├── .gitignore ├── .gitmodules ├── LICENSE ├── ReadMe.md ├── ReadMe_cn.md ├── ReadMe_others.md ├── doc ├── check_demo.png ├── dual_config.png ├── setup1.png ├── setup2.png ├── setup3.png ├── setup4.png ├── setup5.png ├── uf_moveit_rqt_graph.png ├── urdf_edit.png ├── visual_traj1.png ├── visual_traj2.png └── xArmFrames.png ├── dual_xarm6_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── chomp_planning.yaml │ ├── controllers.yaml │ ├── dual_xarm6.srdf │ ├── dual_xarm6_traj_controller.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── ros_controllers.yaml │ ├── sensors_3d.yaml │ ├── xarm6.srdf │ └── xarm6_combined_control_config.yaml ├── launch │ ├── chomp_planning_pipeline.launch.xml │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── joystick_control.launch │ ├── 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 │ ├── xarm6_moveit_controller_manager.launch.xml │ ├── xarm6_moveit_gazebo.launch │ └── xarm6_moveit_sensor_manager.launch.xml └── package.xml ├── examples ├── ReadMe.md ├── multi_xarm5 │ ├── CMakeLists.txt │ ├── launch │ │ ├── two_real_xarm5.launch │ │ ├── two_real_xarm6.launch │ │ ├── two_real_xarm7.launch │ │ ├── two_sim_xarm5.launch │ │ └── two_sim_xarm6.launch │ └── package.xml ├── run_recorded_traj │ ├── CMakeLists.txt │ ├── launch │ │ ├── run_test_two_ns.launch │ │ └── two_xarm_bringup.launch │ ├── package.xml │ └── src │ │ └── xarm_traj_test.cpp ├── xarm5_vacuum_gripper_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── chomp_planning.yaml │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ ├── ros_controllers.yaml │ │ ├── sensors_3d.yaml │ │ ├── xarm5_params.yaml │ │ └── xarm5_with_vacuum_gripper.srdf │ ├── launch │ │ ├── chomp_planning_pipeline.launch.xml │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── joystick_control.launch │ │ ├── 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 │ │ ├── xarm5_vacuum_gripper_moveit_controller_manager.launch.xml │ │ ├── xarm5_vacuum_gripper_moveit_gazebo.launch │ │ └── xarm5_vacuum_gripper_moveit_sensor_manager.launch.xml │ └── package.xml ├── xarm6_vacuum_gripper_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── chomp_planning.yaml │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ ├── ros_controllers.yaml │ │ ├── sensors_3d.yaml │ │ ├── xarm6_params.yaml │ │ └── xarm6_with_vacuum_gripper.srdf │ ├── launch │ │ ├── chomp_planning_pipeline.launch.xml │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── joystick_control.launch │ │ ├── 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 │ │ ├── xarm6_vacuum_gripper_moveit_controller_manager.launch.xml │ │ ├── xarm6_vacuum_gripper_moveit_gazebo.launch │ │ └── xarm6_vacuum_gripper_moveit_sensor_manager.launch.xml │ └── package.xml ├── xarm7_redundancy_res │ ├── CMakeLists.txt │ ├── ReadMe.md │ ├── package.xml │ ├── requirements.txt │ └── scripts │ │ ├── .gitignore │ │ ├── robot_jogging.py │ │ └── test.py └── xarm7_vacuum_gripper_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ ├── chomp_planning.yaml │ ├── controllers.