├── Firmware_Backup ├── 14000-501950_ABB_Driver_ROS_EGM_2021-11-12.zip ├── 14000-501950_RWS_ROS_EGM_2021-11-12.zip └── 14000-501950_StateMachine_EGM_RW6_12_2021-11-12.zip ├── LICENSE ├── README.md ├── gazebo_mimic ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── include │ └── gazebo_mimic_plugin │ │ └── mimic_plugin.h ├── package.xml └── src │ └── gazebo_mimic_plugin │ └── mimic_plugin.cpp ├── yumi_cameras ├── CMakeLists.txt ├── CameraJobs │ ├── Default.job │ ├── L_CaptureAndFTP.job │ └── R_CaptureAndFTP.job ├── include │ └── yumi_cameras │ │ └── yumi_cameras_rws.h ├── package.xml ├── rapid │ └── TCameraMain.mod ├── scripts │ ├── ROS_cameras_FTP_server.py │ └── standalone_verbose_FTP_server.py ├── src │ └── rws_continuous_trigger.cpp └── temp │ └── empty ├── yumi_control ├── CHANGELOG.rst ├── CMakeLists.txt ├── config │ ├── gripper_controllers.yaml │ ├── position_controllers.yaml │ ├── traj_controllers.yaml │ └── velocity_controllers.yaml └── package.xml ├── yumi_description ├── CMakeLists.txt ├── README.md ├── meshes │ ├── body.stl │ ├── coarse │ │ ├── .gitignore │ │ ├── body.stl │ │ ├── link_1.stl │ │ ├── link_2.stl │ │ ├── link_3.stl │ │ ├── link_4.stl │ │ ├── link_5.stl │ │ ├── link_6.stl │ │ └── link_7.stl │ ├── gripper │ │ ├── base.stl │ │ ├── coarse │ │ │ ├── base.stl │ │ │ └── finger.stl │ │ └── finger.stl │ ├── link_1.stl │ ├── link_2.stl │ ├── link_3.stl │ ├── link_4.stl │ ├── link_5.stl │ ├── link_6.stl │ └── link_7.stl ├── package.xml ├── urdf │ ├── Gazebo │ │ ├── gazebo.urdf.xacro │ │ └── yumi.gazebo.xacro │ ├── Grippers │ │ ├── yumi_servo_gripper.gazebo.xacro │ │ ├── yumi_servo_gripper.transmission.xacro │ │ └── yumi_servo_gripper.xacro │ ├── Util │ │ ├── materials.xacro │ │ └── utilities.xacro │ ├── yumi.gv │ ├── yumi.pdf │ ├── yumi.transmission.xacro │ ├── yumi.urdf │ ├── yumi.urdf.xacro │ ├── yumi.xacro │ └── yumi_kinematic_chain.pdf └── yumi.rviz ├── yumi_hw ├── .gitignore ├── CMakeLists.txt ├── Doxyfile ├── config │ └── egm_rws_config.yaml ├── include │ └── yumi_hw │ │ ├── yumi_gripper_node.h │ │ ├── yumi_hw.h │ │ ├── yumi_hw_egm.h │ │ ├── yumi_hw_gazebo.h │ │ └── yumi_hw_rws.h ├── package.xml ├── rapid │ ├── ABB_driver │ │ ├── ROS_common.sys │ │ ├── ROS_messages.sys │ │ ├── ROS_motionServer_left.mod │ │ ├── ROS_motionServer_right.mod │ │ ├── ROS_motion_left.mod │ │ ├── ROS_motion_right.mod │ │ ├── ROS_socket.sys │ │ ├── ROS_stateServer_left.mod │ │ └── ROS_stateServer_right.mod │ ├── Grippers │ │ ├── GripperMotion_left.mod │ │ ├── GripperMotion_right.mod │ │ ├── Gripper_motionServer.mod │ │ ├── Gripper_stateServer.mod │ │ ├── HandDriver_left.sys │ │ ├── HandDriver_right.sys │ │ ├── ROS_common.sys │ │ ├── ROS_messages.sys │ │ └── ROS_socket.sys │ ├── README.md │ └── RWS │ │ ├── ROS_common.sys │ │ ├── ROS_messages.sys │ │ ├── ROS_motion_left.mod │ │ ├── ROS_motion_right.mod │ │ ├── ROS_socket.sys │ │ └── ROS_stateServer.mod ├── scripts │ ├── gazebo_grippers_remap.py │ └── rws_egm_joints_remap.py ├── src │ ├── grippers_hw.cpp │ ├── yumi_gripper_node.cpp │ ├── yumi_hw.cpp │ ├── yumi_hw_egm.cpp │ ├── yumi_hw_gazebo.cpp │ ├── yumi_hw_ifce_node.cpp │ └── yumi_hw_rws.cpp └── srv │ └── YumiGrasp.srv ├── yumi_launch ├── CMakeLists.txt ├── launch │ ├── yumi_gazebo_pos_control.launch │ ├── yumi_gazebo_traj_pos_control.launch │ ├── yumi_gazebo_traj_vel_control.launch │ ├── yumi_gazebo_vel_control.launch │ ├── yumi_pos_control.launch │ ├── yumi_traj_pos_control.launch │ ├── yumi_traj_vel_control.launch │ └── yumi_vel_control.launch └── package.xml ├── yumi_motion_api ├── CMakeLists.txt ├── nodes │ └── yumi_motion_api_node.py ├── package.xml ├── setup.py └── src │ └── __init__.py ├── yumi_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── cartesian_limits.yaml │ ├── chomp_planning.yaml │ ├── controllers.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── ros_controllers.yaml │ ├── sensors_3d.yaml │ └── yumi.srdf ├── launch │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── demo_online.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── myLaunch.launch │ ├── 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 │ ├── yumi_moveit_controller_manager.launch.xml │ └── yumi_moveit_sensor_manager.launch.xml └── package.xml └── yumi_support ├── CMakeLists.txt ├── config ├── joint_names_left.yaml └── joint_names_right.yaml ├── firmware_backups ├── 500577_ABBdriver_AllJoints_BothGrippers_NormalTasks.zip ├── 500577_EGM_AllJoints_BothGrippers_Cameras_NormalTasks.zip ├── 500577_EGM_AllJoints_BothGrippers_NormalTasks.zip ├── 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