├── LICENSE ├── README _cn.md ├── README.md ├── docs ├── API_description.md ├── API_description_english.md ├── images │ ├── elfin.png │ ├── elfin_ethercat_slaves.png │ ├── execution.png │ ├── pid_reconfigure.png │ ├── set_goal_state.png │ ├── set_start_state.png │ ├── start_module_controller.png │ ├── stop_module_controller.png │ └── trajectory.png ├── moveit_plugin_tutorial.md └── moveit_plugin_tutorial_english.md ├── elfin10 ├── elfin10_ros2_gazebo │ ├── CMakeLists.txt │ ├── config │ │ └── elfin_arm_controller.yaml │ ├── launch │ │ └── elfin10_gazebo.launch.py │ ├── package.xml │ ├── urdf │ │ ├── elfin10.urdf.xacro │ │ ├── elfin10_gazebo.xacro │ │ └── elfin10_transmission.xacro │ └── worlds │ │ └── elfin10.world └── elfin10_ros2_moveit2 │ ├── CMakeLists.txt │ ├── config │ ├── chomp_planning.yaml │ ├── elfin10.srdf │ ├── elfin_controllers.yaml │ ├── kinematics.yaml │ └── ompl_planning.yaml │ ├── launch │ ├── elfin10.launch.py │ ├── elfin10_basic_api.launch.py │ ├── elfin10_moveit.launch.py │ ├── elfin10_moveit2.rviz │ └── elfin10_moveit_rviz.launch.py │ └── package.xml ├── elfin10_l ├── elfin10_l_ros2_gazebo │ ├── CMakeLists.txt │ ├── config │ │ └── elfin_arm_controller.yaml │ ├── launch │ │ └── elfin10_l_gazebo.launch.py │ ├── package.xml │ ├── urdf │ │ ├── elfin10_l.urdf.xacro │ │ ├── elfin10_l_gazebo.xacro │ │ └── elfin10_l_transmission.xacro │ └── worlds │ │ └── elfin10_l.world └── elfin10_l_ros2_moveit2 │ ├── CMakeLists.txt │ ├── config │ ├── chomp_planning.yaml │ ├── elfin10_l.srdf │ ├── elfin_controllers.yaml │ ├── kinematics.yaml │ └── ompl_planning.yaml │ ├── launch │ ├── elfin10_l.launch.py │ ├── elfin10_l_basic_api.launch.py │ ├── elfin10_l_moveit.launch.py │ ├── elfin10_l_moveit2.rviz │ └── elfin10_l_moveit_rviz.launch.py │ └── package.xml ├── elfin15 ├── elfin15_ros2_gazebo │ ├── CMakeLists.txt │ ├── config │ │ └── elfin_arm_controller.yaml │ ├── launch │ │ └── elfin15_gazebo.launch.py │ ├── package.xml │ ├── urdf │ │ ├── elfin15.urdf.xacro │ │ ├── elfin15_gazebo.xacro │ │ └── elfin15_transmission.xacro │ └── worlds │ │ └── elfin15.world └── elfin15_ros2_moveit2 │ ├── CMakeLists.txt │ ├── config │ ├── chomp_planning.yaml │ ├── elfin15.srdf │ ├── elfin_controllers.yaml │ ├── kinematics.yaml │ └── ompl_planning.yaml │ ├── launch │ ├── elfin15.launch.py │ ├── elfin15_basic_api.launch.py │ ├── elfin15_moveit.launch.py │ ├── elfin15_moveit2.rviz │ └── elfin15_moveit_rviz.launch.py │ └── package.xml ├── elfin3 ├── elfin3_ros2_gazebo │ ├── CMakeLists.txt │ ├── config │ │ └── elfin_arm_controller.yaml │ ├── launch │ │ └── elfin3_gazebo.launch.py │ ├── package.xml │ ├── urdf │ │ ├── elfin3.urdf.xacro │ │ ├── elfin3_gazebo.xacro │ │ └── elfin3_transmission.xacro │ └── worlds │ │ └── elfin3.world └── elfin3_ros2_moveit2 │ ├── CMakeLists.txt │ ├── config │ ├── chomp_planning.yaml │ ├── elfin3.srdf │ ├── elfin_controllers.yaml │ ├── kinematics.yaml │ └── ompl_planning.yaml │ ├── launch │ ├── elfin3.launch.py │ ├── elfin3_basic_api.launch.py │ ├── elfin3_moveit.launch.py │ ├── elfin3_moveit2.rviz │ └── elfin3_moveit_rviz.launch.py │ └── package.xml ├── elfin5 ├── elfin5_ros2_gazebo │ ├── CMakeLists.txt │ ├── config │ │ └── elfin_arm_controller.yaml │ ├── launch │ │ └── elfin5_gazebo.launch.py │ ├── package.xml │ ├── urdf │ │ ├── elfin5.urdf.xacro │ │ ├── elfin5_gazebo.xacro │ │ └── elfin5_transmission.xacro │ └── worlds │ │ └── elfin5.world └── elfin5_ros2_moveit2 │ ├── CMakeLists.txt │ ├── config │ ├── chomp_planning.yaml │ ├── elfin5.srdf │ ├── elfin_controllers.yaml │ ├── kinematics.yaml │ └── ompl_planning.yaml │ ├── launch │ ├── elfin5.launch.py │ ├── elfin5_basic_api.launch.py │ ├── elfin5_moveit.launch.py │ ├── elfin5_moveit2.rviz │ └── elfin5_moveit_rviz.launch.py │ └── package.xml ├── elfin5_l ├── elfin5_l_ros2_gazebo │ ├── CMakeLists.txt │ ├── config │ │ └── elfin_arm_controller.yaml │ ├── launch │ │ └── elfin5_l_gazebo.launch.py │ ├── package.xml │ ├── urdf │ │ ├── elfin5_l.urdf.xacro │ │ ├── elfin5_l_gazebo.xacro │ │ └── elfin5_l_transmission.xacro │ └── worlds │ │ └── elfin5_l.world └── elfin5_l_ros2_moveit2 │ ├── CMakeLists.txt │ ├── config │ ├── chomp_planning.yaml │ ├── elfin5_l.srdf │ ├── elfin_controllers.yaml │ ├── kinematics.yaml │ └── ompl_planning.yaml │ ├── launch │ ├── elfin5_l.launch.py │ ├── elfin5_l_basic_api.launch.py │ ├── elfin5_l_moveit.launch.py │ ├── elfin5_l_moveit2.rviz │ └── elfin5_l_moveit_rviz.launch.py │ └── package.xml ├── elfin_basic_api ├── CMakeLists.txt ├── cfg │ └── ElfinBasicAPIDynamicReconfigure.cfg ├── elfin_basic_api │ └── __init__.py ├── include │ └── elfin_basic_api │ │ ├── elfin_basic_api.h │ │ ├── elfin_basic_api_const.h │ │ ├── elfin_basic_api_node.h │ │ ├── elfin_motion_api.h │ │ └── elfin_teleop_api.h ├── launch │ ├── elfin_basic_api.launch.py │ ├── elfin_gui.launch.py │ └── fake_elfin_gui.launch.py ├── package.xml ├── scripts │ ├── btn_icon │ │ ├── End_btn0_high.png │ │ ├── End_btn0_low.png │ │ ├── End_btn1_high.png │ │ ├── End_btn1_low.png │ │ ├── End_btn2_high.png │ │ ├── End_btn2_low.png │ │ ├── End_btn3_high.png │ │ └── End_btn3_low.png │ ├── elfin_gui.py │ └── test.py └── src │ ├── elfin_basic_api.cpp │ ├── elfin_basic_api_node.cpp │ ├── elfin_motion_api.cpp │ └── elfin_teleop_api.cpp ├── elfin_description ├── CMakeLists.txt ├── launch │ └── display.launch.py ├── meshes │ ├── elfin10 │ │ ├── elfin_base.STL │ │ ├── elfin_end_link.STL │ │ ├── elfin_link1.STL │ │ ├── elfin_link2.STL │ │ ├── elfin_link3.STL │ │ ├── elfin_link4.STL │ │ ├── elfin_link5.STL │ │ └── elfin_link6.STL │ ├── elfin10_l │ │ ├── elfin_base.STL │ │ ├── elfin_end_link.STL │ │ ├── elfin_link1.STL │ │ ├── elfin_link2.STL │ │ ├── elfin_link3.STL │ │ ├── elfin_link4.STL │ │ ├── elfin_link5.STL │ │ └── elfin_link6.STL │ ├── elfin15 │ │ ├── elfin_base.STL │ │ ├── elfin_end_link.STL │ │ ├── elfin_link1.STL │ │ ├── elfin_link2.STL │ │ ├── elfin_link3.STL │ │ ├── elfin_link4.STL │ │ ├── elfin_link5.STL │ │ └── elfin_link6.STL │ ├── elfin3 │ │ ├── elfin_base.STL │ │ ├── elfin_end_link.STL │ │ ├── elfin_link1.STL │ │ ├── elfin_link2.STL │ │ ├── elfin_link3.STL │ │ ├── elfin_link4.STL │ │ ├── elfin_link5.STL │ │ └── elfin_link6.STL │ ├── elfin5 │ │ ├── elfin_base.STL │ │ ├── elfin_end_link.STL │ │ ├── elfin_link1.STL │ │ ├── elfin_link2.STL │ │ ├── elfin_link3.STL │ │ ├── elfin_link4.STL │ │ ├── elfin_link5.STL │ │ └── elfin_link6.STL │ └── elfin5_l │ │ ├── elfin_base.STL │ │ ├── elfin_end_link.STL │ │ ├── elfin_link1.STL │ │ ├── elfin_link2.STL │ │ ├── elfin_link3.STL │ │ ├── elfin_link4.STL │ │ ├── elfin_link5.STL │ │ └── elfin_link6.STL ├── package.xml ├── urdf │ ├── elfin10.urdf.xacro │ ├── elfin10_l.urdf.xacro │ ├── elfin15.urdf.xacro │ ├── elfin3.urdf.xacro │ ├── elfin5.urdf.xacro │ ├── elfin5_l.urdf.xacro │ ├── elfin_robot.gazebo │ ├── elfin_transmission.xacro │ ├── materials.xacro │ └── modules │ │ ├── module_14.urdf.xacro │ │ ├── module_25.urdf.xacro │ │ ├── modules.gazebo │ │ └── modules_transmission.xacro └── urdf_ros2.rviz ├── elfin_ethercat_driver ├── CMakeLists.txt ├── include │ └── elfin_ethercat_driver │ │ ├── elfin_ethercat_client.h │ │ ├── elfin_ethercat_driver.h │ │ ├── elfin_ethercat_io_client.h │ │ └── elfin_ethercat_manager.h ├── package.xml └── src │ ├── elfin_ethercat_client.cpp │ ├── elfin_ethercat_driver.cpp │ ├── elfin_ethercat_driver_node.cpp │ ├── elfin_ethercat_io_client.cpp │ └── elfin_ethercat_manager.cpp ├── elfin_robot_bringup ├── CMakeLists.txt ├── config │ ├── elfin_arm_control.yaml │ ├── elfin_drivers.yaml │ ├── elfin_module_control.yaml │ └── joint_state_controller.yaml ├── launch │ └── elfin_ros2_ethercat.launch.py └── package.xml ├── elfin_robot_msgs ├── CMakeLists.txt ├── package.xml └── srv │ ├── ElfinIODRead.srv │ ├── ElfinIODWrite.srv │ ├── SetFloat64.srv │ ├── SetInt16.srv │ └── SetString.srv ├── elfin_ros_control ├── CMakeLists.txt ├── elfin_hardware_interface.xml ├── include │ └── elfin_ros_control │ │ ├── elfin_hw_interface.h │ │ ├── elfin_hw_onlyposition_interface.h │ │ └── visibility_control.h ├── package.xml └── src │ ├── elfin_hardware_interface.cpp │ └── elfin_hardware_onlyposition_interface.cpp └── soem_ros2 ├── CMakeLists.txt ├── README.md ├── SOEM ├── .gitattributes ├── .gitignore ├── .travis.yml ├── CMakeLists.txt ├── ChangeLog ├── Doxyfile ├── LICENSE ├── README.md ├── appveyor.yml ├── cmake │ ├── Modules │ │ └── Platform │ │ │ ├── rt-kernel-C.cmake │ │ │ ├── rt-kernel-gcc-bfin.cmake │ │ │ ├── rt-kernel-gcc-kinetis.cmake │ │ │ ├── rt-kernel-gcc.cmake │ │ │ ├── rt-kernel.cmake │ │ │ └── rtems.cmake │ └── Toolchains │ │ ├── rt-kernel-bfin.cmake │ │ └── rt-kernel-kinetis.cmake ├── doc │ ├── images │ │ ├── legacy_iomap.png │ │ ├── memory_layout.png │ │ └── overlapping_iomap.png │ ├── soem.dox │ └── tutorial.txt ├── drvcomment.txt ├── osal │ ├── erika │ │ ├── osal.c │ │ └── osal_defs.h │ ├── intime │ │ ├── osal.c │ │ └── osal_defs.h │ ├── linux │ │ ├── osal.c │ │ └── osal_defs.h │ ├── macosx │ │ ├── osal.c │ │ └── osal_defs.h │ ├── osal.h │ ├── rtems │ │ ├── osal.c │ │ └── osal_defs.h │ ├── rtk │ │ ├── osal.c │ │ └── osal_defs.h │ ├── vxworks │ │ ├── osal.c │ │ └── osal_defs.h │ └── win32 │ │ ├── inttypes.h │ │ ├── osal.c │ │ ├── osal_defs.h │ │ ├── osal_win32.h │ │ └── stdint.h ├── oshw │ ├── erika │ │ ├── nicdrv.c │ │ ├── nicdrv.h │ │ ├── oshw.c │ │ └── oshw.h │ ├── intime │ │ ├── nicdrv.c │ │ ├── nicdrv.h │ │ ├── oshw.c │ │ └── oshw.h │ ├── linux │ │ ├── nicdrv.c │ │ ├── nicdrv.h │ │ ├── oshw.c │ │ └── oshw.h │ ├── macosx │ │ ├── nicdrv.c │ │ ├── nicdrv.h │ │ ├── oshw.c │ │ └── oshw.h │ ├── rtems │ │ ├── nicdrv.c │ │ ├── nicdrv.h │ │ ├── oshw.c │ │ └── oshw.h │ ├── rtk │ │ ├── fec │ │ │ ├── fec_ecat.c │ │ │ └── fec_ecat.h │ │ ├── lw_mac │ │ │ ├── lw_emac.c │ │ │ └── lw_emac.h │ │ ├── nicdrv.c │ │ ├── nicdrv.h │ │ ├── oshw.c │ │ └── oshw.h │ ├── vxworks │ │ ├── nicdrv.c │ │ ├── nicdrv.h │ │ ├── oshw.c │ │ └── oshw.h │ └── win32 │ │ ├── nicdrv.c │ │ ├── nicdrv.h │ │ ├── oshw.c │ │ ├── oshw.h │ │ └── wpcap │ │ ├── Include │ │ ├── Packet32.h │ │ ├── Win32-Extensions.h │ │ ├── bittypes.h │ │ ├── ip6_misc.h │ │ ├── pcap-bpf.h │ │ ├── pcap-namedb.h │ │ ├── pcap-stdinc.h │ │ ├── pcap.h │ │ ├── pcap │ │ │ ├── bluetooth.h │ │ │ ├── bpf.h │ │ │ ├── namedb.h │ │ │ ├── pcap.h │ │ │ ├── sll.h │ │ │ ├── usb.h │ │ │ └── vlan.h │ │ └── remote-ext.h │ │ └── Lib │ │ ├── Packet.lib │ │ ├── libpacket.a │ │ ├── libwpcap.a │ │ ├── wpcap.lib │ │ └── x64 │ │ ├── Packet.lib │ │ └── wpcap.lib ├── soem │ ├── ethercat.h │ ├── ethercatbase.c │ ├── ethercatbase.h │ ├── ethercatcoe.c │ ├── ethercatcoe.h │ ├── ethercatconfig.c │ ├── ethercatconfig.h │ ├── ethercatconfiglist.h │ ├── ethercatdc.c │ ├── ethercatdc.h │ ├── ethercateoe.c │ ├── ethercateoe.h │ ├── ethercatfoe.c │ ├── ethercatfoe.h │ ├── ethercatmain.c │ ├── ethercatmain.h │ ├── ethercatprint.c │ ├── ethercatprint.h │ ├── ethercatsoe.c │ ├── ethercatsoe.h │ ├── ethercattype.h │ └── soem.h └── test │ ├── intime │ └── ec_master │ │ └── 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