├── .gitignore ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── doc ├── figures │ ├── MELFA_t.png │ ├── ROS-AP-logo.png │ ├── change_robot_ip.png │ ├── click_sim.png │ ├── copy_prg.png │ ├── copy_prg_1.png │ ├── copy_prg_2.png │ ├── echo_gpio.png │ ├── empty.png │ ├── empty_new.png │ ├── gpio_srv.png │ ├── hand1_close.png │ ├── hand_close.png │ ├── hand_latch.png │ ├── hand_open.png │ ├── hand_out.png │ ├── io_mask.png │ ├── io_mon.png │ ├── io_mon_1.png │ ├── linux_ip.png │ ├── local_ip.png │ ├── local_ip_final.png │ ├── mxt_prg.png │ ├── naming_convention_rh.png │ ├── naming_convention_rv.png │ ├── new_program.png │ ├── new_program_name.png │ ├── new_robot.png │ ├── new_robot_cancel.png │ ├── new_robot_ip.png │ ├── new_robot_ta.png │ ├── new_robot_usb.png │ ├── robot_connect_ip_1.png │ ├── robot_connect_usb_1.png │ ├── robot_connect_usb_2.png │ ├── robot_connect_usb_3.png │ ├── robot_connect_usb_4.png │ ├── robot_connect_usb_4_1.png │ ├── robot_connect_usb_4_2.png │ ├── robot_connect_usb_5.png │ ├── ros_close1.png │ ├── rv7frl_bringup.png │ ├── rv7frl_moveit.png │ ├── sel_prg.png │ ├── sel_prg_real.png │ ├── sel_start.png │ ├── sel_start_real.png │ └── view_robot.png ├── melfa_ros2_driver.md ├── rt_real_setup.md ├── rt_sim_setup.md ├── rt_toolbox3_setup.md └── simple_readme.md ├── melfa_bringup ├── CMakeLists.txt ├── config │ ├── ros_gz_bridge.yaml │ └── test_goal_publishers_config.yaml ├── launch │ ├── rh6crh6020_control.launch.py │ ├── rh6frh5520_control.launch.py │ ├── rv13frl_control.launch.py │ ├── rv2fr_control.launch.py │ ├── rv4fr_control.launch.py │ ├── rv4frl_control.launch.py │ ├── rv5as_control.launch.py │ ├── rv7frl_control.launch.py │ ├── rv80fr_control.launch.py │ ├── rv8crl_control.launch.py │ └── test_joint_trajectory_controller.launch.py └── package.xml ├── melfa_description ├── CMakeLists.txt ├── config │ ├── custom_io_params.yaml │ ├── initial_positions_rh6crh.yaml │ ├── initial_positions_rh6frh.yaml │ ├── initial_positions_rv.yaml │ ├── rh6crh6020_controllers.yaml │ ├── rh6frh5520_controllers.yaml │ ├── rv13frl_controllers.yaml │ ├── rv2fr_controllers.yaml │ ├── rv4fr_controllers.yaml │ ├── rv4frl_controllers.yaml │ ├── rv5as_controllers.yaml │ ├── rv7frl_controllers.yaml │ ├── rv80fr_controllers.yaml │ └── rv8crl_controllers.yaml ├── env-hooks │ └── melfa_description.dsv.in ├── launch │ ├── view_rh6crh6020.launch.py │ ├── view_rh6frh5520.launch.py │ ├── view_rv13frl.launch.py │ ├── view_rv2fr.launch.py │ ├── view_rv4fr.launch.py │ ├── view_rv4frl.launch.py │ ├── view_rv5as.launch.py │ ├── view_rv7frl.launch.py │ ├── view_rv80fr.launch.py │ └── view_rv8crl.launch.py ├── meshes │ ├── rh6crh6020 │ │ ├── base.STL │ │ ├── no1arm.STL │ │ ├── no2arm.STL │ │ └── shaft.STL │ ├── rh6frh5520 │ │ ├── base.STL │ │ ├── no1arm.STL │ │ ├── no2arm.STL │ │ └── shaft.STL │ ├── rv13frl │ │ ├── base.STL │ │ ├── elbow.STL │ │ ├── forearm.STL │ │ ├── hand_flange.STL │ │ ├── shoulder.STL │ │ ├── upper_arm.STL │ │ └── wrist.STL │ ├── rv2fr │ │ ├── base.STL │ │ ├── elbow.STL │ │ ├── forearm.STL │ │ ├── hand_flange.STL │ │ ├── shoulder.STL │ │ ├── upper_arm.STL │ │ └── wrist.STL │ ├── rv355080fr │ │ ├── base.STL │ │ ├── elbow.STL │ │ ├── forearm.STL │ │ ├── hand_flange.STL │ │ ├── shoulder.STL │ │ ├── upper_arm.STL │ │ └── wrist.STL │ ├── rv4fr │ │ ├── base.STL │ │ ├── elbow.STL │ │ ├── forearm.STL │ │ ├── hand_flange.STL │ │ ├── shoulder.STL │ │ ├── upper_arm.STL │ │ └── wrist.STL │ ├── rv4frl │ │ ├── base.STL │ │ ├── elbow.STL │ │ ├── forearm.STL │ │ ├── hand_flange.STL │ │ ├── shoulder.STL │ │ ├── upper_arm.STL │ │ └── wrist.STL │ ├── rv5as │ │ ├── base.STL │ │ ├── elbow.STL │ │ ├── forearm.STL │ │ ├── hand_flange.STL │ │ ├── shoulder.STL │ │ ├── upper_arm.STL │ │ └── wrist.STL │ ├── rv7frl │ │ ├── base.STL │ │ ├── elbow.STL │ │ ├── forearm.STL │ │ ├── hand_flange.STL │ │ ├── shoulder.STL │ │ ├── upper_arm.STL │ │ └── wrist.STL │ └── rv8crl │ │ ├── base.STL │ │ ├── elbow.STL │ │ ├── forearm.STL │ │ ├── hand_flange.STL │ │ ├── shoulder.STL │ │ ├── upper_arm.STL │ │ └── wrist.STL ├── package.xml ├── ros2_control │ ├── rh6crh6020.hardware.xacro │ ├── rh6frh5520.hardware.xacro │ ├── rv13frl.hardware.xacro │ ├── rv2fr.hardware.xacro │ ├── rv4fr.hardware.xacro │ ├── rv4frl.hardware.xacro │ ├── rv5as.hardware.xacro │ ├── rv7frl.hardware.xacro │ ├── rv80fr.hardware.xacro │ └── rv8crl.hardware.xacro ├── rviz │ ├── rh6crh6020.rviz │ ├── rh6frh5520.rviz │ ├── rv13frl.rviz │ ├── rv2fr.rviz │ ├── rv4fr.rviz │ ├── rv4frl.rviz │ ├── rv5as.rviz │ ├── rv7frl.rviz │ ├── rv80fr.rviz │ └── rv8crl.rviz └── urdf │ ├── rh6crh6020 │ ├── rh6crh6020.urdf │ ├── rh6crh6020.urdf.xacro │ └── rh6crh6020_macro.xacro │ ├── rh6frh5520 │ ├── rh6frh5520.urdf │ ├── rh6frh5520.urdf.xacro │ └── rh6frh5520_macro.xacro │ ├── rv13frl │ ├── rv13frl.urdf │ ├── rv13frl.urdf.xacro │ └── rv13frl_macro.xacro │ ├── rv2fr │ ├── rv2fr.urdf │ ├── rv2fr.urdf.xacro │ └── rv2fr_macro.xacro │ ├── rv4fr │ ├── rv4fr.urdf │ ├── rv4fr.urdf.xacro │ └── rv4fr_macro.xacro │ ├── rv4frl │ ├── rv4frl.urdf │ ├── rv4frl.urdf.xacro │ └── rv4frl_macro.xacro │ ├── rv5as │ ├── rv5as.urdf │ ├── rv5as.urdf.xacro │ └── rv5as_macro.xacro │ ├── rv7frl │ ├── rv7frl.urdf │ ├── rv7frl.urdf.xacro │ └── rv7frl_macro.xacro │ ├── rv80fr │ ├── rv80fr.urdf │ ├── rv80fr.urdf.xacro │ └── rv80fr_macro.xacro │ └── rv8crl │ ├── rv8crl.urdf │ ├── rv8crl.urdf.xacro │ └── rv8crl_macro.xacro ├── melfa_driver ├── CMakeLists.txt ├── include │ └── melfa_driver │ │ ├── hardware_interface.hpp │ │ ├── melfa_rt_exc.hpp │ │ ├── rt_exc_def.hpp │ │ └── visibility_control.h ├── melfa_driver.xml ├── package.xml └── src │ ├── hardware_interface.cpp │ └── melfa_rt_exc.cpp ├── melfa_io_controllers ├── CMakeLists.txt ├── config │ └── io_limits.yaml ├── include │ └── melfa_io_controllers │ │ ├── melfa_io_controllers.hpp │ │ └── visibility_control.h ├── melfa_io_controllers.xml ├── package.xml └── src │ └── melfa_io_controllers.cpp ├── melfa_moveit_config ├── melfa_rh6crh6020_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── chomp_planning.yaml │ │ ├── initial_positions.