├── .gitignore ├── .gitmodules ├── .vscode ├── c_cpp_properties.json └── settings.json ├── LICENSE ├── README.md └── src ├── robot_setup ├── dual_ur_robotiq_rs_description │ ├── CMakeLists.txt │ ├── config │ │ ├── base_frame.yaml │ │ ├── controllers.yaml │ │ ├── left_initial_positions.yaml │ │ └── right_initial_positions.yaml │ ├── gazebo │ │ ├── empty.world │ │ └── sim_env.world │ ├── include │ │ └── dual_ur_robotiq_rs_description │ │ │ └── dual_ur_robotiq_rs_node.h │ ├── launch │ │ ├── dual_ur_robotiq_rs.launch.py │ │ ├── dual_ur_robotiq_rs_planning.launch.py │ │ └── view_dual_ur_robotiq_rs.launch.py │ ├── moveit2 │ │ ├── cartesian_limits.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── moveit_controllers.yaml │ │ ├── ompl_planning.yaml │ │ └── planning_pipelines_config.yaml │ ├── package.xml │ ├── rviz │ │ ├── dual_ur_robotiq_rs.rviz │ │ └── view_urdf.rviz │ ├── src │ │ └── dual_ur_robotiq_rs_node.cpp │ ├── srdf │ │ ├── dual_ur_robotiq_rs.srdf.xacro │ │ └── test.srdf │ └── urdf │ │ ├── dual_ur_robotiq_rs.urdf.xacro │ │ └── test.urdf ├── ur_ft_description │ ├── CMakeLists.txt │ ├── config │ │ ├── base_frame.yaml │ │ ├── controllers.yaml │ │ └── initial_positions.yaml │ ├── gazebo │ │ └── empty.world │ ├── include │ │ └── ur_ft_description │ │ │ └── ur_ft_node.h │ ├── launch │ │ ├── remove_comments.py │ │ ├── ur_ft.launch.py │ │ └── ur_ft_planning.launch.py │ ├── moveit2 │ │ ├── cartesian_limits.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── moveit_controllers.yaml │ │ ├── ompl_planning.yaml │ │ └── planning_pipelines_config.yaml │ ├── package.xml │ ├── rviz │ │ └── ur_ft.rviz │ ├── src │ │ └── ur_ft_node.cpp │ ├── srdf │ │ ├── test.srdf │ │ ├── ur_ft.srdf.xacro │ │ └── ur_ft_macro.srdf.xacro │ └── urdf │ │ ├── test.urdf │ │ ├── ur_ft.urdf.xacro │ │ └── ur_ft_macro.urdf.xacro └── ur_robotiq_rs_description │ ├── CMakeLists.txt │ ├── config │ ├── base_frame.yaml │ ├── controllers.yaml │ └── initial_positions.yaml │ ├── gazebo │ └── empty.world │ ├── include │ └── ur_robotiq_rs_description │ │ └── ur_robotiq_rs_node.h │ ├── launch │ ├── ur_robotiq_rs.launch.py │ ├── ur_robotiq_rs_planning.launch.py │ └── view_ur_robotiq_rs.launch.py │ ├── moveit2 │ ├── cartesian_limits.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── moveit_controllers.yaml │ ├── ompl_planning.yaml │ └── planning_pipelines_config.yaml │ ├── package.xml │ ├── rviz │ ├── ur_robotiq_rs.rviz │ └── view_urdf.rviz │ ├── src │ └── ur_robotiq_rs_node.cpp │ ├── srdf │ ├── test.srdf │ ├── ur_robotiq_rs.srdf.xacro │ └── ur_robotiq_rs_macro.srdf.xacro │ └── urdf │ ├── realsense_d435.gazebo.xacro │ ├── realsense_d435.urdf.xacro │ ├── test.urdf │ ├── ur_robotiq_rs.urdf.xacro │ └── ur_robotiq_rs_macro.urdf.xacro └── tasks ├── dual_plan ├── CMakeLists.txt ├── config │ ├── base_frame.yaml │ ├── left_initial_positions.yaml │ └── right_initial_positions.yaml ├── gazebo │ └── sim_env.world ├── launch │ ├── bringup.launch.py │ └── dual_plan.launch.py ├── package.xml ├── rviz │ └── dual_plan.rviz └── src │ └── dual_plan.cpp ├── find_hole ├── CMakeLists.txt ├── config │ ├── base_frame.yaml │ └── initial_positions.yaml ├── gazebo │ ├── sim_env.world │ └── table_with_hole │ │ ├── meshes │ │ └── table_with_hole.stl │ │ ├── model.config │ │ └── model.sdf ├── include │ └── find_hole │ │ └── temp.h ├── launch │ ├── bringup.launch.py │ └── find_hole.launch.py ├── package.xml ├── rviz │ └── find_hole.rviz └── src │ └── find_hole.cpp └── pick_and_place ├── CMakeLists.txt ├── config ├── base_frame.yaml ├── initial_positions.yaml └── target_pose_list.yaml ├── gazebo └── sim_env.world ├── launch ├── bringup.launch.py └── pick_and_place.launch.py ├── package.xml ├── rviz └── pick_and_place.rviz └── src └── pick_and_place.cpp /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zitongbai/ur_project_ros2/HEAD/.gitignore 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