├── .github └── ISSUE_TEMPLATE │ └── issue.md ├── .gitignore ├── LICENSE ├── README.md ├── custom_package ├── CMakeLists.txt ├── image │ └── techman_robot.jpg ├── package.xml └── src │ ├── send_command.cpp │ └── sub_img.cpp ├── demo ├── CMakeLists.txt ├── get_status_demo_src │ ├── demo_get_feedback.cpp │ ├── demo_get_sct_response.cpp │ ├── demo_get_sta_response.cpp │ ├── demo_get_svr_response.cpp │ └── demo_get_torque_feedback.cpp ├── package.xml └── src │ ├── demo_ask_item.cpp │ ├── demo_ask_sta.cpp │ ├── demo_connect_tm.cpp │ ├── demo_leave_listen_node.cpp │ ├── demo_send_script.cpp │ ├── demo_set_event.cpp │ ├── demo_set_io.cpp │ ├── demo_set_positions.cpp │ └── demo_write_item.cpp ├── figures ├── 1.png ├── 2.png ├── 3.png ├── Thumbs.db ├── add_model.png ├── change1.png ├── change2.png ├── check_connect_success.png ├── choose_add_parameters.png ├── choose_ai_detection_only.png ├── choose_aoi_only.png ├── create_a_vision_task.png ├── open_need_dongle_key.png ├── ping_target_host.png ├── save_model.png ├── select_find.png ├── user_remote_IP_example.png ├── user_remote_network_settings.png ├── wrong_ip_address.png └── wrong_port.png ├── techman_robot_get_status ├── package.xml ├── resource │ └── tm_get_status ├── setup.cfg ├── setup.py └── tm_get_status │ ├── __init__.py │ ├── get_status.py │ ├── image_pub.py │ └── translate_jason_to_list.py ├── techman_robot_msgs ├── CMakeLists.txt ├── package.xml └── srv │ └── TechmanRobotCommand.srv ├── tm12_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── chomp_planning.yaml │ ├── controllers.yaml │ ├── initial_positions.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── moveit.rviz │ ├── moveit_controllers.yaml │ ├── ompl_planning.yaml │ ├── ros2_controllers.yaml │ ├── sensors_3d.yaml │ ├── stomp_planning.yaml │ ├── tm12.ros2_control.xacro │ ├── tm12.srdf │ ├── tm12.urdf.xacro │ └── trajopt_planning.yaml ├── launch │ ├── demo.launch.py │ ├── move_group.launch.py │ ├── moveit_rviz.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 ├── tm12x_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── chomp_planning.yaml │ ├── controllers.yaml │ ├── initial_positions.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── moveit.rviz │ ├── moveit_controllers.yaml │ ├── ompl_planning.yaml │ ├── ros2_controllers.yaml │ ├── sensors_3d.yaml │ ├── stomp_planning.yaml │ ├── tm12x.ros2_control.xacro │ ├── tm12x.srdf │ ├── tm12x.urdf.xacro │ └── trajopt_planning.yaml ├── launch │ ├── demo.launch.py │ ├── move_group.launch.py │ ├── moveit_rviz.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 ├── tm14_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── chomp_planning.yaml │ ├── controllers.yaml │ ├── initial_positions.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── moveit.rviz │ ├── moveit_controllers.yaml │ ├── ompl_planning.yaml │ ├── ros2_controllers.yaml │ ├── sensors_3d.yaml │ ├── stomp_planning.yaml │ ├── tm14.ros2_control.xacro │ ├── tm14.srdf │ ├── tm14.urdf.xacro │ └── trajopt_planning.yaml ├── launch │ ├── demo.launch.py │ ├── move_group.launch.py │ ├── moveit_rviz.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 ├── tm14x_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── chomp_planning.yaml │ ├── controllers.yaml │ ├── initial_positions.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── moveit.rviz │ ├── moveit_controllers.yaml │ ├── ompl_planning.yaml │ ├── ros2_controllers.yaml │ ├── sensors_3d.yaml │ ├── stomp_planning.yaml │ ├── tm14x.ros2_control.xacro │ ├── tm14x.srdf │ ├── tm14x.urdf.xacro │ └── trajopt_planning.yaml ├── launch │ ├── demo.launch.py │ ├── move_group.launch.py │ ├── moveit_rviz.