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── moveit.rviz │ │ ├── moveit_controllers.yaml │ │ ├── ompl_planning.yaml │ │ ├── pilz_cartesian_limits.yaml │ │ ├── pilz_industrial_motion_planner_planning.yaml │ │ ├── rh6crh6020.ros2_control.xacro │ │ ├── rh6crh6020.srdf │ │ ├── rh6crh6020.srdf.xacro │ │ ├── rh6crh6020.urdf.xacro │ │ ├── rh6crh6020_macro.srdf.xacro │ │ ├── rh6crh6020_servo.yaml │ │ └── stomp_planning.yaml │ ├── launch │ │ ├── demo.launch.py │ │ ├── move_group.launch.py │ │ ├── moveit_rviz.launch.py │ │ ├── rh6crh6020_moveit.launch.py │ │ ├── rsp.launch.py │ │ ├── setup_assistant.launch.py │ │ ├── spawn_controllers.launch.py │ │ ├── static_virtual_joint_tfs.launch.py │ │ └── warehouse_db.launch.py │ ├── package.xml │ ├── rviz │ │ └── rh6crh6020_moveit.rviz │ └── src │ │ └── servo_keyboard_input.cpp ├── melfa_rh6frh5520_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── chomp_planning.yaml │ │ ├── initial_positions.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── moveit.rviz │ │ ├── moveit_controllers.yaml │ │ ├── ompl_planning.yaml │ │ ├── pilz_cartesian_limits.yaml │ │ ├── pilz_industrial_motion_planner_planning.yaml │ │ ├── rh6frh5520.ros2_control.xacro │ │ ├── rh6frh5520.srdf │ │ ├── rh6frh5520.srdf.xacro │ │ ├── rh6frh5520.urdf.xacro │ │ ├── rh6frh5520_macro.srdf.xacro │ │ ├── rh6frh5520_servo.yaml │ │ └── stomp_planning.yaml │ ├── launch │ │ ├── demo.launch.py │ │ ├── move_group.launch.py │ │ ├── moveit_rviz.launch.py │ │ ├── rh6frh5520_moveit.launch.py │ │ ├── rsp.launch.py │ │ ├── setup_assistant.launch.py │ │ ├── spawn_controllers.launch.py │ │ ├── static_virtual_joint_tfs.launch.py │ │ └── warehouse_db.launch.py │ ├── package.xml │ ├── rviz │ │ └── rh6frh5520_moveit.rviz │ └── src │ │ └── servo_keyboard_input.cpp ├── melfa_rv13frl_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── chomp_planning.yaml │ │ ├── initial_positions.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── moveit.rviz │ │ ├── moveit_controllers.yaml │ │ ├── ompl_planning.yaml │ │ ├── pilz_cartesian_limits.yaml │ │ ├── pilz_industrial_motion_planner_planning.yaml │ │ ├── rv13frl.ros2_control.xacro │ │ ├── rv13frl.srdf │ │ ├── rv13frl.srdf.xacro │ │ ├── rv13frl.urdf.xacro │ │ ├── rv13frl_macro.srdf.xacro │ │ ├── rv13frl_servo.yaml │ │ └── stomp_planning.yaml │ ├── launch │ │ ├── demo.launch.py │ │ ├── move_group.launch.py │ │ ├── moveit_rviz.launch.py │ │ ├── rsp.launch.py │ │ ├── rv13frl_moveit.launch.py │ │ ├── setup_assistant.launch.py │ │ ├── spawn_controllers.launch.py │ │ ├── static_virtual_joint_tfs.launch.py │ │ └── warehouse_db.launch.py │ ├── package.xml │ ├── rviz │ │ └── rv13frl_moveit.rviz │ └── src │ │ └── servo_keyboard_input.cpp ├── melfa_rv2fr_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── chomp_planning.yaml │ │ ├── initial_positions.