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── ros_controllers.yaml │ ├── sensors_3d.yaml │ ├── xarm7_params.yaml │ └── xarm7_with_vacuum_gripper.srdf │ ├── launch │ ├── chomp_planning_pipeline.launch.xml │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── joystick_control.launch │ ├── 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 │ ├── xarm7_vacuum_gripper_moveit_controller_manager.launch.xml │ ├── xarm7_vacuum_gripper_moveit_gazebo.launch │ └── xarm7_vacuum_gripper_moveit_sensor_manager.launch.xml │ └── package.xml ├── 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 ├── uf_robot_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── Readme.md ├── Readme_cn.md ├── config │ ├── chomp_planning.yaml │ ├── dual_lite6 │ │ ├── controllers.yaml │ │ ├── dual_lite6_params.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── moveit.rviz │ │ ├── ompl_planning.yaml │ │ └── ros_controllers.yaml │ ├── dual_uf850 │ │ ├── controllers.yaml │ │ ├── controllers_with_gripper.yaml │ │ ├── dual_uf850_params.yaml │ │ ├── fake_controllers.yaml │ │ ├── fake_controllers_with_gripper.yaml │ │ ├── gazebo_controllers_with_gripper.yaml │ │ ├── joint_limits.yaml │ │ ├── joint_limits_with_gripper.yaml │ │ ├── kinematics.yaml │ │ ├── moveit.rviz │ │ ├── ompl_planning.yaml │ │ └── ros_controllers.yaml │ ├── dual_xarm5 │ │ ├── controllers.yaml │ │ ├── controllers_with_gripper.yaml │ │ ├── dual_xarm5_params.yaml │ │ ├── fake_controllers.yaml │ │ ├── fake_controllers_with_gripper.yaml │ │ ├── gazebo_controllers_with_gripper.yaml │ │ ├── joint_limits.yaml │ │ ├── joint_limits_with_gripper.yaml │ │ ├── kinematics.yaml │ │ ├── moveit.rviz │ │ ├── ompl_planning.yaml │ │ └── ros_controllers.yaml │ ├── dual_xarm6 │ │ ├── controllers.yaml │ │ ├── controllers_with_gripper.yaml │ │ ├── dual_xarm6_params.yaml │ │ ├── fake_controllers.yaml │ │ ├── fake_controllers_with_gripper.yaml │ │ ├── gazebo_controllers_with_gripper.yaml │ │ ├── joint_limits.yaml │ │ ├── joint_limits_with_gripper.yaml │ │ ├── kinematics.yaml │ │ ├── moveit.rviz │ │ ├── ompl_planning.yaml │ │ └── ros_controllers.yaml │ ├── dual_xarm7 │ │ ├── controllers.yaml │ │ ├── controllers_with_gripper.yaml │ │ ├── dual_xarm7_params.yaml │ │ ├── fake_controllers.yaml │ │ ├── fake_controllers_with_gripper.yaml │ │ ├── gazebo_controllers_with_gripper.yaml │ │ ├── joint_limits.yaml │ │ ├── joint_limits_with_gripper.yaml │ │ ├── kinematics.yaml │ │ ├── moveit.rviz │ │ ├── ompl_planning.yaml │ │ └── ros_controllers.yaml │ ├── kinematics.yaml │ ├── lite6 │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── lite6_params.yaml │ │ ├── moveit.rviz │ │ ├── ompl_planning.yaml │ │ └── ros_controllers.yaml │ ├── octomap_monitor.yaml │ ├── ompl_planning.yaml │ ├── ros_controllers.yaml │ ├── sensors_3d.yaml │ ├── sensors_d435i_depthmap.yaml │ ├── sensors_d435i_pointcloud.yaml │ ├── uf850 │ │ ├── controllers.yaml │ │ ├── controllers_with_gripper.yaml │ │ ├── fake_controllers.yaml │ │ ├── fake_controllers_with_gripper.yaml │ │ ├── gazebo_controllers_with_gripper.yaml │ │ ├── gazebo_controllers_with_gripper_action.yaml │ │ ├── joint_limits.yaml │ │ ├── joint_limits_with_gripper.yaml │ │ ├── kinematics.yaml │ │ ├── moveit.rviz │ │ ├── ompl_planning.yaml │ │ ├── ros_controllers.yaml │ │ └── uf850_params.yaml │ ├── xarm5 │ │ ├── controllers.yaml │ │ ├── controllers_with_gripper.yaml │ │ ├── fake_controllers.yaml │ │ ├── fake_controllers_with_gripper.yaml │ │ ├── gazebo_controllers_with_gripper.yaml │ │ ├── gazebo_controllers_with_gripper_action.yaml │ │ ├── joint_limits.yaml │ │ ├── joint_limits_with_gripper.yaml │ │ ├── kinematics.yaml │ │ ├── moveit.rviz │ │ ├── ompl_planning.yaml │ │ ├── ros_controllers.yaml │ │ └── xarm5_params.yaml │ ├── xarm6 │ │ ├── controllers.yaml │ │ ├── controllers_with_gripper.yaml │ │ ├── fake_controllers.yaml │ │ ├── fake_controllers_with_gripper.yaml │ │ ├── gazebo_controllers_with_gripper.yaml │ │ ├── gazebo_controllers_with_gripper_action.yaml │ │ ├── joint_limits.yaml │ │ ├── joint_limits_with_gripper.yaml │ │ ├── kinematics.yaml │ │ ├── moveit.rviz │ │ ├── ompl_planning.yaml │ │ ├── ros_controllers.yaml │ │ └── xarm6_params.yaml │ └── xarm7 │ │ ├── controllers.yaml │ │ ├── controllers_with_gripper.yaml │ │ ├── fake_controllers.yaml │ │ ├── fake_controllers_with_gripper.yaml │ │ ├── gazebo_controllers_with_gripper.yaml │ │ ├── gazebo_controllers_with_gripper_action.yaml │ │ ├── joint_limits.yaml │ │ ├── joint_limits_with_gripper.yaml │ │ ├── kinematics.yaml │ │ ├── moveit.rviz │ │ ├── ompl_planning.yaml │ │ ├── ros_controllers.yaml │ │ └── xarm7_params.yaml ├── launch │ ├── __joystick_control.launch │ ├── __move_group.launch │ ├── __moveit_controller_manager_fake.launch.xml │ ├── __moveit_controller_manager_gazebo.launch.xml │ ├── __moveit_controller_manager_robot.launch.xml │ ├── __moveit_rviz.launch │ ├── __moveit_rviz_common.launch │ ├── __moveit_sensor_manager_robot.launch.xml │ ├── __planning_context.launch │ ├── __planning_context_dual.launch │ ├── __planning_pipeline.launch.xml │ ├── __planning_pipeline_chomp.launch.xml │ ├── __planning_pipeline_ompl.launch.xml │ ├── __ros_controllers.launch │ ├── __run_benchmark_ompl.launch │ ├── __sensor_manager.launch.xml │ ├── __setup_assistant.launch │ ├── __trajectory_execution.launch.xml │ ├── __warehouse.launch │ ├── __warehouse_db_default.launch │ ├── __warehouse_settings.launch.xml │ ├── _dual_robot_moveit_fake.launch │ ├── _dual_robot_moveit_gazebo.launch │ ├── _dual_robot_moveit_realmove.launch │ ├── _robot_moveit_fake.launch │ ├── _robot_moveit_gazebo.launch │ ├── _robot_moveit_realmove.launch │ ├── dual_lite6_moveit_fake.launch │ ├── dual_lite6_moveit_gazebo.launch │ ├── dual_lite6_moveit_realmove.launch │ ├── dual_uf850_moveit_fake.launch │ ├── dual_uf850_moveit_gazebo.launch │ ├── dual_uf850_moveit_realmove.launch │ ├── dual_xarm5_moveit_fake.launch │ ├── dual_xarm5_moveit_gazebo.launch │ ├── dual_xarm5_moveit_realmove.launch │ ├── dual_xarm6_moveit_fake.launch │ ├── dual_xarm6_moveit_gazebo.launch │ ├── dual_xarm6_moveit_realmove.launch │ ├── dual_xarm7_moveit_fake.launch │ ├── dual_xarm7_moveit_gazebo.launch │ ├── dual_xarm7_moveit_realmove.launch │ ├── lite6_moveit_fake.launch │ ├── lite6_moveit_gazebo.launch │ ├── lite6_moveit_realmove.launch │ ├── uf850_moveit_fake.launch │ ├── uf850_moveit_gazebo.launch │ ├── uf850_moveit_realmove.launch │ ├── xarm5_moveit_fake.launch │ ├── xarm5_moveit_gazebo.launch │ ├── xarm5_moveit_realmove.launch │ ├── xarm6_moveit_fake.launch │ ├── xarm6_moveit_gazebo.launch │ ├── xarm6_moveit_realmove.launch │ ├── xarm7_moveit_fake.launch │ ├── xarm7_moveit_gazebo.launch │ └── xarm7_moveit_realmove.launch └── package.xml ├── xarm5_gripper_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── arm_controllers.yaml │ ├── arm_gripper_controllers.yaml │ ├── chomp_planning.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── ros_controllers.yaml │ ├── sensors_3d.yaml │ ├── xarm5_params.yaml │ └── xarm5_with_gripper.srdf ├── launch │ ├── chomp_planning_pipeline.launch.xml │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── joystick_control.launch │ ├── 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 │ ├── xarm5_gripper_moveit_gazebo.launch │ ├── xarm5_with_gripper_moveit_controller_manager.launch.xml │ └── xarm5_with_gripper_moveit_sensor_manager.launch.xml └── package.xml ├── xarm5_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── chomp_planning.yaml │ ├── controllers.yaml │ ├── controllers_with_gripper.yaml │ ├── fake_controllers.yaml │ ├── fake_controllers_with_gripper.yaml │ ├── gazebo_controllers_with_gripper.yaml │ ├── joint_limits.yaml │ ├── joint_limits_with_gripper.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── ros_controllers.yaml │ ├── sensors_3d.yaml │ ├── xarm5.srdf │ └── xarm5_params.yaml ├── launch │ ├── chomp_planning_pipeline.launch.xml │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── gazebo_moveit_controller_manager.launch.xml │ ├── joystick_control.launch │ ├── 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 │ ├── xarm5_moveit_controller_manager.launch.xml │ ├── xarm5_moveit_gazebo.launch │ └── xarm5_moveit_sensor_manager.launch.xml └── package.xml ├── xarm6_gripper_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── arm_controllers.yaml │ ├── arm_gripper_controllers.yaml │ ├── chomp_planning.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── ros_controllers.yaml │ ├── sensors_3d.yaml │ ├── xarm6_params.yaml │ └── xarm6_with_gripper.srdf ├── launch │ ├── chomp_planning_pipeline.launch.xml │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── joystick_control.launch │ ├── 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 │ ├── xarm6_gripper_moveit_gazebo.launch │ ├── xarm6_with_gripper_moveit_controller_manager.launch.xml │ └── xarm6_with_gripper_moveit_sensor_manager.launch.xml └── package.xml ├── xarm6_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── chomp_planning.yaml │ ├── controllers.yaml │ ├── controllers_with_gripper.yaml │ ├── fake_controllers.yaml │ ├── fake_controllers_with_gripper.yaml │ ├── gazebo_controllers_with_gripper.yaml │ ├── joint_limits.yaml │ ├── joint_limits_with_gripper.