├── Hacking-SotA-UR5 ├── README.md ├── moveit_simple_grasps │ ├── .travis.yml │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── action │ │ └── GenerateGrasps.action │ ├── config │ │ ├── baxter_grasp_data.yaml │ │ ├── clam_grasp_data.yaml │ │ ├── nao_grasp_data.yaml │ │ ├── pepper_grasp_data.yaml │ │ ├── reem_grasp_data.yaml │ │ └── romeo_grasp_data.yaml │ ├── include │ │ └── moveit_simple_grasps │ │ │ ├── custom_environment2.h │ │ │ ├── grasp_data.h │ │ │ ├── grasp_filter.h │ │ │ ├── moveit_blocks.h │ │ │ └── simple_grasps.h │ ├── launch │ │ ├── grasp_filter_test.launch │ │ ├── grasp_generator_server.launch │ │ ├── grasp_test.launch │ │ ├── grasp_test_rviz.launch │ │ └── simple_grasps.rviz │ ├── msg │ │ └── GraspGeneratorOptions.msg │ ├── package.xml │ ├── resources │ │ ├── demo.png │ │ └── filter.png │ ├── scripts │ │ └── server_test.py │ └── src │ │ ├── grasp_data.cpp │ │ ├── grasp_filter.cpp │ │ ├── grasp_filter_test.cpp │ │ ├── simple_grasps.cpp │ │ └── simple_grasps_server.cpp ├── robotiq_85_gripper │ ├── 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 │ │ │ │ ├── kinova_robotiq_coupler.stl │ │ │ │ ├── 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 │ │ │ │ ├── kinova_robotiq_coupler.dae │ │ │ │ ├── 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 │ │ │ ├── kinova_robotiq_85_gripper.xacro │ │ │ ├── robotiq_85_gripper.transmission.xacro │ │ │ ├── robotiq_85_gripper.urdf.xacro │ │ │ ├── robotiq_85_gripper.xacro │ │ │ ├── robotiq_85_gripper_sim_base.urdf.xacro │ │ │ └── robotiq_85_kinova_coupler.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 │ │ │ ├── modbus_crc.py │ │ │ ├── robotiq_85_driver.py │ │ │ ├── robotiq_85_gripper.py │ │ │ └── robotiq_85_gripper_test.py │ ├── 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 │ │ ├── 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 │ ├── .gitignore │ ├── .travis.yml │ ├── README.md │ ├── universal_robot │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ └── package.xml │ ├── universal_robots │ │ ├── CMakeLists.txt │ │ └── package.xml │ ├── ur10_e_moveit_config │ │ ├── .setup_assistant │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ ├── controllers.yaml │ │ │ ├── fake_controllers.yaml │ │ │ ├── joint_limits.yaml │ │ │ ├── kinematics.yaml │ │ │ ├── ompl_planning.yaml │ │ │ └── ur10e.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_e_moveit_controller_manager.launch.xml │ │ │ ├── ur10_e_moveit_planning_execution.launch │ │ │ ├── ur10_e_moveit_sensor_manager.launch.xml │ │ │ ├── warehouse.launch │ │ │ └── warehouse_settings.launch.xml │ │ ├── package.xml │ │ └── tests │ │ │ └── moveit_planning_execution.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 │ │ └── tests │ │ │ └── moveit_planning_execution.xml │ ├── ur3_e_moveit_config │ │ ├── .setup_assistant │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ ├── controllers.yaml │ │ │ ├── fake_controllers.yaml │ │ │ ├── joint_limits.yaml │ │ │ ├── kinematics.yaml │ │ │ ├── ompl_planning.yaml │ │ │ └── ur3e.