├── .gitignore ├── README.md ├── robotiq_control ├── CMakeLists.txt ├── config │ ├── cmodel_action_controller.yaml │ ├── cmodel_action_controller_140.yaml │ ├── cmodel_action_controller_85.yaml │ ├── cmodel_action_controller_hande.yaml │ ├── gripper_85_controller.yaml │ └── gripper_hande_controller.yaml ├── launch │ ├── cmodel_action_controller.launch │ ├── cmodel_simple_controller.launch │ ├── ur_cmodel_action_controller.launch │ ├── ur_cmodel_simple_controller.launch │ ├── urcap_cmodel_action_controller.launch │ └── urcap_cmodel_simple_controller.launch ├── package.xml ├── scripts │ ├── cmodel_action_controller.py │ ├── cmodel_rtu_driver.py │ ├── cmodel_tcp_driver.py │ ├── cmodel_urcap_driver.py │ ├── cmodel_urscript_driver.py │ └── robotiq_simple_controller.py ├── setup.py └── src │ ├── robotiq_control │ ├── __init__.py │ ├── cmodel_base.py │ ├── cmodel_urcap.py │ ├── cmodel_urscript.py │ └── controller.py │ ├── robotiq_urscript.script │ └── robotiq_urscript_original.script ├── robotiq_description ├── CMakeLists.txt ├── config │ ├── robotiq_85_gripper.rviz │ └── robotiq_hande_gripper.rviz ├── launch │ └── display.launch ├── meshes │ ├── collision │ │ ├── robotiq_85_base_link.stl │ │ ├── robotiq_85_finger_link.stl │ │ ├── robotiq_85_finger_tip_link.stl │ │ ├── robotiq_85_inner_knuckle_link.stl │ │ ├── robotiq_85_knuckle_link.stl │ │ ├── robotiq_arg2f_140_inner_finger.stl │ │ ├── robotiq_arg2f_140_inner_knuckle.stl │ │ ├── robotiq_arg2f_140_outer_finger.stl │ │ ├── robotiq_arg2f_140_outer_knuckle.stl │ │ ├── robotiq_arg2f_base_link.stl │ │ └── robotiq_arg2f_coupling.stl │ ├── exchanger │ │ ├── SXR0030-M-c.stl │ │ ├── SXR0030-M.stl │ │ ├── SXR0030-TF4-c.stl │ │ ├── SXR0030-TF4.stl │ │ ├── SXRZ0030-MF4-c.stl │ │ └── SXRZ0030-MF4.stl │ ├── hande │ │ ├── finger_1-collision.dae │ │ ├── finger_1.dae │ │ ├── finger_2-collision.dae │ │ ├── finger_2.dae │ │ ├── hand-e-collision.dae │ │ └── hand-e.dae │ ├── robotiq_85_coupler.stl │ └── visual │ │ ├── hand-e.dae │ │ ├── hand-e_finger_1.dae │ │ ├── hand-e_finger_2.dae │ │ ├── robotiq_85_base_link.dae │ │ ├── robotiq_85_finger_link.dae │ │ ├── robotiq_85_finger_tip_link.dae │ │ ├── robotiq_85_inner_knuckle_link.dae │ │ ├── robotiq_85_knuckle_link.dae │ │ ├── robotiq_arg2f_140_inner_finger.stl │ │ ├── robotiq_arg2f_140_inner_knuckle.stl │ │ ├── robotiq_arg2f_140_outer_finger.stl │ │ ├── robotiq_arg2f_140_outer_knuckle.stl │ │ ├── robotiq_arg2f_base_link.stl │ │ └── robotiq_arg2f_coupling.stl ├── package.xml └── urdf │ ├── kosmek_manual_exchanger.urdf.xacro │ ├── robotiq_140_gripper.urdf.xacro │ ├── robotiq_140_gripper.xacro │ ├── robotiq_85_gripper.transmission.xacro │ ├── robotiq_85_gripper.urdf.xacro │ ├── robotiq_85_gripper.xacro │ ├── robotiq_85_gripper_bkp.urdf.xacro │ ├── robotiq_85_gripper_sim_base.urdf.xacro │ ├── robotiq_arg2f.xacro │ ├── robotiq_arg2f_transmission.xacro │ ├── robotiq_hand_e.urdf │ ├── robotiq_hande.urdf.xacro │ ├── robotiq_hande_gripper.transmission.xacro │ ├── robotiq_hande_gripper.urdf.xacro │ ├── robotiq_hande_gripper.xacro │ └── robotiq_hande_world.urdf.xacro ├── robotiq_ft_sensor ├── CMakeLists.txt ├── config │ └── config.ini ├── include │ └── robotiq_ft_sensor │ │ ├── rq_int.h │ │ ├── rq_sensor_com.h │ │ └── rq_sensor_state.h ├── launch │ ├── rviz_sesion.rviz │ └── visualize_ft300.launch ├── meshes │ ├── collision │ │ ├── mountings │ │ │ └── robotiq_ft300-G-062-COUPLING_G-50-4M6-1D6_20181119.STL │ │ ├── robotiq_ft300.STL │ │ └── robotiq_fts150.stl │ └── visual │ │ ├── mountings │ │ └── robotiq_ft300-G-062-COUPLING_G-50-4M6-1D6_20181119.STL │ │ ├── robotiq_ft300.STL │ │ └── robotiq_fts150.stl ├── msg │ └── ft_sensor.msg ├── nodes │ ├── rq_sensor.cpp │ └── rq_test_sensor.cpp ├── package.xml ├── scripts │ └── publish_torque_force_sensor_data.py ├── src │ ├── rq_sensor_com.cpp │ └── rq_sensor_state.cpp ├── srv │ └── sensor_accessor.srv └── urdf │ ├── examples_of_macros │ └── example_use_robotiq_ft300.xacro │ ├── robotiq_ft300.urdf.xacro │ 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