├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── catkin └── config.yaml ├── config ├── home.yaml ├── null_transforms.yaml └── ur10 │ ├── controllers.yaml │ ├── kinematics_parameters.yaml │ └── visual_parameters.yaml ├── docs ├── calibration │ ├── Makefile │ ├── calibration.pdf │ ├── calibration.tex │ └── figures │ │ ├── robot_calibration.ipe │ │ └── robot_calibration.pdf └── manuals │ ├── hokuyo │ └── hokuyo-ust-10LX.pdf │ ├── misc │ └── fosmon_mechanical_timer.pdf │ ├── ridgeback │ ├── Odyssey_Battery_ODX-AGM31M.pdf │ ├── delta_q_ic650_troubleshooting_guide.pdf │ ├── ridgeback-datasheet.pdf │ └── ridgeback-user-manual.pdf │ ├── robotiq │ ├── robotiq-3-finger-gripper.pdf │ ├── robotiq-ft300.pdf │ └── robotiq-user-interface.pdf │ └── ur10 │ ├── ur10_controller_troubleshooting.pdf │ ├── ur10_datasheet.pdf │ ├── ur10_service_manual.pdf │ ├── ur10_troubleshooting_initialization.pdf │ ├── ur10_user_manual.pdf │ └── ur_script_manual.pdf ├── img └── robot.jpg ├── include └── mobile_manipulation_central │ ├── exponential_smoothing.h │ ├── kalman_filter.h │ ├── kinematics.h │ ├── projectile.h │ ├── robot_interfaces.h │ └── wrap.h ├── launch ├── force_torque_sensor.launch ├── gripper.launch ├── ridgeback_only.launch ├── ridgeback_vicon.launch ├── thing.launch ├── thing_description.launch ├── ur10.launch ├── ur10_calibration.launch └── vicon.launch ├── meshes ├── ridgeback │ ├── 3dm-gxX.stl │ ├── axle.stl │ ├── body-collision.stl │ ├── body.stl │ ├── end-cover.stl │ ├── lights.stl │ ├── rocker.stl │ ├── side-cover.stl │ ├── top.stl │ ├── ust-10lx.stl │ └── wheel.stl ├── tor11_mech.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 ├── package.xml ├── requirements.txt ├── scripts ├── analysis │ ├── kinematics.py │ ├── plot_joint_states.py │ ├── plot_quintic_trajectory.py │ ├── plot_ridgeback_velocity_response.py │ ├── plot_ur10_velocity_response.py │ └── plot_vicon_objects.py ├── calibration │ ├── calibrate_base_orientation.py │ ├── calibrate_base_position.py │ ├── calibrate_ee.py │ ├── collect_arm_calibration_data.py │ ├── collect_base_orientation_calibration_data.py │ ├── collect_base_position_calibration_data.py │ └── print_vicon_marker_positions.py ├── control │ ├── gripper.py │ ├── home.py │ ├── joy_stick_relay_node.py │ ├── sine_trajectory.py │ ├── stop.py │ └── velocity_test.py ├── logging │ ├── battery_voltage.py │ ├── motor_voltage.py │ ├── record.py │ └── record_bag.sh └── simulation │ ├── pyb_simulation.py │ └── simulated_mobile_manipulator_node.py ├── setup.py ├── src ├── kinematics_example.cpp ├── mobile_manipulation_central │ ├── __init__.py │ ├── joy_stick_relay.py │ ├── kinematics.py │ ├── ros_interface.py │ ├── ros_logging.py │ ├── ros_utils.py │ ├── simulation.py │ ├── simulation_ros_interface.py │ ├── smoothing.py │ ├── system_identification.py │ ├── trajectory_generation.py │ └── utils.py ├── projectile_vicon_estimator_node.cpp └── ridgeback_vicon_estimator_node.cpp ├── test ├── test_kinematics.py ├── test_ros_utils.py ├── test_smoothing.py └── test_trajectory.py └── urdf ├── .gitignore ├── compile_xacro.sh └── xacro ├── cartesian_base_joints.urdf.xacro ├── ridgeback_wheels.urdf.xacro ├── thing.urdf.xacro ├── thing_no_wheels.urdf.xacro ├── thing_pyb.urdf.xacro └── ur10.urdf.xacro /.gitignore: -------------------------------------------------------------------------------- 1 | *.npz 2 | *.pyc 3 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/utiasDSL/mobile_manipulation_central/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- 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