├── .gitignore ├── CHANGELOG.md ├── README.md ├── docs_img ├── 3450890671.jpg ├── 3484779653.jpg ├── mmexport1746516732555.png ├── mmexport1746516735438.png └── piper_arm.png ├── piper ├── pika_remote_piper │ ├── CMakeLists.txt │ ├── config │ │ └── piper_rand_params.yaml │ ├── launch │ │ ├── teleop_rand_multi_piper.launch │ │ ├── teleop_rand_single_piper.launch │ │ └── test_remote_sim.launch │ ├── package.xml │ └── scripts │ │ ├── forward_inverse_kinematics.py │ │ ├── piper_FK.py │ │ ├── piper_IK.py │ │ ├── teleop_piper_publish.py │ │ ├── test_piper_sim.py │ │ ├── tools.py │ │ └── transformations.py └── piper_ros │ ├── can_activate.sh │ ├── can_config.sh │ ├── find_all_can_port.sh │ ├── piper │ ├── CMakeLists.txt │ ├── launch │ │ ├── start_double_piper.launch │ │ ├── start_single_piper.launch │ │ └── start_single_piper_rviz.launch │ ├── package.xml │ └── scripts │ │ ├── piper_control.py │ │ ├── piper_ctrl_single_node.py │ │ ├── piper_pinocchio.py │ │ └── piper_start_ms_node.py │ ├── piper_description │ ├── CMakeLists.txt │ ├── config │ │ ├── joint_names_agx_arm_description.yaml │ │ ├── piper_gazebo_control.yaml │ │ └── piper_no_gripper_gazebo_control.yaml │ ├── launch │ │ ├── piper_no_gripper │ │ │ ├── display_no_gripper_urdf.launch │ │ │ ├── display_no_gripper_xacro.launch │ │ │ ├── gazebo_no_gripper_xacro.launch │ │ │ ├── piper_no_gripper_gazebo_controller.launch │ │ │ └── piper_no_gripper_world.launch │ │ └── piper_with_gripper │ │ │ ├── display_urdf.launch │ │ │ ├── display_xacro.launch │ │ │ ├── gazebo_xacro.launch │ │ │ ├── piper_gazebo_controller.launch │ │ │ ├── piper_world.launch │ │ │ └── rviz_ctrl_gazebo.launch │ ├── meshes │ │ ├── base_link.STL │ │ ├── gripper_base.STL │ │ ├── link1.STL │ │ ├── link2.STL │ │ ├── link3.STL │ │ ├── link4.STL │ │ ├── link5.STL │ │ ├── link6.STL │ │ ├── link7.STL │ │ └── link8.STL │ ├── package.xml │ ├── rviz │ │ ├── piper_ctrl.rviz │ │ └── piper_no_gripper.rviz │ ├── scripts │ │ └── rviz_ctrl_gazebo.py │ ├── urdf │ │ ├── piper_description.csv │ │ ├── piper_description.urdf │ │ ├── piper_description.xacro │ │ ├── piper_no_gripper_description.csv │ │ ├── piper_no_gripper_description.urdf │ │ └── piper_no_gripper_description.xacro │ └── worlds │ │ └── empty.world │ └── piper_msgs │ ├── CMakeLists.txt │ ├── msg │ ├── PiperStatusMsg.msg │ └── PosCmd.msg │ ├── package.xml │ └── srv │ ├── Enable.srv │ ├── GoZero.srv │ └── Gripper.srv ├── ur └── pika_remote_ur │ ├── CMakeLists.txt │ ├── config │ ├── ur12e_params.yaml │ └── ur7e_params.yaml │ ├── launch │ ├── teleop_double_ur.launch │ ├── teleop_ur12e.launch │ └── teleop_ur12e_whit_gripper.launch │ ├── package.xml │ └── scripts │ ├── teleop_ur.py │ ├── tools.py │ └── ur_control.py └── xarm ├── pika_remote_xarm ├── CMakeLists.txt ├── config │ └── xarm_params.yaml ├── launch │ └── teleop_single_xarm.launch ├── package.xml └── scripts │ ├── teleop_xarm.py │ ├── tools.py │ └── xarm_control.py └── xarm_ros ├── ReadMe.md ├── ReadMe_cn.md ├── ReadMe_others.md ├── lite6_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── chomp_planning.yaml │ ├── controllers.