link_col.STL │ ├── head_camera_link.STL │ ├── head_pan_link.STL │ ├── head_tilt_link.STL │ ├── left_gripper_finger_link.STL │ ├── left_wheel_link.STL │ ├── right_gripper_finger_link.STL │ ├── right_wheel_link.STL │ ├── shoulder_lift_link.STL │ ├── shoulder_lift_link_col.STL │ ├── shoulder_pan_link.STL │ ├── shoulder_pan_link_col.STL │ ├── torso_lift_link.STL │ ├── torso_lift_link_col.STL │ ├── upperarm_roll_link.STL │ ├── upperarm_roll_link_col.STL │ └── wrist_flex_link.STL ├── package.xml └── robots │ └── ubr1_robot.urdf ├── ubr1_gazebo ├── CMakeLists.txt ├── COLCON_IGNORE ├── config │ └── default_controllers.yaml ├── include │ └── ubr1_gazebo │ │ ├── joint_handle.h │ │ ├── simulated_bellows_controller.h │ │ ├── simulated_gripper_controller.h │ │ └── ubr1_gazebo_plugin.h ├── launch │ ├── include │ │ ├── head_camera.launch.xml │ │ └── simulation.ubr1.xml │ ├── simulation.launch │ ├── simulation_grasping.launch │ └── simulation_home.launch ├── models │ ├── table_30 │ │ ├── model.config │ │ └── table.sdf │ └── ubr_cube │ │ ├── model.config │ │ └── ubr_cube.sdf ├── package.xml ├── robots │ └── ubr1_robot.urdf.xacro ├── scripts │ └── stop_controllers.py ├── src │ ├── simulated_bellows_controller.cpp │ ├── simulated_gripper_controller.cpp │ └── ubr1_gazebo_plugin.cpp ├── test │ ├── pick_up_cube_test.launch │ ├── pick_up_cube_test.py │ ├── pick_up_cube_trajectories.bag │ └── scripts │ │ └── generate_grasp_test.py ├── ubr1_gazebo_controllers.xml └── worlds │ ├── cube_on_ground.sdf │ ├── cube_on_table.sdf │ └── home.sdf ├── ubr1_moveit ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── initial_positions.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── moveit.rviz │ ├── moveit_controllers.yaml │ ├── pilz_cartesian_limits.yaml │ ├── ros2_controllers.yaml │ ├── sensors_3d.yaml │ ├── ubr1.ros2_control.xacro │ ├── ubr1.srdf │ └── ubr1.urdf.xacro ├── launch │ ├── demo.launch.py │ ├── move_group.launch.py │ ├── moveit_rviz.launch.py │ ├── rsp.launch.py │ ├── setup_assistant.launch.py │ ├── spawn_controllers.launch.py │ └── static_virtual_joint_tfs.launch.py └── package.xml ├── ubr1_navigation ├── CMakeLists.txt ├── behavior_trees │ └── default.xml ├── config │ ├── mapper_params_online_sync.yaml │ └── nav2_params.yaml ├── costmap_plugins.xml ├── include │ └── ubr1_navigation │ │ └── depth_layer.hpp ├── launch │ ├── build_map.launch.py │ ├── includes │ │ └── move_base.launch.xml │ ├── localization.launch.py │ └── navigation.launch.py ├── maps │ ├── map.pgm │ ├── map.yaml │ ├── map_1728569604.pgm │ ├── map_1728569604.yaml │ ├── map_with_arena.pgm │ └── map_with_arena.yaml ├── package.xml ├── scripts │ └── tilt_head.py ├── src │ └── depth_layer.cpp └── srv │ └── TiltControl.srv ├── ubr_msgs ├── CMakeLists.txt ├── msg │ ├── BoardInfo.msg │ ├── BreakerInfo.msg │ ├── BreakerState.msg │ ├── ChargerInfo.msg │ ├── 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