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── moveit.rviz │ │ ├── moveit_controllers.yaml │ │ ├── ompl_planning.yaml │ │ ├── pilz_cartesian_limits.yaml │ │ ├── pilz_industrial_motion_planner_planning.yaml │ │ ├── rv2fr.ros2_control.xacro │ │ ├── rv2fr.srdf │ │ ├── rv2fr.srdf.xacro │ │ ├── rv2fr.urdf.xacro │ │ ├── rv2fr_macro.srdf.xacro │ │ ├── rv2fr_servo.yaml │ │ └── stomp_planning.yaml │ ├── launch │ │ ├── demo.launch.py │ │ ├── move_group.launch.py │ │ ├── moveit_rviz.launch.py │ │ ├── rsp.launch.py │ │ ├── rv2fr_moveit.launch.py │ │ ├── setup_assistant.launch.py │ │ ├── spawn_controllers.launch.py │ │ ├── static_virtual_joint_tfs.launch.py │ │ └── warehouse_db.launch.py │ ├── package.xml │ ├── rviz │ │ └── rv2fr_moveit.rviz │ └── src │ │ └── servo_keyboard_input.cpp ├── melfa_rv4fr_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── chomp_planning.yaml │ │ ├── initial_positions.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── moveit.rviz │ │ ├── moveit_controllers.yaml │ │ ├── ompl_planning.yaml │ │ ├── pilz_cartesian_limits.yaml │ │ ├── pilz_industrial_motion_planner_planning.yaml │ │ ├── rv4fr.ros2_control.xacro │ │ ├── rv4fr.srdf │ │ ├── rv4fr.srdf.xacro │ │ ├── rv4fr.urdf.xacro │ │ ├── rv4fr_macro.srdf.xacro │ │ ├── rv4fr_servo.yaml │ │ └── stomp_planning.yaml │ ├── launch │ │ ├── demo.launch.py │ │ ├── move_group.launch.py │ │ ├── moveit_rviz.launch.py │ │ ├── rsp.launch.py │ │ ├── rv4fr_moveit.launch.py │ │ ├── setup_assistant.launch.py │ │ ├── spawn_controllers.launch.py │ │ ├── static_virtual_joint_tfs.launch.py │ │ └── warehouse_db.launch.py │ ├── package.xml │ ├── rviz │ │ └── rv4fr_moveit.rviz │ └── src │ │ └── servo_keyboard_input.cpp ├── melfa_rv4frl_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── chomp_planning.yaml │ │ ├── initial_positions.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── moveit.rviz │ │ ├── moveit_controllers.yaml │ │ ├── ompl_planning.yaml │ │ ├── pilz_cartesian_limits.yaml │ │ ├── pilz_industrial_motion_planner_planning.yaml │ │ ├── rv4frl.ros2_control.xacro │ │ ├── rv4frl.srdf │ │ ├── rv4frl.srdf.xacro │ │ ├── rv4frl.urdf.xacro │ │ ├── rv4frl_macro.srdf.xacro │ │ ├── rv4frl_servo.yaml │ │ └── stomp_planning.yaml │ ├── launch │ │ ├── demo.launch.py │ │ ├── move_group.launch.py │ │ ├── moveit_rviz.launch.py │ │ ├── rsp.launch.py │ │ ├── rv4frl_moveit.launch.py │ │ ├── setup_assistant.launch.py │ │ ├── spawn_controllers.launch.py │ │ ├── static_virtual_joint_tfs.launch.py │ │ └── warehouse_db.launch.py │ ├── package.xml │ ├── rviz │ │ └── rv4frl_moveit.rviz │ └── src │ │ └── servo_keyboard_input.cpp ├── melfa_rv5as_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── chomp_planning.yaml │ │ ├── initial_positions.