├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md └── src ├── bringup ├── CMakeLists.txt ├── launch │ └── simulation.launch.py └── package.xml ├── libs ├── gazebo_grasp_plugin │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── gazebo_grasp_plugin │ │ │ ├── GazeboGraspFix.h │ │ │ └── GazeboGraspGripper.h │ ├── msgs │ │ ├── CMakeLists.txt │ │ └── grasp_event.proto │ ├── package.xml │ └── src │ │ ├── GazeboGraspFix.cpp │ │ └── GazeboGraspGripper.cpp ├── gazebo_grasp_plugin_ros │ ├── CMakeLists.txt │ ├── README.md │ ├── msg │ │ ├── GazeboGraspEvent.msg │ │ └── grasp_event.pb.h │ ├── package.xml │ └── src │ │ └── grasp_event_republisher.cpp └── gazebo_version_helpers │ ├── CMakeLists.txt │ ├── include │ └── gazebo_version_helpers │ │ └── GazeboVersionHelpers.h │ ├── package.xml │ └── src │ └── GazeboVersionHelpers.cpp ├── ur5e_gripper ├── dual_ur5e_gripper_moveit_config │ ├── CMakeLists.txt │ ├── config │ │ ├── dual_ur5e_gripper_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── left_initial_positions.yaml │ │ ├── moveit_controllers.yaml │ │ ├── ompl_planning.yaml │ │ └── right_initial_positions.yaml │ ├── gazebo │ │ ├── blue_box │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── brick_cube │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── dual_ur5e.world │ │ ├── green_cube │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── red_box │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── red_cube │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── sim_env.world │ │ └── turquoise_box │ │ │ ├── model.config │ │ │ └── model.sdf │ ├── launch │ │ ├── dual_ur5e_gripper_moveit.launch.py │ │ ├── dual_ur5e_gripper_sim_control.launch.py │ │ ├── dual_ur5e_gripper_sim_moveit.launch.py │ │ ├── gazebo_no_moveit.launch.py │ │ ├── test_launch_gazebo.launch.py │ │ └── view_robot.launch.py │ ├── package.xml │ ├── rviz │ │ └── view_robot.rviz │ ├── srdf │ │ └── dual_ur5e_gripper.srdf.xacro │ └── urdf │ │ ├── dual_ur5e_gripper.urdf.xacro │ │ ├── single_ur5e_gripper.urdf.xacro │ │ └── test.urdf ├── robotiq_description │ ├── CMakeLists.txt │ ├── config │ │ └── robotiq_controllers.yaml │ ├── launch │ │ ├── gazebo_gripper.launch.py │ │ └── view_gripper.launch.py │ ├── meshes │ │ ├── collision │ │ │ ├── 2f_140 │ │ │ │ ├── robotiq_2f_140_base_link.stl │ │ │ │ ├── robotiq_2f_140_coupling.stl │ │ │ │ ├── robotiq_2f_140_inner_finger.stl │ │ │ │ ├── robotiq_2f_140_inner_knuckle.stl │ │ │ │ ├── robotiq_2f_140_outer_finger.stl │ │ │ │ └── robotiq_2f_140_outer_knuckle.stl │ │ │ └── 2f_85 │ │ │ │ ├── left_finger.stl │ │ │ │ ├── left_finger_tip.stl │ │ │ │ ├── left_inner_knuckle.stl │ │ │ │ ├── left_knuckle.stl │ │ │ │ ├── right_finger.stl │ │ │ │ ├── right_finger_tip.stl │ │ │ │ ├── right_inner_knuckle.stl │ │ │ │ ├── right_knuckle.stl │ │ │ │ ├── robotiq_base.stl │ │ │ │ └── ur_to_robotiq_adapter.stl │ │ └── visual │ │ │ ├── 2f_140 │ │ │ ├── robotiq_2f_140_base_link.stl │ │ │ ├── robotiq_2f_140_coupling.stl │ │ │ ├── robotiq_2f_140_inner_finger.stl │ │ │ ├── robotiq_2f_140_inner_knuckle.stl │ │ │ ├── robotiq_2f_140_outer_finger.stl │ │ │ └── robotiq_2f_140_outer_knuckle.stl │ │ │ └── 2f_85 │ │ │ ├── left_finger.dae │ │ │ ├── left_finger_tip.dae │ │ │ ├── left_inner_knuckle.dae │ │ │ ├── left_knuckle.dae │ │ │ ├── right_finger.dae │ │ │ ├── right_finger_tip.dae │ │ │ ├── right_inner_knuckle.dae │ │ │ ├── right_knuckle.dae │ │ │ ├── robotiq_base.dae │ │ │ └── ur_to_robotiq_adapter.dae │ ├── package.xml │ ├── rviz │ │ └── view_gripper.rviz │ ├── src │ │ └── test_gripper_in_gazebo.cpp │ └── urdf │ │ ├── 2f_85.ros2_control.xacro │ │ ├── robotiq_2f_85_gripper.urdf.xacro │ │ ├── robotiq_2f_85_macro.urdf.xacro │ │ └── test.urdf ├── robotiq_moveit_config │ ├── CMakeLists.txt │ ├── package.xml │ └── srdf │ │ └── robotiq_macro.srdf.xacro ├── ur5e_gripper_description │ ├── CMakeLists.txt │ ├── config │ │ └── ur5e_gripper_controllers.yaml │ ├── launch │ │ ├── gazebo_ur5e_gripper.launch.py │ │ └── view_ur5e_gripper.launch.py │ ├── package.xml │ ├── rviz │ │ └── view_ur5e_gripper.rviz │ └── urdf │ │ ├── initial_positions.yaml.bak │ │ ├── ur5e_gripper.urdf │ │ └── ur5e_gripper.urdf.xacro ├── ur5e_gripper_moveit_config │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ └── ompl_planning.yaml │ ├── launch │ │ ├── ur5e_gripper_moveit.launch.py │ │ ├── ur5e_gripper_sim_control.launch.py │ │ └── ur5e_gripper_sim_moveit.launch.py │ ├── package.xml │ └── srdf │ │ └── ur5e_gripper.srdf.xacro └── ur_moveit_config │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ ├── controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ └── ur_servo.yaml │ ├── launch │ └── ur_moveit.launch.py │ ├── package.xml │ ├── rviz │ └── view_robot.rviz │ ├── srdf │ ├── ur.srdf.xacro │ └── ur_macro.srdf.xacro │ └── ur_moveit_config │ ├── __init__.py │ └── launch_common.py ├── ur5e_gripper_control ├── CMakeLists.txt ├── config │ ├── pyramid_pose_list.yaml │ └── target_pose_list.yaml ├── include │ └── ur5e_gripper_control │ │ └── dual_ur5e_gripper.h ├── launch │ ├── demo1.launch.py │ ├── demo2.launch.py │ ├── demo3.launch.py │ ├── demo4.launch.py │ └── motion_planning.launch.py ├── package.xml └── src │ ├── demo1.cpp │ ├── demo2.cpp │ ├── demo3.cpp │ ├── demo4.cpp │ ├── dual_ur5e_gripper.cpp │ ├── move_group.cpp │ ├── test_dual.cpp │ └── test_moveit.cpp └── vision ├── README.md ├── launch ├── register_depth.launch.py └── seg_and_det.launch.py ├── package.xml ├── resource └── vision ├── rviz └── depth_register.rviz ├── setup.cfg ├── setup.py ├── test ├── test_copyright.py ├── test_flake8.py └── test_pep257.py └── vision ├── __init__.py ├── det_tf.py ├── obj_detect.py ├── obj_seg.py ├── record.py ├── test_rs.py ├── test_sync.py └── wait_for_message.py /.gitignore: -------------------------------------------------------------------------------- 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