├── CMakeLists.txt ├── README.md ├── common-sensors-master ├── Dockerfile ├── LICENSE ├── README.md └── common_sensors │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ └── common_sensors │ │ ├── footprint_filter.h │ │ └── nan_to_inf_filter.h │ ├── launch │ └── hokuyo │ │ ├── hokuyo_urg04lx.launch │ │ └── hokuyo_utm30lx.launch │ ├── meshes │ └── sensors │ │ ├── asus_camera_simple.dae │ │ ├── asus_xtion_pro_live.dae │ │ ├── asus_xtion_pro_live.png │ │ ├── hokuyo.dae │ │ ├── hokuyo.png │ │ ├── hokuyo_utm_30lx.stl │ │ ├── kinect.dae │ │ └── kinect.jpg │ ├── package.xml │ ├── sensors_plugin.xml │ ├── src │ └── filters.cpp │ └── urdf │ ├── common_properties.urdf.xacro │ ├── sample_robots │ └── xtion.urdf.xacro │ └── sensors │ ├── hokuyo_04lx_laser.gazebo.xacro │ ├── hokuyo_04lx_laser.urdf.xacro │ ├── hokuyo_utm30lx.urdf.xacro │ ├── kinect.urdf.xacro │ ├── kinect_gazebo.xacro │ ├── kinect_properties.urdf.xacro │ ├── xtion.urdf.xacro │ ├── xtion_gazebo.urdf.xacro │ └── xtion_xtended_stand.urdf.xacro ├── myrobot2 ├── box.scene ├── floor.scene ├── myrobot2_description │ ├── CMakeLists.txt │ ├── launch │ │ └── myrobot2_upload.launch │ ├── package.xml │ └── urdf │ │ └── myrobot2_macro.xacro ├── myrobot2_driver │ ├── CMakeLists.txt │ ├── config │ │ ├── gripper_controller.yaml │ │ └── ur5_controller.yaml │ ├── launch │ │ ├── myrobot2_bringup_ros_control.launch │ │ └── myrobot2_bringup_ros_control_odroid.launch │ └── package.xml ├── myrobot2_gazebo │ ├── CMakeLists.txt │ ├── config │ │ ├── arm_controller_ur5.yaml │ │ ├── gripper_controller_robotiq.yaml │ │ └── joint_state_controller.yaml │ ├── launch │ │ ├── controller_utils.launch │ │ └── myrobot2.launch │ ├── package.xml │ └── worlds │ │ └── myrobot2.world ├── myrobot2_moveit_config │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── myrobot2 (copy).srdf │ │ ├── myrobot2.srdf │ │ ├── ompl_planning.yaml │ │ ├── sensors.yaml │ │ └── sensors_kinect_depthmap.yaml │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── myrobot2_moveit_controller_manager.launch.xml │ │ ├── myrobot2_moveit_planning_execution.launch │ │ ├── myrobot2_moveit_sensor_manager.launch.xml │ │ ├── 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 │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ └── package.xml └── myrobot2_usage │ ├── CMakeLists.txt │ ├── launch │ ├── activate_gripper.launch │ ├── activate_gripper_odroid.launch │ ├── kinect.launch │ ├── kinect_odroid.launch │ ├── myrobot2_gazebo_simulation.launch │ ├── myrobot2_real_robot.launch │ └── myrobot2_real_robot_odroid.launch │ ├── package.xml │ └── scripts │ └── drawer_test.py ├── robotiq-new_2_finger_models ├── .gitignore ├── .travis.yml ├── LICENSE ├── README.md ├── robotiq │ ├── CMakeLists.txt │ └── package.xml ├── robotiq_2f_controllers │ ├── CMakeLists.txt │ ├── action │ │ └── Robotiq2FCommand.action │ ├── include │ │ └── robotiq_2f_controllers │ │ │ ├── hardware_interface_adapter.h │ │ │ ├── robotiq_2f_action_controller.h │ │ │ └── robotiq_2f_action_controller_impl.h │ ├── package.xml │ └── src │ │ └── robotiq_2f_controller.cpp ├── robotiq_2f_hardware │ ├── CMakeLists.txt │ ├── CMakeLists.txt.user │ ├── README.md │ ├── config │ │ ├── robotiq_2f_140_geometry.yaml │ │ └── robotiq_2f_85_geometry.yaml │ ├── include │ │ └── robotiq_2f_hardware │ │ │ ├── robotiq_2f_hw (copy).h │ │ │ ├── robotiq_2f_hw.h │ │ │ ├── robotiq_2f_hw_2.h │ │ │ └── robotiq_2f_hw_gazebo.hpp │ ├── package.xml │ └── src │ │ └── robotiq_2f_hw.cpp ├── robotiq_2f_hw_usb │ ├── CMakeLists.txt │ ├── CMakeLists.txt.user │ ├── README.md │ ├── cmake │ │ └── FindModbus.cmake │ ├── include │ │ └── robotiq_2f_hw_usb │ │ │ ├── robotiq_2f_hw_usb (copy).hpp │ │ │ ├── robotiq_2f_hw_usb.hpp │ │ │ ├── robotiq_2f_hw_usb_2.hpp │ │ │ └── robotiq_2f_usb_comm.h │ ├── launch │ │ └── robotiq_2f_85_usb.launch │ ├── package.xml │ ├── scripts │ │ └── port_configuration_file.sh │ └── src │ │ └── robotiq_2f_hw_usb_node.cpp ├── robotiq_2f_model │ ├── CMakeLists.txt │ ├── README.md │ ├── media │ │ ├── coarse_collision.png │ │ ├── precise_collision.png │ │ └── visual.png │ ├── model │ │ ├── meshes │ │ │ └── 2f85 │ │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── coupler.stl │ │ │ │ ├── driver.stl │ │ │ │ ├── follower.stl │ │ │ │ ├── pad.stl │ │ │ │ └── spring_link.stl │ │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── coupler.dae │ │ │ │ ├── driver.dae │ │ │ │ ├── follower.dae │ │ │ │ ├── pad.dae │ │ │ │ └── spring_link.dae │ │ ├── robotiq_2f_140.urdf.xacro │ │ └── robotiq_2f_85.urdf.xacro │ └── package.xml ├── robotiq_2f_robot │ ├── CMakeLists.txt │ ├── config │ │ └── controllers.yaml │ ├── launch │ │ ├── bringup.launch │ │ └── config.rviz │ ├── package.xml │ └── robot │ │ └── simple_rq2f85.urdf.xacro ├── robotiq_action_server │ ├── CMakeLists.txt │ ├── include │ │ └── robotiq_action_server │ │ │ └── robotiq_c_model_action_server.h │ ├── launch │ │ └── robotiq_c_model_action_server.launch │ ├── package.xml │ └── src │ │ ├── robotiq_action_server_client_test.cpp │ │ ├── robotiq_c_model_action_server.cpp │ │ └── robotiq_c_model_action_server_node.cpp ├── robotiq_c2_model_visualization │ ├── CMakeLists.txt │ ├── launch │ │ └── test_robotiq_c2_model.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 │ ├── package.xml │ ├── urdf │ │ ├── robotiq_c2_model.urdf │ │ ├── robotiq_c2_model.xacro │ │ └── robotiq_c2_model_macro.xacro │ └── visualize.rviz ├── robotiq_c_description │ ├── CMakeLists.txt │ ├── README.md │ ├── launch │ │ ├── config.rviz │ │ └── display.launch │ ├── media │ │ ├── coarse_collision.png │ │ ├── precise_collision.png │ │ └── visual.png │ ├── model │ │ ├── c140.urdf.xacro │ │ ├── c85.urdf.xacro │ │ └── meshes │ │ │ └── c85 │ │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── coupler.stl │ │ │ ├── driver.stl │ │ │ ├── follower.stl │ │ │ ├── pad.stl │ │ │ └── spring_link.stl │ │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── coupler.dae │ │ │ ├── driver.dae │ │ │ ├── follower.dae │ │ │ ├── pad.dae │ │ │ └── spring_link.dae │ ├── package.xml │ └── robot │ │ └── simple_c85.urdf.xacro ├── robotiq_c_model_control │ ├── CMakeLists.txt │ ├── include │ │ └── robotiq_c_model_control │ │ │ └── c_model_ethercat_client.h │ ├── launch │ │ └── c_model_ethercat.launch │ ├── mainpage.dox │ ├── msg │ │ ├── CModel_robot_input.msg │ │ └── CModel_robot_output.msg │ ├── nodes │ │ ├── CModelRtuNode.py │ │ ├── CModelSimpleController.py │ │ ├── CModelStatusListener.py │ │ └── CModelTcpNode.py │ ├── package.xml │ ├── setup.py │ └── src │ │ └── robotiq_c_model_control │ │ ├── __init__.py │ │ ├── baseCModel.py │ │ ├── c_model_ethercat_client.cpp │ │ ├── c_model_ethercat_node.cpp │ │ └── robotiq_c_ctrl.py ├── robotiq_ethercat │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── robotiq_ethercat │ │ │ └── ethercat_manager.h │ ├── package.xml │ └── src │ │ └── ethercat_manager.cpp ├── robotiq_force_torque_sensor │ ├── CMakeLists.txt │ ├── include │ │ └── robotiq_force_torque_sensor │ │ │ ├── rq_int.h │ │ │ ├── rq_sensor_com.h │ │ │ └── rq_sensor_state.h │ ├── meshes │ │ ├── collision │ │ │ └── robotiq_fts150.stl │ │ └── visual │ │ │ └── robotiq_fts150.stl │ ├── msg │ │ └── ft_sensor.msg │ ├── nodes │ │ ├── rq_sensor.cpp │ │ └── rq_test_sensor.cpp │ ├── package.xml │ ├── src │ │ ├── rq_sensor_com.cpp │ │ └── rq_sensor_state.cpp │ ├── srv │ │ └── sensor_accessor.srv │ └── urdf │ │ └── robotiq_fts150.urdf.xacro ├── robotiq_joint_state_publisher │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ └── src │ │ └── s_model_joint_states.cpp ├── robotiq_modbus_rtu │ ├── CMakeLists.txt │ ├── mainpage.dox │ ├── package.xml │ ├── setup.py │ └── src │ │ └── robotiq_modbus_rtu │ │ ├── __init__.py │ │ └── comModbusRtu.py ├── robotiq_modbus_tcp │ ├── CMakeLists.txt │ ├── mainpage.dox │ ├── package.xml │ ├── setup.py │ └── src │ │ └── robotiq_modbus_tcp │ │ ├── __init__.py │ │ └── comModbusTcp.py ├── robotiq_s_model_control │ ├── CMakeLists.txt │ ├── include │ │ └── robotiq_s_model_control │ │ │ └── s_model_ethercat_client.h │ ├── launch │ │ └── s_model_ethercat.launch │ ├── mainpage.dox │ ├── msg │ │ ├── SModel_robot_input.msg │ │ └── SModel_robot_output.msg │ ├── nodes │ │ ├── SModelSimpleController.py │ │ ├── SModelStatusListener.py │ │ └── SModelTcpNode.py │ ├── package.xml │ ├── setup.py │ └── src │ │ └── robotiq_s_model_control │ │ ├── __init__.py │ │ ├── baseSModel.py │ │ ├── s_model_ethercat_client.cpp │ │ └── s_model_ethercat_node.cpp └── robotiq_s_model_visualization │ ├── CMakeLists.txt │ ├── cfg │ ├── s-model_articulated.urdf │ ├── s-model_articulated.xacro │ ├── s-model_articulated_macro.xacro │ ├── s-model_finger_articulated_macro.xacro │ ├── s-model_mesh.urdf │ ├── s-model_mesh.xacro │ ├── s-model_mesh.xml │ └── s-model_mesh_macro.xacro │ ├── mainpage.dox │ ├── meshes │ ├── s-model │ │ ├── collision │ │ │ ├── GRIPPER_CLOSED.stl │ │ │ ├── GRIPPER_OPEN.stl │ │ │ ├── GRIPPER_OPEN_FINGER_1.stl │ │ │ ├── GRIPPER_OPEN_FINGER_2.stl │ │ │ ├── GRIPPER_OPEN_FINGER_3.stl │ │ │ └── GRIPPER_OPEN_PALM.stl │ │ └── visual │ │ │ ├── GRIPPER_CLOSED.stl │ │ │ ├── GRIPPER_OPEN.stl │ │ │ ├── GRIPPER_OPEN_FINGER_1.stl │ │ │ ├── GRIPPER_OPEN_FINGER_2.stl │ │ │ ├── GRIPPER_OPEN_FINGER_3.stl │ │ │ └── GRIPPER_OPEN_PALM.stl │ └── s-model_articulated │ │ ├── collision │ │ ├── link_0.STL │ │ ├── link_1.STL │ │ ├── link_2.STL │ │ ├── link_3.STL │ │ └── palm.STL │ │ └── visual │ │ ├── link_0.STL │ │ ├── link_1.STL │ │ ├── link_2.STL │ │ ├── link_3.STL │ │ └── palm.STL │ └── package.xml ├── robotiq_85_gripper-master ├── LICENSE ├── README.md ├── robotiq_85_bringup │ ├── CMakeLists.txt │ ├── launch │ │ └── robotiq_85.launch │ ├── package.xml │ └── rviz │ │ └── robotiq_85.rviz ├── robotiq_85_description │ ├── CMakeLists.txt │ ├── launch │ │ ├── display.launch │ │ └── upload_robotiq_85_gripper.launch │ ├── meshes │ │ ├── collision │ │ │ ├── robotiq_85_base_link.stl │ │ │ ├── robotiq_85_finger_link.stl │ │ │ ├── robotiq_85_finger_tip_link.stl │ │ │ ├── robotiq_85_inner_knuckle_link.stl │ │ │ └── robotiq_85_knuckle_link.stl │ │ └── visual │ │ │ ├── robotiq_85_base_link.dae │ │ │ ├── robotiq_85_finger_link.dae │ │ │ ├── robotiq_85_finger_tip_link.dae │ │ │ ├── robotiq_85_inner_knuckle_link.dae │ │ │ └── robotiq_85_knuckle_link.dae │ ├── package.xml │ ├── urdf.rviz │ └── urdf │ │ ├── robotiq_85_gripper.transmission.xacro │ │ ├── robotiq_85_gripper.urdf.xacro │ │ ├── robotiq_85_gripper.xacro │ │ └── robotiq_85_gripper_sim_base.urdf.xacro ├── robotiq_85_driver │ ├── CMakeLists.txt │ ├── bin │ │ ├── robotiq_85_driver │ │ └── robotiq_85_test │ ├── package.xml │ ├── setup.py │ └── src │ │ └── robotiq_85 │ │ ├── __init__.py │ │ ├── gripper_io.py │ │ ├── gripper_io.pyc │ │ ├── modbus_crc.py │ │ ├── modbus_crc.pyc │ │ ├── robotiq_85_driver.py │ │ ├── robotiq_85_driver.pyc │ │ ├── robotiq_85_gripper.py │ │ ├── robotiq_85_gripper.pyc │ │ ├── robotiq_85_gripper_test.py │ │ └── robotiq_85_gripper_test.pyc ├── robotiq_85_gripper │ ├── CMakeLists.txt │ └── package.xml ├── robotiq_85_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ └── robotiq_85_gripper.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── robotiq_85_gripper_moveit_controller_manager.launch.xml │ │ ├── robotiq_85_gripper_moveit_sensor_manager.launch.xml │ │ ├── robotiq_85_moveit_planning_execution.launch │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ └── package.xml ├── robotiq_85_msgs │ ├── CMakeLists.txt │ ├── msg │ │ ├── GripperCmd.msg │ │ └── GripperStat.msg │ └── package.xml ├── robotiq_85_simulation │ ├── roboticsgroup_gazebo_plugins │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── include │ │ │ └── roboticsgroup_gazebo_plugins │ │ │ │ ├── disable_link_plugin.h │ │ │ │ └── mimic_joint_plugin.h │ │ ├── package.xml │ │ └── src │ │ │ ├── disable_link_plugin.cpp │ │ │ └── mimic_joint_plugin.cpp │ ├── robotiq_85_gazebo │ │ ├── CMakeLists.txt │ │ ├── controller │ │ │ ├── gripper_controller_robotiq.yaml │ │ │ └── joint_state_controller.yaml │ │ ├── launch │ │ │ ├── controller_utils.launch │ │ │ ├── robotiq_85.launch │ │ │ ├── robotiq_85_moveit_rviz_test.launch │ │ │ ├── robotiq_85_moveit_sim.launch │ │ │ └── test_kinematics.launch │ │ ├── package.xml │ │ └── scripts │ │ │ └── robotiq_85_moveit_test.py │ └── robotiq_85_simulation │ │ ├── CMakeLists.txt │ │ └── package.xml └── si_utils │ ├── CMakeLists.txt │ ├── launch │ └── test.launch │ ├── package.xml │ └── scripts │ └── timed_roslaunch ├── universal_robot-indigo-devel ├── .gitignore ├── .travis.yml ├── README.md ├── universal_robot │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── ur10_moveit_config │ ├── .setup_assistant │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ └── ur10.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.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 │ │ ├── ur10_moveit_controller_manager.launch.xml │ │ ├── ur10_moveit_planning_execution.launch │ │ ├── ur10_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ └── package.xml ├── ur3_moveit_config │ ├── .setup_assistant │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ └── ur3.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.