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_e_moveit_controller_manager.launch.xml │ │ │ ├── ur3_e_moveit_planning_execution.launch │ │ │ ├── ur3_e_moveit_sensor_manager.launch.xml │ │ │ ├── warehouse.launch │ │ │ └── warehouse_settings.launch.xml │ │ ├── package.xml │ │ └── tests │ │ │ └── moveit_planning_execution.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 │ │ └── tests │ │ │ └── moveit_planning_execution.xml │ ├── ur5_e_moveit_config │ │ ├── .setup_assistant │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ ├── controllers.yaml │ │ │ ├── fake_controllers.yaml │ │ │ ├── joint_limits.yaml │ │ │ ├── kinematics.yaml │ │ │ ├── ompl_planning.yaml │ │ │ └── ur5e.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_e_moveit_controller_manager.launch.xml │ │ │ ├── ur5_e_moveit_planning_execution.launch │ │ │ ├── ur5_e_moveit_sensor_manager.launch.xml │ │ │ ├── warehouse.launch │ │ │ └── warehouse_settings.launch.xml │ │ ├── package.xml │ │ └── tests │ │ │ └── moveit_planning_execution.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 │ │ └── tests │ │ │ └── moveit_planning_execution.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 │ │ └── tests │ │ │ └── roslaunch_test.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_e_description │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ ├── test.launch │ │ │ ├── ur10e_upload.launch │ │ │ ├── ur3e_upload.launch │ │ │ └── ur5e_upload.launch │ │ ├── meshes │ │ │ ├── ur10e │ │ │ │ ├── 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 │ │ │ ├── ur3e │ │ │ │ ├── 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 │ │ │ └── ur5e │ │ │ │ ├── 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 │ │ └── urdf │ │ │ ├── common.gazebo.xacro │ │ │ ├── ur.gazebo.xacro │ │ │ ├── ur.transmission.xacro │ │ │ ├── ur10e.urdf.xacro │ │ │ ├── ur10e_joint_limited_robot.urdf.xacro │ │ │ ├── ur10e_robot.urdf.xacro │ │ │ ├── ur3e.urdf.xacro │ │ │ ├── ur3e_joint_limited_robot.urdf.xacro │ │ │ ├── ur3e_robot.urdf.xacro │ │ │ ├── ur5e.urdf.xacro │ │ │ ├── ur5e_joint_limited_robot.urdf.xacro │ │ │ └── ur5e_robot.urdf.xacro │ ├── ur_e_gazebo │ │ ├── CMakeLists.txt │ │ ├── controller │ │ │ ├── arm_controller_ur10e.yaml │ │ │ ├── arm_controller_ur3e.yaml │ │ │ ├── arm_controller_ur5e.yaml │ │ │ └── joint_state_controller.yaml │ │ ├── launch │ │ │ ├── controller_utils.launch │ │ │ ├── ur10e.launch │ │ │ ├── ur10e_joint_limited.launch │ │ │ ├── ur3e.launch │ │ │ ├── ur3e_joint_limited.launch │ │ │ ├── ur5e.launch │ │ │ └── ur5e_joint_limited.launch │ │ ├── package.xml │ │ └── tests │ │ │ └── roslaunch_test.xml │ ├── ur_gazebo │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── controller │ │ │ ├── arm_controller_ur10.yaml │ │ │ ├── arm_controller_ur3.yaml │ │ │ ├── arm_controller_ur5.yaml │ │ │ └── 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 │ │ └── tests │ │ │ └── roslaunch_test.xml │ ├── ur_kinematics │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── ur_kinematics │ │ │ │ ├── ikfast.h │ │ │ │ ├── ur_kin.h │ │ │ │ └── ur_moveit_plugin.h │ │ ├── package.xml │ │ ├── setup.py │ │ ├── src │ │ │ ├── ur_kin.cpp │ │ │ ├── ur_kin_py.cpp │ │ │ ├── ur_kinematics │ │ │ │ ├── __init__.py │ │ │ │ └── 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 │ │ ├── RobotModeDataMsg.msg │ │ ├── RobotStateRTMsg.msg │ │ └── ToolDataMsg.msg │ │ ├── package.xml │ │ └── srv │ │ ├── SetIO.srv │ │ └── SetPayload.srv ├── ur5_dual_arm_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── chomp_planning.yaml │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ ├── ros_controllers.yaml │ │ ├── sensors_3d.yaml │ │ └── ur5.srdf │ ├── launch │ │ ├── chomp_planning_pipeline.launch.xml │ │ ├── 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 │ │ ├── ros_controllers.launch │ │ ├── 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 ├── ur5_dual_arm_tufts │ ├── CMakeLists.txt │ ├── UR5Frame.dae │ ├── controller │ │ ├── arm_controller.yaml │ │ └── joint_state_controller.yaml │ ├── launch │ │ ├── ur5_dual_arm_gazebo.launch │ │ ├── ur5_dual_arm_rviz.launch │ │ ├── ur5_left_arm_gazebo.launch │ │ ├── ur5_right_arm_gazebo.launch │ │ └── world.launch │ ├── materials │ │ └── textures │ │ │ └── kinect.png │ ├── meshes │ │ ├── objects │ │ │ ├── UR5Frame.STL │ │ │ └── UR5Frame.dae │ │ └── sensors │ │ │ ├── kinect │ │ │ └── kinect.dae │ │ │ └── kinect2 │ │ │ └── kinect2_assembly.STL │ ├── package.xml │ ├── rviz │ │ ├── urdf.rviz │ │ └── urdf.vcg │ ├── scripts │ │ ├── execute_trajectory.py │ │ ├── extended_planners.py │ │ ├── gyan_planners.py │ │ ├── pick_place.py │ │ ├── planner_study.py │ │ ├── pose_orientation_topic.py │ │ └── pose_trajectory.py │ ├── urdf │ │ ├── objects │ │ │ ├── model.urdf │ │ │ ├── table.xacro │ │ │ └── table_properties.xacro │ │ ├── sensors │ │ │ ├── kinect │ │ │ │ ├── kinect.gazebo.xacro │ │ │ │ └── kinect.urdf.xacro │ │ │ └── kinect2 │ │ │ │ ├── common.xacro │ │ │ │ ├── kinect2.gazebo.xacro │ │ │ │ └── kinect2.urdf.xacro │ │ ├── ur5_dual_arm.xacro │ │ ├── ur5_dual_dre.urdf │ │ ├── ur5_left_arm.xacro │ │ └── ur5_right_arm.xacro │ └── worlds │ │ └── ur5_dual_arm_env.world ├── ur5_single_arm_manipulation │ ├── CMakeLists.txt │ ├── config │ │ └── ur5_grasp_data.yaml │ ├── launch │ │ ├── execute_trajectory.launch │ │ ├── grasp_generator_server.launch │ │ ├── pick_and_place.launch │ │ └── planners.launch │ ├── package.xml │ └── scripts │ │ ├── execute_trajectory.py │ │ ├── pick_and_place.py │ │ └── planners.py ├── ur5_single_arm_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── chomp_planning.yaml │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ ├── sensors_3d.yaml │ │ └── ur5.srdf │ ├── launch │ │ ├── chomp_planning_pipeline.launch.xml │ │ ├── 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 │ │ ├── ros_controllers.launch │ │ ├── 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 └── ur5_single_arm_tufts │ ├── CMakeLists.txt │ ├── controller │ └── effort_controller.yaml │ ├── launch │ ├── ur5_single_arm_gazebo.launch │ ├── ur5_single_arm_rviz.launch │ └── ur5_single_arm_rviz.rviz │ ├── materials │ └── textures │ │ └── kinect.png │ ├── meshes │ └── sensors │ │ ├── kinect │ │ └── kinect.dae │ │ └── kinect2 │ │ └── kinect2_assembly.STL │ ├── package.xml │ └── urdf │ ├── gzplugin_grasp_fix.urdf.xacro │ ├── objects │ ├── block.urdf │ └── table.urdf │ ├── sensors │ ├── kinect │ │ ├── kinect.gazebo.xacro │ │ └── kinect.urdf.xacro │ └── kinect2 │ │ ├── common.xacro │ │ ├── kinect2.gazebo.xacro │ │ └── kinect2.urdf.xacro │ ├── ur5_single_arm.urdf │ └── ur5_single_arm.urdf.xacro ├── kinect_v2_udrf ├── LICENSE ├── README.md └── kinect_v2 │ ├── CMakeLists.txt │ ├── launch │ ├── display.launch │ └── gazebo.launch │ ├── meshes │ └── kinect2.STL │ ├── package.xml │ ├── urdf.rviz │ └── urdf │ ├── kinect_v2.gazebo.xacro │ ├── kinect_v2.urdf.xacro │ └── kinect_v2_standalong.urdf.xacro ├── pics ├── dual_arm_urdf_setup_robotiq_85.png ├── obstacle_avoidance_demo.gif └── pick_and_place_demo.gif ├── readme.md ├── spawn_robot_tools_pkg ├── CMakeLists.txt ├── launch │ ├── move_ball_model.launch │ ├── move_model.launch │ ├── spawn_and_delete_server.launch │ ├── spawn_object.launch │ ├── spawn_robot_urdf.launch │ ├── spawn_robot_urdf_multiple.launch │ ├── spawn_robot_xacro.launch │ ├── spawn_robot_xacro_multiple.launch │ ├── spawn_sdf.launch │ └── spawn_sdf_robotdesc.launch ├── models │ ├── lowpoly_human │ │ ├── meshes │ │ │ └── lowpoly_human.dae │ │ ├── model.config │ │ └── model.sdf │ ├── standard_apple │ │ ├── meshes │ │ │ ├── Apfel_1_diffuse.jpg │ │ │ └── apple_simple.dae │ │ ├── model.config │ │ └── model.sdf │ ├── standard_cube │ │ ├── model.config │ │ └── model.sdf │ ├── standard_cylinder │ │ ├── model.config │ │ └── model.sdf │ └── standard_sphere │ │ ├── model.config │ │ └── model.sdf ├── package.xml ├── rviz_config │ └── robot_urdf.rviz ├── scripts │ ├── inertial_calculator.py │ ├── model_twist_keyboard.py │ ├── move_ball_like_model.py │ ├── move_generic_model_script.py │ ├── move_object_in_circles.py │ └── spawn_delete_object.py ├── setup.py ├── src │ └── spawn_robot_tools_pkg │ │ ├── __init__.py │ │ ├── get_model_gazebo_pose.py │ │ └── move_generic_model.py └── worlds │ ├── model.world │ ├── urdf_demo.world │ └── urdf_demo_no_ball.world └── ur_modern_driver ├── CMakeLists.txt ├── LICENSE ├── README.md ├── config ├── ur10_controllers.yaml ├── ur3_controllers.yaml └── ur5_controllers.yaml ├── include └── ur_modern_driver │ ├── bin_parser.h │ ├── event_counter.h │ ├── log.h │ ├── pipeline.h │ ├── queue │ ├── LICENSE.md │ ├── atomicops.h │ └── readerwriterqueue.h │ ├── ros │ ├── action_server.h │ ├── action_trajectory_follower_interface.h │ ├── controller.h │ ├── hardware_interface.h │ ├── io_service.h │ ├── lowbandwidth_trajectory_follower.h │ ├── mb_publisher.h │ ├── rt_publisher.h │ ├── service_stopper.h │ ├── trajectory_follower.h │ └── urscript_handler.h │ ├── tcp_socket.h │ ├── test │ ├── random_data.h │ └── utils.h │ ├── types.h │ └── ur │ ├── commander.h │ ├── consumer.h │ ├── factory.h │ ├── master_board.h │ ├── messages.h │ ├── messages_parser.h │ ├── parser.h │ ├── producer.h │ ├── robot_mode.h │ ├── rt_parser.h │ ├── rt_state.h │ ├── server.h │ ├── state.h │ ├── state_parser.h │ └── stream.h ├── launch ├── dual_ur_bringup.launch ├── left_ur_bringup.launch ├── right_ur_bringup.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 ├── package.xml ├── src ├── ros │ ├── action_server.cpp │ ├── controller.cpp │ ├── hardware_interface.cpp │ ├── 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