├── .gitignore ├── LICENSE ├── README.md ├── dynamixel_sdk ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── include │ └── dynamixel_sdk │ │ ├── dynamixel_sdk.h │ │ ├── group_bulk_read.h │ │ ├── group_bulk_write.h │ │ ├── group_sync_read.h │ │ ├── group_sync_write.h │ │ ├── packet_handler.h │ │ ├── port_handler.h │ │ ├── port_handler_linux.h │ │ ├── port_handler_windows.h │ │ ├── protocol1_packet_handler.h │ │ └── protocol2_packet_handler.h ├── package.xml └── src │ ├── group_bulk_read.cpp │ ├── group_bulk_write.cpp │ ├── group_sync_read.cpp │ ├── group_sync_write.cpp │ ├── packet_handler.cpp │ ├── port_handler.cpp │ ├── port_handler_linux.cpp │ ├── port_handler_windows.cpp │ ├── protocol1_packet_handler.cpp │ └── protocol2_packet_handler.cpp ├── mcp_can_rpi ├── CMakeLists.txt ├── README.md ├── include │ └── mcp_can_rpi │ │ ├── mcp_can_dfs_rpi.h │ │ └── mcp_can_rpi.h ├── package.xml └── src │ └── mcp_can_rpi.cpp ├── niryo_one ├── CMakeLists.txt └── package.xml ├── niryo_one_bringup ├── CMakeLists.txt ├── README.md ├── config │ ├── niryo_one_driver.yaml │ ├── rpi_ros_processes.yaml │ ├── v1 │ │ ├── niryo_one_motors.yaml │ │ ├── robot_command_validation.yaml │ │ └── stepper_params.yaml │ └── v2 │ │ ├── niryo_one_motors.yaml │ │ ├── robot_command_validation.yaml │ │ └── stepper_params.yaml ├── launch │ ├── controllers.launch │ ├── desktop_rviz_simulation.launch │ ├── niryo_one_base.launch │ ├── robot_commander.launch │ ├── rpi_setup.launch │ ├── user_interface.launch │ └── vision.launch ├── package.xml └── scripts │ └── install ├── niryo_one_camera ├── CMakeLists.txt ├── OPENCV_LICENSE ├── README.md ├── config │ ├── cam_intrinsics.yaml │ └── video_server_setup.yaml ├── package.xml ├── scripts │ ├── camera_publisher_and_services.py │ └── exemple_client_service.py ├── setup.py └── src │ ├── __init__.py │ └── niryo_one_camera │ ├── __init__.py │ ├── enums.py │ ├── image_functions.py │ ├── markers_detection.py │ ├── math_functions.py │ └── objects │ ├── CalibrationObject.py │ ├── ObjectDetector.py │ └── __init__.py ├── niryo_one_camera_jevois ├── CMakeLists.txt ├── README.md ├── example │ └── qrcode_example.py ├── package.xml └── scripts │ ├── jevois_camera.py │ ├── jevois_manager.py │ ├── jevois_ros_driver.py │ ├── jevois_serial.py │ └── modules │ ├── __init__.py │ ├── dice_counter_module.py │ ├── jevois_module.py │ └── qr_code_module.py ├── niryo_one_commander ├── CMakeLists.txt ├── README.md ├── package.xml ├── scripts │ ├── __init__.py │ ├── arm_commander.py │ ├── niryo_one_commander_node.py │ ├── niryo_one_robot_state_publisher.py │ ├── position_manager.py │ ├── robot_commander.py │ ├── tool_commander.py │ └── trajectory_manager.py ├── setup.py └── src │ └── niryo_one_commander │ ├── __init__.py │ ├── command_status.py │ ├── command_type.py │ ├── move_group_arm.py │ ├── moveit_utils.py │ ├── niryo_one_file_exception.py │ ├── parameters_validation.py │ ├── position │ ├── __init__.py │ ├── position.py │ ├── position_command_type.py │ └── position_file_handler.py │ ├── robot_commander_exception.py │ └── trajectory │ ├── __init__.py │ ├── trajectory.py │ ├── trajectory_command_type.py │ └── trajectory_file_handler.py ├── niryo_one_debug ├── CMakeLists.txt ├── README.md ├── include │ └── niryo_one_debug │ │ └── dxl_tools.h ├── package.xml ├── scripts │ └── send_custom_dxl_value.py └── src │ ├── dxl_debug.cpp │ └── dxl_tools.cpp ├── niryo_one_description ├── CMakeLists.txt ├── README.md ├── config │ └── default_config.rviz ├── launch │ ├── display.launch │ └── without_mesh_display.launch ├── meshes │ ├── v1 │ │ ├── collada │ │ │ ├── arm_link.dae │ │ │ ├── base_link.dae │ │ │ ├── elbow_link.dae │ │ │ ├── forearm_link.dae │ │ │ ├── hand_link.dae │ │ │ ├── shoulder_link.dae │ │ │ └── wrist_link.dae │ │ └── stl │ │ │ ├── arm_link.stl │ │ │ ├── base_link.stl │ │ │ ├── elbow_link.stl │ │ │ ├── forearm_link.stl │ │ │ ├── hand_link.stl │ │ │ ├── shoulder_link.stl │ │ │ └── wrist_link.stl │ └── v2 │ │ ├── collada │ │ ├── arm_link.dae │ │ ├── base_link.dae │ │ ├── elbow_link.dae │ │ ├── forearm_link.dae │ │ ├── hand_link.dae │ │ ├── shoulder_link.dae │ │ └── wrist_link.dae │ │ └── stl │ │ ├── arm_link.stl │ │ ├── base_link.stl │ │ ├── elbow_link.stl │ │ ├── forearm_link.stl │ │ ├── hand_link.stl │ │ ├── shoulder_link.stl │ │ └── wrist_link.stl ├── package.xml └── urdf │ ├── v1 │ ├── niryo_one.urdf.xacro │ └── without_mesh_niryo_one.urdf.xacro │ └── v2 │ ├── niryo_one.urdf.xacro │ └── without_mesh_niryo_one.urdf.xacro ├── niryo_one_driver ├── CMakeLists.txt ├── README.md ├── config │ └── niryo_one_controllers.yaml ├── include │ └── niryo_one_driver │ │ ├── can_communication.h │ │ ├── change_hardware_version.h │ │ ├── communication_base.h │ │ ├── dxl_communication.h │ │ ├── dxl_driver.h │ │ ├── dxl_motor_state.h │ │ ├── fake_communication.h │ │ ├── motor_offset_file_handler.h │ │ ├── niryo_one_can_driver.h │ │ ├── niryo_one_communication.h │ │ ├── niryo_one_hardware_interface.h │ │ ├── ros_interface.h │ │ ├── rpi_diagnostics.h │ │ ├── stepper_motor_state.h │ │ ├── test_motors.h │ │ ├── xl320_driver.h │ │ └── xl430_driver.h ├── package.xml └── src │ ├── hw_comm │ ├── can_communication.cpp │ ├── dxl_communication.cpp │ ├── fake_communication.cpp │ └── niryo_one_communication.cpp │ ├── hw_driver │ ├── dxl_driver.cpp │ ├── niryo_one_can_driver.cpp │ ├── xl320_driver.cpp │ └── xl430_driver.cpp │ ├── niryo_one_driver_node.cpp │ ├── niryo_one_hardware_interface.cpp │ ├── ros_interface.cpp │ ├── rpi_diagnostics.cpp │ ├── test_motors.cpp │ └── utils │ ├── change_hardware_version.cpp │ └── motor_offset_file_handler.cpp ├── niryo_one_modbus ├── CMakeLists.txt ├── README.md ├── examples │ ├── client_modbus_conveyor_example.py │ ├── client_modbus_test.py │ ├── client_move_command.py │ └── modbus_server_test.py ├── package.xml ├── setup.py └── src │ └── niryo_one_modbus │ ├── __init__.py │ ├── coil_data_block.py │ ├── discrete_input_data_block.py │ ├── holding_register_data_block.py │ ├── input_register_data_block.py │ ├── modbus_server.py │ └── niryo_one_data_block.py ├── niryo_one_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── controllers.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── niryo_one.srdf │ └── ompl_planning.yaml ├── launch │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── niryo_one_moveit_controller_manager.launch.xml │ ├── niryo_one_moveit_sensor_manager.launch.xml │ ├── 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 │ ├── warehouse.launch │ └── warehouse_settings.launch.xml └── package.xml ├── niryo_one_msgs ├── CMakeLists.txt ├── __init__.py ├── action │ ├── JoystickJoints.action │ ├── RobotMove.action │ ├── Sequence.action │ └── Tool.action ├── msg │ ├── ConveyorFeedback.msg │ ├── DigitalIOState.msg │ ├── HardwareStatus.msg │ ├── LogStatus.msg │ ├── MatlabMoveResult.msg │ ├── ObjectPose.msg │ ├── Position.msg │ ├── ProcessState.msg │ ├── RPY.msg │ ├── RobotMoveCommand.msg │ ├── RobotState.msg │ ├── Sequence.msg │ ├── SequenceAutorunStatus.msg │ ├── ShiftPose.msg │ ├── SoftwareVersion.msg │ ├── ToolCommand.msg │ ├── Trajectory.msg │ └── TrajectoryPlan.msg ├── package.xml └── srv │ ├── ChangeHardwareVersion.srv │ ├── ChangeMotorConfig.srv │ ├── CloseGripper.srv │ ├── ControlConveyor.srv │ ├── DebugColorDetection.srv │ ├── DebugMarkers.srv │ ├── EditGrip.srv │ ├── EditWorkspace.srv │ ├── GetCalibrationCam.srv │ ├── GetDigitalIO.srv │ ├── GetInt.srv │ ├── GetPositionList.srv │ ├── GetSequenceList.srv │ ├── GetTargetPose.srv │ ├── GetTrajectoryList.srv │ ├── GetWorkspaceList.srv │ ├── GetWorkspaceRatio.srv │ ├── GetWorkspaceRobotPoses.srv │ ├── ManagePosition.srv │ ├── ManageProcess.srv │ ├── ManageSequence.srv │ ├── ManageTrajectory.srv │ ├── ObjDetection.srv │ ├── OpenGripper.srv │ ├── PingDxlTool.srv │ ├── PullAirVacuumPump.srv │ ├── PushAirVacuumPump.srv │ ├── RobotMove.srv │ ├── SendCustomDxlValue.srv │ ├── SetBool.srv │ ├── SetCalibrationCam.srv │ ├── SetConveyor.srv │ ├── SetDigitalIO.srv │ ├── SetInt.srv │ ├── SetLeds.srv │ ├── SetSequenceAutorun.srv │ ├── SetString.srv │ ├── TakePicture.srv │ └── UpdateConveyorId.srv ├── niryo_one_pose_converter ├── CMakeLists.txt ├── README.md ├── grips │ ├── grip_default_Calibration_Tip │ ├── grip_default_Electromagnet_1 │ ├── grip_default_Gripper_1 │ ├── grip_default_Gripper_2 │ ├── grip_default_Gripper_3 │ └── grip_default_Vacuum_Pump_1 ├── package.xml ├── scripts │ └── pose_converter.py ├── setup.py └── src │ └── niryo_one_pose_converter │ ├── __init__.py │ ├── file_manager.py │ ├── grip_manager.py │ ├── transform_handler.py │ └── workspace_manager.py ├── niryo_one_python_api ├── CMakeLists.txt ├── README.md ├── examples │ ├── basic_api_functions.py │ ├── conveyor.py │ ├── pick_n_place_with_conveyor.py │ ├── rpi_example_python_api.py │ └── take_photo_with_camera.py ├── package.xml ├── setup.py └── src │ └── niryo_one_python_api │ ├── __init__.py │ └── niryo_one_api.py ├── niryo_one_rpi ├── CMakeLists.txt ├── README.md ├── package.xml ├── scripts │ ├── digital_io_panel.py │ ├── fans_manager.py │ ├── led_manager.py │ ├── motor_debug.py │ ├── niryo_one_button.py │ ├── niryo_one_ros_setup.py │ ├── niryo_one_rpi_node.py │ ├── ros_log_manager.py │ ├── shutdown_manager.py │ └── wifi_connection.py ├── setup.py └── src │ └── niryo_one_rpi │ ├── __init__.py │ ├── rpi_ros_utils.py │ └── wifi │ ├── __init__.py │ ├── broadcast.py │ ├── flask_views.py │ ├── network_manager.py │ └── robot_name_handler.py ├── niryo_one_tcp_server ├── CMakeLists.txt ├── README.md ├── __init__.py ├── clients │ ├── README.md │ ├── __init__.py │ └── python │ │ ├── README.md │ │ ├── __init__.py │ │ ├── examples │ │ ├── __init__.py │ │ ├── calibrate_move.py │ │ ├── simple_scripts │ │ │ ├── __init__.py │ │ │ ├── first_use_example.py │ │ │ ├── simple_pick_place.py │ │ │ ├── simple_pick_place_w_conveyor.py │ │ │ ├── simple_vision_pick_n_place.py │ │ │ ├── video_stream.py │ │ │ └── workspace_creation.py │ │ └── vision_demonstrators │ │ │ ├── 1_simple_reference_conditioning.py │ │ │ ├── 2_multiple_reference_conditioning.py │ │ │ ├── 3_conditioning_and_packing_2_workspaces.py │ │ │ ├── 4_conditionning_with_conveyor.py │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ └── img │ │ │ ├── demonstrator_1.jpg │ │ │ ├── demonstrator_2.jpg │ │ │ ├── demonstrator_3.jpg │ │ │ └── demonstrator_4.jpg │ │ ├── niryo_one_tcp_client │ │ ├── __init__.py │ │ ├── digital_pin_object.py │ │ ├── enums.py │ │ ├── hardware_status_object.py │ │ ├── packet_builder.py │ │ ├── pose_object.py │ │ └── tcp_client.py │ │ └── setup.py ├── img │ └── Niryo_One_TCP_Architecture.jpg ├── package.xml ├── setup.py └── src │ └── niryo_one_tcp_server │ ├── __init__.py │ ├── command_interpreter.py │ └── tcp_server.py ├── niryo_one_tools ├── CMakeLists.txt ├── README.md ├── config │ └── end_effectors.yaml ├── package.xml └── scripts │ ├── tool_controller.py │ ├── tool_ros_command_interface.py │ └── tools.py └── niryo_one_user_interface ├── CMakeLists.txt ├── README.md ├── blockly_code_generator ├── blockly_code_generator_server.js ├── niryo_one_python_generators.js ├── package-lock.json └── package.json ├── package.xml ├── scripts ├── __init__.py ├── joystick_interface.py ├── matlab_manager.py ├── sequence_action_server.py ├── sequence_autorun.py ├── sequence_manager.py └── user_interface.py ├── setup.py └── src └── niryo_one_user_interface ├── __init__.py └── sequences ├── __init__.py ├── blockly_code_generator.py ├── niryo_one_file_exception.py ├── sequence.py ├── sequence_action_type.py ├── sequence_code_executor.py ├── 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