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── ros_controllers.yaml │ ├── sensors_3d.yaml │ ├── xarm6.srdf │ └── xarm6_params.yaml ├── launch │ ├── chomp_planning_pipeline.launch.xml │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── gazebo_moveit_controller_manager.launch.xml │ ├── joystick_control.launch │ ├── 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 │ ├── xarm6_moveit_controller_manager.launch.xml │ ├── xarm6_moveit_gazebo.launch │ └── xarm6_moveit_sensor_manager.launch.xml └── package.xml ├── xarm7_gripper_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── arm_controllers.yaml │ ├── arm_gripper_controllers.yaml │ ├── chomp_planning.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── ros_controllers.yaml │ ├── sensors_3d.yaml │ ├── xarm7_params.yaml │ └── xarm7_with_gripper.srdf ├── launch │ ├── chomp_planning_pipeline.launch.xml │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── joystick_control.launch │ ├── 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 │ ├── xarm7_gripper_moveit_gazebo.launch │ ├── xarm7_with_gripper_moveit_controller_manager.launch.xml │ └── xarm7_with_gripper_moveit_sensor_manager.launch.xml └── package.xml ├── xarm7_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── controllers.yaml │ ├── controllers_with_gripper.yaml │ ├── fake_controllers.yaml │ ├── fake_controllers_with_gripper.yaml │ ├── gazebo_controllers_with_gripper.yaml │ ├── joint_limits.yaml │ ├── joint_limits_with_gripper.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── ros_controllers.yaml │ ├── xarm7.srdf │ └── xarm7_params.yaml ├── launch │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── gazebo_moveit_controller_manager.launch.xml │ ├── joystick_control.launch │ ├── 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 │ ├── run_benchmark_ompl.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── trajectory_execution.launch.xml │ ├── warehouse.launch │ ├── warehouse_settings.launch.xml │ ├── xarm7_moveit_controller_manager.launch.xml │ ├── xarm7_moveit_gazebo.launch │ └── xarm7_moveit_sensor_manager.launch.xml ├── package.xml └── readme.md ├── 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_description ├── CMakeLists.txt ├── config │ ├── kinematics │ │ ├── default │ │ │ ├── lite6_default_kinematics.yaml │ │ │ ├── uf850_default_kinematics.yaml │ │ │ ├── xarm5_default_kinematics.yaml │ │ │ ├── xarm6_default_kinematics.yaml │ │ │ ├── xarm7_default_kinematics.yaml │ │ │ └── xarm7_mirror_default_kinematics.yaml │ │ └── gen_kinematics_params.py │ └── link_inertial │ │ ├── gen_link_inertial_params.py │ │ ├── xarm5_type5_HT_BR.yaml │ │ ├── xarm5_type5_HT_BR2.yaml │ │ ├── xarm5_type5_HT_LD.yaml │ │ ├── xarm5_type5_UJ_BR_2403.yaml │ │ ├── xarm6_type11_HT_LD.yaml │ │ ├── xarm6_type12_HT_LDBR2.yaml │ │ ├── xarm6_type6_HT2_LD.yaml │ │ ├── xarm6_type6_HT_BR.yaml │ │ ├── xarm6_type6_HT_BR2.yaml │ │ ├── xarm6_type6_HT_LD.yaml │ │ ├── xarm6_type6_UJ_BR_2403.yaml │ │ ├── xarm6_type8_HT2_BR2.yaml │ │ ├── xarm6_type9_HT_BR2.yaml │ │ ├── xarm7_type13_HT_BR2.yaml │ │ ├── xarm7_type3_YT_SP.yaml │ │ ├── xarm7_type7_HT_BR.yaml │ │ ├── xarm7_type7_HT_BR2.yaml │ │ ├── xarm7_type7_HT_LD.yaml │ │ └── xarm7_type7_UJ_BR_2403.yaml ├── launch │ ├── _robot_rviz_display.launch │ ├── _robot_upload.launch │ ├── display.rviz │ ├── lite6_rviz_display.launch │ ├── lite6_upload.launch │ ├── uf850_rviz_display.launch │ ├── xarm5_rviz_display.launch │ ├── xarm5_upload.launch │ ├── xarm6_rviz_display.launch │ ├── xarm6_upload.launch │ ├── xarm7_rviz_display.launch │ └── xarm7_upload.launch ├── meshes │ ├── camera │ │ └── realsense │ │ │ ├── collision │ │ │ └── d435_with_cam_stand.stl │ │ │ └── visual │ │ │ └── d435_with_cam_stand.stl │ ├── end_tool │ │ ├── collision │ │ │ ├── end_tool.stl │ │ │ └── end_tool_1300.stl │ │ └── visual │ │ │ └── end_tool_1300.stl │ ├── gripper │ │ ├── bio │ │ │ ├── left_finger.stl │ │ │ ├── link_base.stl │ │ │ └── right_finger.stl │ │ ├── lite │ │ │ ├── collision │ │ │ │ └── gripper_lite.stl │ │ │ └── visual │ │ │ │ └── gripper_lite.stl │ │ └── xarm │ │ │ ├── base_link.stl │ │ │ ├── left_finger.stl │ │ │ ├── left_inner_knuckle.stl │ │ │ ├── left_outer_knuckle.stl │ │ │ ├── right_finger.stl │ │ │ ├── right_inner_knuckle.stl │ │ │ └── right_outer_knuckle.stl │ ├── lite6 │ │ ├── collision │ │ │ ├── link1.stl │ │ │ ├── link2.stl │ │ │ ├── link3.stl │ │ │ ├── link4.stl │ │ │ ├── link5.stl │ │ │ ├── link6.stl │ │ │ └── link_base.stl │ │ └── visual │ │ │ ├── link1.stl │ │ │ ├── link2.stl │ │ │ ├── link3.stl │ │ │ ├── link4.stl │ │ │ ├── link5.stl │ │ │ ├── link6.stl │ │ │ └── link_base.stl │ ├── uf850 │ │ ├── collision │ │ │ ├── link1.stl │ │ │ ├── link2.stl │ │ │ ├── link3.stl │ │ │ ├── link4.stl │ │ │ ├── link5.stl │ │ │ ├── link6.stl │ │ │ └── link_base.stl │ │ └── visual │ │ │ ├── link1.stl │ │ │ ├── link2.stl │ │ │ ├── link3.stl │ │ │ ├── link4.stl │ │ │ ├── link5.stl │ │ │ ├── link6.stl │ │ │ └── link_base.stl │ ├── vacuum_gripper │ │ ├── lite │ │ │ ├── collision │ │ │ │ └── vacuum_gripper_lite.stl │ │ │ └── visual │ │ │ │ └── vacuum_gripper_lite.stl │ │ └── xarm │ │ │ ├── collision │ │ │ └── vacuum_gripper.stl │ │ │ └── visual │ │ │ └── vacuum_gripper.stl │ ├── xarm5 │ │ └── visual │ │ │ ├── link1.stl │ │ │ ├── link2.stl │ │ │ ├── link3.stl │ │ │ ├── link4.stl │ │ │ ├── link5.stl │ │ │ └── link_base.stl │ ├── xarm5_1305 │ │ ├── collision │ │ │ ├── link1.obj │ │ │ ├── link2.obj │ │ │ ├── link3.obj │ │ │ ├── link4.obj │ │ │ ├── link5.obj │ │ │ └── link_base.obj │ │ └── visual │ │ │ ├── link1.stl │ │ │ ├── link2.stl │ │ │ ├── link3.stl │ │ │ ├── link4.stl │ │ │ ├── link5.stl │ │ │ └── link_base.stl │ ├── xarm6 │ │ └── visual │ │ │ ├── link1.stl │ │ │ ├── link2.stl │ │ │ ├── link3.stl │ │ │ ├── link4.stl │ │ │ ├── link5.stl │ │ │ ├── link6.stl │ │ │ └── link_base.stl │ ├── xarm6_1305 │ │ ├── collision │ │ │ ├── link1.obj │ │ │ ├── link2.obj │ │ │ ├── link3.obj │ │ │ ├── link4.obj │ │ │ ├── link5.obj │ │ │ ├── link6.obj │ │ │ └── link_base.obj │ │ └── visual │ │ │ ├── link1.stl │ │ │ ├── link2.stl │ │ │ ├── link3.stl │ │ │ ├── link4.stl │ │ │ ├── link5.stl │ │ │ ├── link6.stl │ │ │ └── link_base.stl │ ├── xarm7 │ │ └── visual │ │ │ ├── link1.stl │ │ │ ├── link2.stl │ │ │ ├── link3.stl │ │ │ ├── link4.stl │ │ │ ├── link5.stl │ │ │ ├── link6.stl │ │ │ ├── link7.stl │ │ │ └── link_base.stl │ ├── xarm7_1305 │ │ ├── collision │ │ │ ├── link1.obj │ │ │ ├── link2.obj │ │ │ ├── link3.obj │ │ │ ├── link4.obj │ │ │ ├── link5.obj │ │ │ ├── link6.obj │ │ │ ├── link7.obj │ │ │ └── link_base.obj │ │ └── visual │ │ │ ├── link1.stl │ │ │ ├── link2.stl │ │ │ ├── link3.stl │ │ │ ├── link4.stl │ │ │ ├── link5.stl │ │ │ ├── link6.stl │ │ │ ├── link7.stl │ │ │ └── link_base.stl │ └── xarm7_mirror │ │ ├── collision │ │ ├── link1.stl │ │ ├── link2.stl │ │ ├── link3.stl │ │ ├── link4.stl │ │ ├── link5.stl │ │ ├── link6.stl │ │ ├── link7.stl │ │ └── link_base.stl │ │ └── visual │ │ ├── link1.stl │ │ ├── link2.stl │ │ ├── link3.stl │ │ ├── link4.stl │ │ ├── link5.stl │ │ ├── link6.stl │ │ ├── link7.stl │ │ └── link_base.stl ├── package.xml ├── readme.md ├── srdf │ ├── _lite6_macro.srdf.xacro │ ├── _uf850_macro.srdf.xacro │ ├── _xarm5_macro.srdf.xacro │ ├── _xarm6_macro.srdf.xacro │ ├── _xarm7_macro.srdf.xacro │ ├── dual_xarm.srdf.xacro │ ├── xarm.srdf.xacro │ └── xarm_macro.srdf.xacro └── urdf │ ├── _private_macro.xacro │ ├── camera │ ├── camera.gazebo.xacro │ ├── realsense.gazebo.xacro │ └── realsense_d435i.urdf.xacro │ ├── common │ ├── common.gazebo.xacro │ ├── common.link.xacro │ └── common.material.xacro │ ├── dual_xarm_device.urdf.xacro │ ├── gripper │ ├── bio_gripper.gazebo.xacro │ ├── bio_gripper.ros2_control.xacro │ ├── bio_gripper.transmission.xacro │ ├── bio_gripper.urdf.xacro │ ├── bio_gripper_macro.xacro │ ├── gripper.urdf.xacro │ ├── gripper_macro.xacro │ ├── lite_gripper.urdf.xacro │ ├── xarm_gripper.gazebo.xacro │ ├── xarm_gripper.ros2_control.xacro │ ├── xarm_gripper.transmission.xacro │ ├── xarm_gripper.urdf.xacro │ └── xarm_gripper_macro.xacro │ ├── lite6 │ ├── lite6.gazebo.xacro │ ├── lite6.ros2_control.xacro │ ├── lite6.transmission.xacro │ ├── lite6.urdf.xacro │ └── lite6_robot_macro.xacro │ ├── other │ └── other_geometry.urdf.xacro │ ├── uf850 │ ├── uf850.gazebo.xacro │ ├── uf850.ros2_control.xacro │ ├── uf850.transmission.xacro │ ├── uf850.urdf.xacro │ └── uf850_robot_macro.xacro │ ├── vacuum_gripper │ ├── lite_vacuum_gripper.urdf.xacro │ ├── vacuum_gripper.urdf.xacro │ ├── vacuum_gripper_macro.xacro │ └── xarm_vacuum_gripper.urdf.xacro │ ├── xarm5 │ ├── xarm5.gazebo.xacro │ ├── xarm5.ros2_control.xacro │ ├── xarm5.transmission.xacro │ ├── xarm5.urdf.xacro │ └── xarm5_robot_macro.xacro │ ├── xarm6 │ ├── xarm6.gazebo.xacro │ ├── xarm6.ros2_control.xacro │ ├── xarm6.transmission.xacro │ ├── xarm6.urdf.xacro │ └── xarm6_robot_macro.xacro │ ├── xarm7 │ ├── xarm7.gazebo.xacro │ ├── xarm7.ros2_control.xacro │ ├── xarm7.transmission.xacro │ ├── xarm7.urdf.xacro │ └── xarm7_robot_macro.xacro │ ├── xarm7_mirror │ ├── xarm7_mirror.gazebo.xacro │ ├── xarm7_mirror.ros2_control.xacro │ ├── xarm7_mirror.transmission.xacro │ ├── xarm7_mirror.urdf.xacro │ └── xarm7_mirror_robot_macro.xacro │ ├── xarm_device.urdf.xacro │ └── xarm_device_macro.xacro ├── xarm_gazebo ├── CMakeLists.txt ├── launch │ ├── _dual_robot_beside_table.launch │ ├── _robot_beside_table.launch │ ├── lite6_beside_table.launch │ ├── uf850_beside_table.launch │ ├── xarm5_beside_table.launch │ ├── xarm6_beside_table.launch │ ├── xarm7_beside_table.launch │ └── xarm_camera_scene.launch ├── package.xml ├── scripts │ └── color_recognition.py └── worlds │ ├── xarm_camera_scene.world │ └── xarm_example1_table.world ├── xarm_gripper ├── CMakeLists.txt ├── action │ └── Move.action ├── config │ └── joint_names_xarm_gripper.yaml ├── launch │ ├── display.rviz │ ├── gazebo.launch │ └── gripper_rviz_display.launch ├── meshes │ ├── base_link.stl │ ├── base_link_collision.stl │ ├── left_finger.stl │ ├── left_inner_knuckle.stl │ ├── left_outer_knuckle.stl │ ├── right_finger.stl │ ├── right_inner_knuckle.stl │ └── right_outer_knuckle.stl ├── package.xml ├── src │ ├── gripper_action_server.cpp │ └── gripper_client.cpp └── urdf │ ├── xarm_gripper.gazebo.xacro │ ├── xarm_gripper.transmission.xacro │ ├── xarm_gripper.urdf.xacro │ ├── xarm_gripper.xacro │ └── xarm_gripper_model.xacro ├── xarm_moveit_servo ├── CMakeLists.txt ├── config │ └── moveit_servo_config.yaml ├── include │ └── xarm_moveit_servo │ │ ├── xarm_joystick_input.h │ │ └── xarm_keyboard_input.h ├── launch │ ├── robot_moveit_servo_realmove.launch │ └── xarm_moveit_servo_realmove.launch ├── package.xml └── src │ ├── xarm_joystick_input.cpp │ └── xarm_keyboard_input.cpp ├── xarm_msgs ├── CMakeLists.txt ├── ReadMe.md ├── msg │ ├── CIOState.msg │ ├── IOState.msg │ ├── RobotMsg.msg │ └── VeloMoveMsg.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 │ └── VacuumGripperCtrl.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 └── package.xml └── xarm_vision ├── camera_demo ├── CMakeLists.txt ├── launch │ └── xarm_move_group.launch ├── package.xml └── scripts │ ├── camera │ ├── ReadMe_cn.md │ ├── camera_driver.py │ └── example1_identify_color.py │ └── color_recognition.py └── d435i_xarm_setup ├── CMakeLists.txt ├── config ├── lite6_realsense_handeyecalibration_eye_on_hand_sample_result.yaml └── xarm_realsense_handeyecalibration_eye_on_hand_sample_result.yaml ├── 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