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── lite6.srdf │ ├── lite6_params.yaml │ ├── ompl_planning.yaml │ ├── ros_controllers.yaml │ └── sensors_3d.yaml ├── launch │ ├── chomp_planning_pipeline.launch.xml │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── joystick_control.launch │ ├── lite6_moveit_controller_manager.launch.xml │ ├── lite6_moveit_gazebo.launch │ ├── lite6_moveit_sensor_manager.launch.xml │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── moveit_rviz_common.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── realMove_exec.launch │ ├── ros_controllers.launch │ ├── run_benchmark_ompl.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── trajectory_execution.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml └── package.xml ├── xarm_api ├── CMakeLists.txt ├── ReadMe.md ├── include │ └── xarm_api │ │ ├── visibility_control.h │ │ ├── xarm_driver.h │ │ ├── xarm_msgs.h │ │ └── xarm_ros_client.h ├── package.xml ├── scripts │ ├── blended_motion_test.py │ └── servo_cartesian_test.py ├── src │ ├── xarm_driver.cpp │ ├── xarm_driver_node.cpp │ └── xarm_ros_client.cpp └── test │ ├── example1_report_norm.cpp │ ├── move_test.cpp │ ├── servo_cartesian_test.cpp │ ├── test_tool_modbus.cpp │ ├── test_xarm_ros_client.cpp │ ├── test_xarm_states.cpp │ └── test_xarm_velo_move.cpp ├── xarm_bringup ├── CMakeLists.txt ├── launch │ ├── dual_xarm6_server.launch │ ├── lite6_server.launch │ ├── uf850_server.launch │ ├── xarm5_server.launch │ ├── xarm6_group_server.launch │ ├── xarm6_server.launch │ ├── xarm7_server.launch │ ├── xarm_driver_common.launch │ └── xarm_robot.launch └── package.xml ├── xarm_controller ├── CMakeLists.txt ├── config │ ├── gripper │ │ ├── dual_gripper_controllers.yaml │ │ ├── dual_gripper_gazebo_ros_control.yaml │ │ ├── gripper_controllers.yaml │ │ └── gripper_gazebo_ros_control.yaml │ ├── lite6 │ │ ├── dual_lite6_controllers.yaml │ │ └── lite6_controllers.yaml │ ├── uf850 │ │ ├── dual_uf850_controllers.yaml │ │ └── uf850_controllers.yaml │ ├── xarm5 │ │ ├── dual_xarm5_controllers.yaml │ │ └── xarm5_controllers.yaml │ ├── xarm6 │ │ ├── dual_xarm6_controllers.yaml │ │ └── xarm6_controllers.yaml │ └── xarm7 │ │ ├── dual_xarm7_controllers.yaml │ │ └── xarm7_controllers.yaml ├── include │ └── xarm_controller │ │ ├── xarm_combined_hw.h │ │ └── xarm_hw.h ├── launch │ ├── _robot_control.launch │ ├── dual_xarm6_control.launch │ ├── lite6_control.launch │ ├── uf850_control.launch │ ├── xarm5_control.launch │ ├── xarm6_control.launch │ └── xarm7_control.launch ├── package.xml ├── src │ ├── sample_motion.cpp │ ├── xarm_combined_control_node.cpp │ ├── xarm_combined_hw.cpp │ ├── xarm_control_node.cpp │ └── xarm_hw.cpp └── xarm_hw_plugin.xml ├── xarm_msgs ├── CMakeLists.txt ├── ReadMe.md ├── msg │ ├── CIOState.msg │ ├── IOState.msg │ └── RobotMsg.msg ├── package.xml └── srv │ ├── Call.srv │ ├── ClearErr.srv │ ├── ConfigToolModbus.srv │ ├── FtCaliLoad.srv │ ├── FtIdenLoad.srv │ ├── GetAnalogIO.srv │ ├── GetControllerDigitalIO.srv │ ├── GetDigitalIO.srv │ ├── GetErr.srv │ ├── GetFloat32List.srv │ ├── GetInt32.srv │ ├── GetSetModbusData.srv │ ├── GripperConfig.srv │ ├── GripperMove.srv │ ├── GripperState.srv │ ├── Move.srv │ ├── MoveAxisAngle.srv │ ├── MoveVelo.srv │ ├── MoveVelocity.srv │ ├── PlayTraj.srv │ ├── SetAxis.srv │ ├── SetControllerAnalogIO.srv │ ├── SetDigitalIO.srv │ ├── SetFloat32.srv │ ├── SetInt16.srv │ ├── SetLoad.srv │ ├── SetModbusTimeout.srv │ ├── SetMultipleInts.srv │ ├── SetString.srv │ ├── SetToolModbus.srv │ └── TCPOffset.srv ├── xarm_planner ├── CMakeLists.txt ├── ReadMe.md ├── ReadMe_cn.md ├── launch │ ├── moveit_real_arm_configurations.launch │ ├── moveit_sim_configurations.launch │ ├── planner.rviz │ ├── robot_planner_fake.launch │ ├── robot_planner_realmove.launch │ ├── xarm_planner_realHW.launch │ └── xarm_planner_rviz_sim.launch ├── package.xml ├── src │ ├── xarm_gripper_planner.cpp │ ├── xarm_simple_planner.cpp │ ├── xarm_simple_planner_test.cpp │ └── xarm_simple_planner_test2.cpp └── srv │ ├── exec_plan.srv │ ├── joint_plan.srv │ ├── pose_plan.srv │ └── single_straight_plan.srv └── xarm_sdk ├── CMakeLists.txt ├── cxx ├── LICENSE ├── Makefile ├── ReadMe.md ├── ReleaseNotes.md ├── demo │ └── csharp_studio │ │ ├── csharp_studio.sln │ │ ├── xarm │ │ ├── RCa02900 │ │ ├── xarm.vcxproj │ │ ├── xarm.vcxproj.filters │ │ ├── xarm_wrapper.cc │ │ └── xarm_wrapper.h │ │ └── xarm_csharp_demo │ │ ├── App.config │ │ ├── Program.cs │ │ ├── Properties │ │ └── AssemblyInfo.cs │ │ ├── XArmAPI.cs │ │ ├── XArmWrapperAPI.cs │ │ └── xarm_csharp_demo.csproj ├── doc │ ├── UF_ModbusTCP_Manual.md │ ├── img │ │ ├── image-20191217152542587.png │ │ ├── image-20191217153415733.png │ │ ├── image-20191217154111439.png │ │ ├── image-20191217154258804.png │ │ ├── image-20191217155932743.png │ │ └── image-20191217160911893.png │ ├── xarm_api_code.md │ └── xarm_cplus_api.md ├── example │ ├── 0001-event_register.cc │ ├── 0002-get_property.cc │ ├── 0003-api_get.cc │ ├── 0004-servo_attach_detach.cc │ ├── 1001-move_line.cc │ ├── 1004-move_arc_line.cc │ ├── 1006-move_tool_line.cc │ ├── 1007-counter.cc │ ├── 1008-move_line_aa.cc │ ├── 10086-cali_offset.cc │ ├── 1009-cartesian_velocity_control.cc │ ├── 2000-joint_velocity_control.cc │ ├── 2001-move_joint.cc │ ├── 3001-move_circle.cc │ ├── 3002-record_trajectory.cc │ ├── 3003-playback_trajectory.cc │ ├── 3004-get_report_data.cc │ ├── 3005-task_feedback.cc │ ├── 3006-standard_modbus_tcp.cc │ ├── 5000-set_tgpio_modbus.cc │ ├── 5001-get_tgpio_digital.cc │ ├── 5002-get_tgpio_analog.cc │ ├── 5003-set_tgpio_digital.cc │ ├── 5004-set_gripper.cc │ ├── 5005-get_cgpio_digital_analog.cc │ ├── 5006-set_cgpio_digital_analog.cc │ ├── 5008-get_cgpio_state.cc │ ├── 5009-set_bio_gripper.cc │ ├── 6001-set_reduced_mode.cc │ ├── 6002-set_fense_mode.cc │ ├── 7001-servo_j.cc │ ├── 7002-servo_cartesian.cc │ ├── 7003-servo_cartesian_aa.cc │ ├── 8000-load_identify_current.cc │ ├── 8001-force_tech.cc │ ├── 8002-impedance.cc │ ├── 8003-force_control.cc │ ├── 8004-load_identify.cc │ ├── 8005-read_force_data.cc │ ├── 8006-save_force_zero.cc │ ├── 8010-get_ft_sensor_config.cc │ ├── 9000-set_linear_track.cc │ ├── thirdparty-set_robotiq_gripper.cc │ ├── thirdparty-set_robotiq_gripper_1.cc │ └── thirdparty-set_yinshi_gripper.cc ├── include │ ├── serial │ │ ├── impl │ │ │ ├── unix.h │ │ │ └── win.h │ │ ├── serial.h │ │ └── v8stdint.h │ └── xarm │ │ ├── core │ │ ├── common │ │ │ ├── crc16.h │ │ │ ├── data_type.h │ │ │ └── queue_memcpy.h │ │ ├── connect.h │ │ ├── debug │ │ │ └── debug_print.h │ │ ├── instruction │ │ │ ├── servo3_config.h │ │ │ ├── uxbus_cmd.h │ │ │ ├── uxbus_cmd_config.h │ │ │ ├── uxbus_cmd_ser.h │ │ │ └── uxbus_cmd_tcp.h │ │ ├── os │ │ │ ├── bak │ │ │ │ └── thread.h │ │ │ └── network.h │ │ ├── port │ │ │ ├── ser.h │ │ │ └── socket.h │ │ ├── report_data.h │ │ └── xarm_config.h │ │ └── wrapper │ │ ├── common │ │ ├── timer.h │ │ └── utils.h │ │ └── xarm_api.h ├── src │ ├── serial │ │ ├── impl │ │ │ ├── list_ports │ │ │ │ ├── list_ports_linux.cc │ │ │ │ ├── list_ports_osx.cc │ │ │ │ └── list_ports_win.cc │ │ │ ├── unix.cc │ │ │ └── win.cc │ │ └── serial.cc │ └── xarm │ │ ├── core │ │ ├── common │ │ │ ├── crc16.cc │ │ │ └── queue_memcpy.cc │ │ ├── connect.cc │ │ ├── debug │ │ │ └── debug_print.cc │ │ ├── instruction │ │ │ ├── uxbus_cmd.cc │ │ │ ├── uxbus_cmd_ser.cc │ │ │ └── uxbus_cmd_tcp.cc │ │ ├── os │ │ │ ├── bak │ │ │ │ ├── network_new.cc │ │ │ │ ├── network_old.cc │ │ │ │ └── thread.cc │ │ │ └── network.cc │ │ ├── port │ │ │ ├── ser.cc │ │ │ └── socket.cc │ │ └── report_data.cc │ │ └── wrapper │ │ ├── xarm_api.cc │ │ ├── xarm_bio.cc │ │ ├── xarm_events.cc │ │ ├── xarm_ft_sensor.cc │ │ ├── xarm_gpio.cc │ │ ├── xarm_gripper.cc │ │ ├── xarm_modbus_tcp.cc │ │ ├── xarm_motion.cc │ │ ├── xarm_params.cc │ │ ├── xarm_record.cc │ │ ├── xarm_report.cc │ │ ├── xarm_robotiq.cc │ │ ├── xarm_servo.cc │ │ └── xarm_track.cc └── visual_studio │ ├── 0001-event_register │ ├── 0001-event_register.vcxproj │ └── 0001-event_register.vcxproj.filters │ ├── 0002-get_property │ ├── 0002-get_property.vcxproj │ └── 0002-get_property.vcxproj.filters │ ├── 0003-api_get │ ├── 0003-api_get.vcxproj │ └── 0003-api_get.vcxproj.filters │ ├── 0004-servo_attach_detach │ ├── 0004-servo_attach_detach.vcxproj │ └── 0004-servo_attach_detach.vcxproj.filters │ ├── 1001-move_line │ ├── 1001-move_line.vcxproj │ └── 1001-move_line.vcxproj.filters │ ├── 1004-move_arc_line │ ├── 1004-move_arc_line.vcxproj │ └── 1004-move_arc_line.vcxproj.filters │ ├── 1006-move_tool_line │ ├── 1006-move_tool_line.vcxproj │ └── 1006-move_tool_line.vcxproj.filters │ ├── 1007-counter │ ├── 1007-counter.vcxproj │ └── 1007-counter.vcxproj.filters │ ├── 1008-move_line_aa │ ├── 1008-move_line_aa.vcxproj │ └── 1008-move_line_aa.vcxproj.filters │ ├── 1009-cartesian_velocity_control │ ├── 1009-cartesian_velocity_control.vcxproj │ └── 1009-cartesian_velocity_control.vcxproj.filters │ ├── 2000-joint_velocity_control │ ├── 2000-joint_velocity_control.vcxproj │ └── 2000-joint_velocity_control.vcxproj.filters │ ├── 2001-move_joint │ ├── 2001-move_joint.vcxproj │ └── 2001-move_joint.vcxproj.filters │ ├── 3001-move_circle │ ├── 3001-move_circle.vcxproj │ └── 3001-move_circle.vcxproj.filters │ ├── 3002-record_trajectory │ ├── 3002-record_trajectory.vcxproj │ └── 3002-record_trajectory.vcxproj.filters │ ├── 3003-playback_trajectory │ ├── 3003-playback_trajectory.vcxproj │ └── 