├── .gitignore ├── README.md ├── img ├── 1.png └── 2.png └── src ├── CMakeLists.txt ├── Piper_ros ├── LICENSE ├── Q&A.MD ├── README(EN).md ├── README.MD ├── asserts │ └── pictures │ │ ├── piper_gazebo.png │ │ ├── piper_gazebo_90.png │ │ ├── piper_rviz.png │ │ ├── piper_urdf_no_gripper_zero.png │ │ ├── piper_urdf_zero.png │ │ ├── piper_zero.png │ │ └── tostopic_list.jpg ├── can_activate.sh ├── can_config.sh ├── find_all_can_port.sh └── src │ ├── 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 └── oculus_reader ├── APK ├── alvr_client_android.apk └── teleop-debug.apk ├── CMakeLists.txt ├── config └── oculus_reader.rviz ├── launch ├── teleop_double_piper.launch └── teleop_single_piper.launch ├── package.xml └── scripts ├── FPS_counter.py ├── buttons_parser.py ├── install.py ├── oculus_reader.py ├── piper_control.py ├── teleop_double_piper.py ├── teleop_single_piper.py └── tools.py /.gitignore: -------------------------------------------------------------------------------- 1 | /build 2 | /devel 3 | .catkin_workspace 4 | __pycache__ 5 | .vscode 6 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 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