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 ├── tm5-700_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── chomp_planning.yaml │ ├── controllers.yaml │ ├── initial_positions.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── moveit.rviz │ ├── moveit_controllers.yaml │ ├── ompl_planning.yaml │ ├── ros2_controllers.yaml │ ├── sensors_3d.yaml │ ├── stomp_planning.yaml │ ├── tm5-700.ros2_control.xacro │ ├── tm5-700.srdf │ ├── tm5-700.urdf.xacro │ └── trajopt_planning.yaml ├── launch │ ├── demo.launch.py │ ├── move_group.launch.py │ ├── moveit_rviz.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 ├── tm5-900_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── chomp_planning.yaml │ ├── controllers.yaml │ ├── initial_positions.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── moveit.rviz │ ├── moveit_controllers.yaml │ ├── ompl_planning.yaml │ ├── ros2_controllers.yaml │ ├── sensors_3d.yaml │ ├── stomp_planning.yaml │ ├── tm5-900.ros2_control.xacro │ ├── tm5-900.srdf │ ├── tm5-900.urdf.xacro │ └── trajopt_planning.yaml ├── launch │ ├── demo.launch.py │ ├── move_group.launch.py │ ├── moveit_rviz.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 ├── tm5x-700_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── chomp_planning.yaml │ ├── controllers.yaml │ ├── initial_positions.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── moveit.rviz │ ├── moveit_controllers.yaml │ ├── ompl_planning.yaml │ ├── ros2_controllers.yaml │ ├── sensors_3d.yaml │ ├── stomp_planning.yaml │ ├── tm5x-700.ros2_control.xacro │ ├── tm5x-700.srdf │ ├── tm5x-700.urdf.xacro │ └── trajopt_planning.yaml ├── launch │ ├── demo.launch.py │ ├── move_group.launch.py │ ├── moveit_rviz.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 ├── tm5x-900_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── chomp_planning.yaml │ ├── controllers.yaml │ ├── initial_positions.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── moveit.rviz │ ├── moveit_controllers.yaml │ ├── ompl_planning.yaml │ ├── ros2_controllers.yaml │ ├── sensors_3d.yaml │ ├── stomp_planning.yaml │ ├── tm5x-900.ros2_control.xacro │ ├── tm5x-900.srdf │ ├── tm5x-900.urdf.xacro │ └── trajopt_planning.yaml ├── launch │ ├── demo.launch.py │ ├── move_group.launch.py │ ├── moveit_rviz.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 ├── tm_description ├── CMakeLists.txt ├── meshes │ ├── tm12 │ │ ├── collision │ │ │ ├── tm12-arm1_c.stl │ │ │ ├── tm12-arm2_c.stl │ │ │ ├── tm12-base_c.stl │ │ │ └── tmr_750w_01_c.stl │ │ └── visual │ │ │ ├── tm12-arm1.mtl │ │ │ ├── tm12-arm1.obj │ │ │ ├── tm12-arm1.stl │ │ │ ├── tm12-arm2.mtl │ │ │ ├── tm12-arm2.obj │ │ │ ├── tm12-arm2.stl │ │ │ ├── tm12-base.mtl │ │ │ ├── tm12-base.obj │ │ │ ├── tm12-base.stl │ │ │ ├── tmr_750w_01.mtl │ │ │ ├── tmr_750w_01.obj │ │ │ └── tmr_750w_01.stl │ ├── tm14 │ │ ├── collision │ │ │ ├── tm14_arm1_c.stl │ │ │ └── tm14_arm2_c.stl │ │ └── visual │ │ │ ├── tm14_arm1.mtl │ │ │ ├── tm14_arm1.obj │ │ │ ├── tm14_arm1.stl │ │ │ ├── tm14_arm2.mtl │ │ │ ├── tm14_arm2.obj │ │ │ └── tm14_arm2.stl │ ├── tm5-700 │ │ ├── collision │ │ │ ├── tm5-700_arm1_c.stl │ │ │ └── tm5-700_arm2_c.stl │ │ └── visual │ │ │ ├── tm5-700_arm1.mtl │ │ │ ├── tm5-700_arm1.obj │ │ │ ├── tm5-700_arm1.stl │ │ │ ├── tm5-700_arm2.mtl │ │ │ ├── tm5-700_arm2.obj │ │ │ └── tm5-700_arm2.stl │ └── tm5-900 │ │ ├── collision │ │ ├── tm5-900_arm1_c.stl │ │ ├── tm5-900_arm2_c.stl │ │ ├── tm5-base_c.stl │ │ ├── tmr_100w_01_c.stl │ │ ├── tmr_100w_02_c.stl │ │ ├── tmr_400w_01_c.stl │ │ ├── tmr_ee_c.stl │ │ └── tmr_iox_c.stl │ │ └── visual │ │ ├── tm5-900_arm1.mtl │ │ ├── tm5-900_arm1.obj │ │ ├── tm5-900_arm1.stl │ │ ├── tm5-900_arm2.mtl │ │ ├── tm5-900_arm2.obj │ │ ├── tm5-900_arm2.stl │ │ ├── tm5-base.mtl │ │ ├── tm5-base.obj │ │ ├── tm5-base.stl │ │ ├── tmr_100w_01.mtl │ │ ├── tmr_100w_01.obj │ │ ├── tmr_100w_01.stl │ │ ├── tmr_100w_02.mtl │ │ ├── tmr_100w_02.obj │ │ ├── tmr_100w_02.stl │ │ ├── tmr_400w_01.mtl │ │ ├── tmr_400w_01.obj │ │ ├── tmr_400w_01.stl │ │ ├── tmr_ee.mtl │ │ ├── tmr_ee.obj │ │ ├── tmr_ee.stl │ │ ├── tmr_iox.mtl │ │ ├── tmr_iox.obj │ │ └── tmr_iox.stl ├── package.xml ├── urdf │ ├── tm12-nominal.urdf │ ├── tm12x-nominal.urdf │ ├── tm14-nominal.urdf │ ├── tm14x-nominal.urdf │ ├── tm5-700-nominal.urdf │ ├── tm5-900-nominal.urdf │ ├── tm5-900.urdf │ ├── tm5x-700-nominal.urdf │ └── tm5x-900-nominal.urdf └── xacro │ ├── macro.gazebo.xacro │ ├── macro.inertial.xacro │ ├── macro.materials.xacro │ ├── macro.tm12-nominal.urdf.xacro │ ├── macro.tm12x-nominal.urdf.xacro │ ├── macro.tm14-nominal.urdf.xacro │ ├── macro.tm14x-nominal.urdf.xacro │ ├── macro.tm5-700-nominal.urdf.xacro │ ├── macro.tm5-900-nominal.urdf.xacro │ ├── macro.tm5x-700-nominal.urdf.xacro │ ├── macro.tm5x-900-nominal.urdf.xacro │ ├── macro.transmission.xacro │ ├── tm12.urdf.xacro │ ├── tm12x.urdf.xacro │ ├── tm14.urdf.xacro │ ├── tm14x.urdf.xacro │ ├── tm5-700.urdf.xacro │ ├── tm5-900.urdf.xacro │ ├── tm5x-700.urdf.xacro │ └── tm5x-900.urdf.xacro ├── tm_driver ├── CMakeLists.txt ├── include │ └── tm_driver │ │ ├── tm_command.h │ │ ├── tm_communication.h │ │ ├── tm_driver.h │ │ ├── tm_driver_utilities.h │ │ ├── tm_ethernet_slave_connect.h │ │ ├── tm_listen_node_connect.h │ │ ├── tm_packet.h │ │ ├── tm_pose_conversion.h │ │ ├── tm_print.h │ │ ├── tm_robot_state.h │ │ ├── tm_ros2_movit_sct.h │ │ ├── tm_ros2_sct.h │ │ ├── tm_ros2_svr.h │ │ ├── tm_sct_communication.h │ │ └── tm_svr_communication.h ├── launch │ └── tm_bringup.launch.py ├── package.xml └── src │ ├── tm_command.cpp │ ├── tm_communication.cpp │ ├── tm_driver.cpp │ ├── tm_driver_utilities.cpp │ ├── tm_ethernet_slave_connect.cpp │ ├── tm_listen_node_connect.cpp │ ├── tm_packet.cpp │ ├── tm_print.cpp │ ├── tm_robot_state.cpp │ ├── tm_ros2_composition.cpp │ ├── tm_ros2_composition_moveit.cpp │ ├── tm_ros2_movit_sct.cpp │ ├── tm_ros2_node.cpp │ ├── tm_ros2_sct.cpp │ ├── tm_ros2_svr.cpp │ ├── tm_sct_communication.cpp │ └── tm_svr_communication.cpp ├── tm_mod_urdf ├── package.xml ├── resource │ └── tm_mod_urdf ├── setup.cfg ├── setup.py └── tm_mod_urdf │ ├── __init__.py │ ├── _modify_urdf.py │ ├── modify_urdf.py │ └── modify_xacro.py ├── tm_move_group ├── CMakeLists.txt ├── config │ ├── controllers.yaml │ ├── kinematics.yaml │ ├── moveit_controllers.yaml │ ├── ompl_planning.yaml │ ├── ros2_controllers.yaml │ └── start_positions.yaml ├── launch │ ├── run_move_group.launch.py │ ├── run_move_group.rviz │ ├── tm12_run_move_group.launch.py │ ├── tm12x_run_move_group.launch.py │ ├── tm14_run_move_group.launch.py │ ├── tm14x_run_move_group.launch.py │ ├── tm5-700_run_move_group.launch.py │ ├── tm5-900_run_move_group.launch.py │ ├── tm5x-700_run_move_group.launch.py │ └── tm5x-900_run_move_group.launch.py ├── package.xml └── src │ └── run_move_group.cpp ├── tm_moveit_cpp_demo ├── CMakeLists.txt ├── config │ ├── controllers.yaml │ └── moveit_cpp.yaml ├── launch │ ├── run_moveit_cpp.launch.py │ ├── run_moveit_cpp.rviz │ ├── tm12_run_moveit_cpp.launch.py │ ├── tm12x_run_moveit_cpp.launch.py │ ├── tm14_run_moveit_cpp.launch.py │ ├── tm14x_run_moveit_cpp.launch.py │ ├── tm5-700_run_moveit_cpp.launch.py │ ├── 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