3003-playback_trajectory.vcxproj.filters │ ├── 3004-get_report_data │ ├── 3004-get_report_data.vcxproj │ └── 3004-get_report_data.vcxproj.filters │ ├── 3005-task_feedback │ ├── 3005-task_feedback.vcxproj │ └── 3005-task_feedback.vcxproj.filters │ ├── 3006-standard_modbus_tcp │ ├── 3006-standard_modbus_tcp.vcxproj │ └── 3006-standard_modbus_tcp.vcxproj.filters │ ├── 5000-set_tgpio_modbus │ ├── 5000-set_tgpio_modbus.vcxproj │ └── 5000-set_tgpio_modbus.vcxproj.filters │ ├── 5001-get_tgpio_digital │ ├── 5001-get_tgpio_digital.vcxproj │ └── 5001-get_tgpio_digital.vcxproj.filters │ ├── 5002-get_tgpio_analog │ ├── 5002-get_tgpio_analog.vcxproj │ └── 5002-get_tgpio_analog.vcxproj.filters │ ├── 5003-set_tgpio_digital │ ├── 5003-set_tgpio_digital.vcxproj │ └── 5003-set_tgpio_digital.vcxproj.filters │ ├── 5004-set_gripper │ ├── 5004-set_gripper.vcxproj │ └── 5004-set_gripper.vcxproj.filters │ ├── 5005-get_cgpio_digital_analog │ ├── 5005-get_cgpio_digital_analog.vcxproj │ └── 5005-get_cgpio_digital_analog.vcxproj.filters │ ├── 5006-set_cgpio_digital_analog │ ├── 5006-set_cgpio_digital_analog.vcxproj │ └── 5006-set_cgpio_digital_analog.vcxproj.filters │ ├── 5008-get_cgpio_state │ ├── 5008-get_cgpio_state.vcxproj │ └── 5008-get_cgpio_state.vcxproj.filters │ ├── 5009-set_bio_gripper │ ├── 5009-set_bio_gripper.vcxproj │ └── 5009-set_bio_gripper.vcxproj.filters │ ├── 6001-set_reduced_mode │ ├── 6001-set_reduced_mode.vcxproj │ └── 6001-set_reduced_mode.vcxproj.filters │ ├── 6002-set_fense_mode │ ├── 6002-set_fense_mode.vcxproj │ └── 6002-set_fense_mode.vcxproj.filters │ ├── 7001-servo_j │ ├── 7001-servo_j.vcxproj │ └── 7001-servo_j.vcxproj.filters │ ├── 7002-servo_cartesian │ ├── 7002-servo_cartesian.vcxproj │ └── 7002-servo_cartesian.vcxproj.filters │ ├── 7003-servo_cartesian_aa │ ├── 7003-servo_cartesian_aa.vcxproj │ └── 7003-servo_cartesian_aa.vcxproj.filters │ ├── 8000-load_identify_current │ ├── 8000-load_identify_current.vcxproj │ └── 8000-load_identify_current.vcxproj.filters │ ├── 8001-force_tech │ ├── 8001-force_tech.vcxproj │ └── 8001-force_tech.vcxproj.filters │ ├── 8002-impedance │ ├── 8002-impedance.vcxproj │ └── 8002-impedance.vcxproj.filters │ ├── 8003-force_control │ ├── 8003-force_control.vcxproj │ └── 8003-force_control.vcxproj.filters │ ├── 8004-load_identify │ ├── 8004-load_identify.vcxproj │ └── 8004-load_identify.vcxproj.filters │ ├── 8005-read_force_data │ ├── 8005-read_force_data.vcxproj │ └── 8005-read_force_data.vcxproj.filters │ ├── 8006-save_force_zero │ ├── 8006-save_force_zero.vcxproj │ └── 8006-save_force_zero.vcxproj.filters │ ├── 8010-get_ft_sensor_config │ ├── 8010-get_ft_sensor_config.vcxproj │ └── 8010-get_ft_sensor_config.vcxproj.filters │ ├── 9000-set_linear_track │ ├── 9000-set_linear_track.vcxproj │ └── 9000-set_linear_track.vcxproj.filters │ ├── thirdparty-set_robotiq_gripper │ ├── thirdparty-set_robotiq_gripper.vcxproj │ └── thirdparty-set_robotiq_gripper.vcxproj.filters │ ├── visual_studio.sln │ └── xarm │ ├── resource.h │ ├── xarm.rc │ ├── xarm.vcxproj │ └── xarm.vcxproj.filters └── package.xml /.gitignore: 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