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 │ │ ├── ur3_moveit_controller_manager.launch.xml │ │ ├── ur3_moveit_planning_execution.launch │ │ ├── ur3_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ └── 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 │ │ ├── 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 ├── ur_bringup │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ ├── ur10_bringup.launch │ │ ├── ur10_bringup_joint_limited.launch │ │ ├── ur3_bringup.launch │ │ ├── ur3_bringup_joint_limited.launch │ │ ├── ur5_bringup.launch │ │ ├── ur5_bringup_joint_limited.launch │ │ └── ur_common.launch │ └── package.xml ├── ur_description │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ ├── test.launch │ │ ├── ur10_upload.launch │ │ ├── ur3_upload.launch │ │ └── ur5_upload.launch │ ├── meshes │ │ ├── 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 │ └── urdf │ │ ├── common.gazebo.xacro │ │ ├── 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 ├── ur_driver │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ └── URDriver.cfg │ ├── package.xml │ ├── prog │ ├── prog_reset │ ├── setup.py │ ├── src │ │ └── ur_driver │ │ │ ├── __init__.py │ │ │ ├── deserialize.py │ │ │ ├── deserializeRT.py │ │ │ ├── driver.py │ │ │ ├── io_interface.py │ │ │ ├── testRT_comm.py │ │ │ └── test_comm.py │ ├── test_io.py │ └── test_move.py ├── ur_gazebo │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── controller │ │ ├── arm_controller_ur10.yaml │ │ ├── arm_controller_ur3.yaml │ │ ├── arm_controller_ur5.yaml │ │ ├── arm_controller_ur5.yaml.old │ │ └── joint_state_controller.yaml │ ├── launch │ │ ├── controller_utils.launch │ │ ├── ur10.launch │ │ ├── ur10_joint_limited.launch │ │ ├── ur3.launch │ │ ├── ur3_joint_limited.launch │ │ ├── ur5.launch │ │ └── ur5_joint_limited.launch │ └── package.xml ├── ur_kinematics │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── ur_kinematics │ │ │ ├── ikfast.h │ │ │ ├── ur_kin.h │ │ │ └── ur_moveit_plugin.h │ ├── package.xml │ ├── src │ │ ├── ur_kin.cpp │ │ ├── ur_kin_py.cpp │ │ ├── ur_kinematics │ │ │ └── test_analytical_ik.py │ │ └── ur_moveit_plugin.cpp │ └── ur_moveit_plugins.xml └── ur_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── msg │ ├── Analog.msg │ ├── Digital.msg │ ├── IOStates.msg │ ├── MasterboardDataMsg.msg │ ├── RobotStateRTMsg.msg │ └── ToolDataMsg.msg │ ├── package.xml │ └── srv │ ├── SetIO.srv │ └── SetPayload.srv └── ur_modern_driver-master ├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cartesian path example.py ├── config ├── ur10_controllers.yaml ├── ur3_controllers.yaml └── ur5_controllers.yaml ├── copy ├── geometry_msgs.msg ├── include └── ur_modern_driver │ ├── do_output.h │ ├── robot_state.h │ ├── robot_state_RT.h │ ├── ur_communication.h │ ├── ur_driver.h │ ├── ur_hardware_interface.h │ └── ur_realtime_communication.h ├── launch ├── ur10_bringup.launch ├── ur10_bringup_compatible.launch ├── ur10_bringup_joint_limited.launch ├── ur10_ros_control.launch ├── ur3_bringup.launch ├── ur3_bringup_joint_limited.launch ├── ur3_ros_control.launch ├── ur5_bringup.launch ├── ur5_bringup_compatible.launch ├── ur5_bringup_joint_limited.launch ├── ur5_ros_control.launch └── ur_common.launch ├── moveit_commander ├── moveit_msgs.msg ├── package.xml ├── rospy ├── src ├── do_output.cpp ├── robot_state.cpp ├── robot_state_RT.cpp ├── ur_communication.cpp ├── ur_driver.cpp ├── ur_hardware_interface.cpp ├── ur_realtime_communication.cpp └── ur_ros_wrapper.cpp ├── sys ├── test.cpp ├── test.py ├── test2 (copy).py ├── test2.py 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