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── moveit.rviz │ │ ├── moveit_controllers.yaml │ │ ├── ompl_planning.yaml │ │ ├── pilz_cartesian_limits.yaml │ │ ├── pilz_industrial_motion_planner_planning.yaml │ │ ├── rv5as.ros2_control.xacro │ │ ├── rv5as.srdf │ │ ├── rv5as.srdf.xacro │ │ ├── rv5as.urdf.xacro │ │ ├── rv5as_macro.srdf.xacro │ │ ├── rv5as_servo.yaml │ │ └── stomp_planning.yaml │ ├── launch │ │ ├── demo.launch.py │ │ ├── move_group.launch.py │ │ ├── moveit_rviz.launch.py │ │ ├── rsp.launch.py │ │ ├── rv5as_moveit.launch.py │ │ ├── setup_assistant.launch.py │ │ ├── spawn_controllers.launch.py │ │ ├── static_virtual_joint_tfs.launch.py │ │ └── warehouse_db.launch.py │ ├── package.xml │ ├── rviz │ │ └── rv5as_moveit.rviz │ └── src │ │ └── servo_keyboard_input.cpp ├── melfa_rv7frl_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── chomp_planning.yaml │ │ ├── initial_positions.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── moveit.rviz │ │ ├── moveit_controllers.yaml │ │ ├── ompl_planning.yaml │ │ ├── pilz_cartesian_limits.yaml │ │ ├── pilz_industrial_motion_planner_planning.yaml │ │ ├── rv7frl.ros2_control.xacro │ │ ├── rv7frl.srdf │ │ ├── rv7frl.srdf.xacro │ │ ├── rv7frl.urdf.xacro │ │ ├── rv7frl_macro.srdf.xacro │ │ ├── rv7frl_servo.yaml │ │ └── stomp_planning.yaml │ ├── launch │ │ ├── demo.launch.py │ │ ├── move_group.launch.py │ │ ├── moveit_rviz.launch.py │ │ ├── rsp.launch.py │ │ ├── rv7frl_moveit.launch.py │ │ ├── setup_assistant.launch.py │ │ ├── spawn_controllers.launch.py │ │ ├── static_virtual_joint_tfs.launch.py │ │ └── warehouse_db.launch.py │ ├── package.xml │ ├── rviz │ │ └── rv7frl_moveit.rviz │ └── src │ │ └── servo_keyboard_input.cpp ├── melfa_rv80fr_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── chomp_planning.yaml │ │ ├── initial_positions.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── moveit.rviz │ │ ├── moveit_controllers.yaml │ │ ├── ompl_planning.yaml │ │ ├── pilz_cartesian_limits.yaml │ │ ├── pilz_industrial_motion_planner_planning.yaml │ │ ├── rv80fr.ros2_control.xacro │ │ ├── rv80fr.srdf │ │ ├── rv80fr.srdf.xacro │ │ ├── rv80fr.urdf.xacro │ │ ├── rv80fr_macro.srdf.xacro │ │ └── rv80fr_servo.yaml │ ├── launch │ │ ├── demo.launch.py │ │ ├── move_group.launch.py │ │ ├── moveit_rviz.launch.py │ │ ├── rsp.launch.py │ │ ├── rv80fr_moveit.launch.py │ │ ├── setup_assistant.launch.py │ │ ├── spawn_controllers.launch.py │ │ ├── static_virtual_joint_tfs.launch.py │ │ └── warehouse_db.launch.py │ ├── package.xml │ ├── rviz │ │ └── rv80fr_moveit.rviz │ └── src │ │ └── servo_keyboard_input.cpp └── melfa_rv8crl_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ ├── chomp_planning.yaml │ ├── initial_positions.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── moveit.rviz │ ├── moveit_controllers.yaml │ ├── ompl_planning.yaml │ ├── pilz_cartesian_limits.yaml │ ├── pilz_industrial_motion_planner_planning.yaml │ ├── 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