🚧 Work in progress: this documentation is still being written and reviewed. Check details against the source code.

Documentation coverage

This index maps 357 source paths to their documentation. It includes code, configuration, assets, and engineering records; deleted paths are marked in the tables.

architecture / batching

Read the chapter.

Source path	Kind
src/beambot/beambot/core/plan_cache.py	Source / configuration
src/beambot/beambot/core/task_batching.py	Source / configuration

architecture / configuration

Read the chapter.

Source path	Kind
src/beambot/beambot/config_loader.py	Source / configuration

architecture / execution

Read the chapter.

Source path	Kind
src/beambot/beambot/action_servers/__init__.py	Source / configuration
src/beambot/beambot/action_servers/base_action_server.py	Source / configuration
src/beambot/beambot/action_servers/end_effector_server.py	Source / configuration
src/beambot/beambot/action_servers/move_to_server.py	Source / configuration
src/beambot/beambot/action_servers/orchestrator.py	Source / configuration
src/beambot/beambot/action_servers/pipettor_server.py	Source / configuration
src/beambot/beambot/action_servers/sample_pick_place_server.py	Source / configuration
src/beambot/beambot/action_servers/tool_exchange_server.py	Source / configuration
src/beambot/beambot/action_servers/vision_scan_server.py	Source / configuration
src/beambot/beambot/action_servers/vision_task_server.py	Source / configuration
src/beambot/beambot/stages/__init__.py	Source / configuration
src/beambot/beambot/stages/base_stages.py	Source / configuration
src/beambot/beambot/stages/end_effector_stages.py	Source / configuration
src/beambot/beambot/stages/move_to_stages.py	Source / configuration
src/beambot/beambot/stages/pick_sample_stages.py	Source / configuration
src/beambot/beambot/stages/pipettor_stages.py	Source / configuration
src/beambot/beambot/stages/place_sample_stages.py	Source / configuration
src/beambot/beambot/stages/tool_exchange_stages.py	Source / configuration
src/beambot/beambot/stages/vision_task_stages.py	Source / configuration

architecture / lifecycle

Read the chapter.

Source path	Kind
src/beambot/beambot/core/__init__.py	Source / configuration
src/beambot/beambot/core/moveit_lifecycle_manager.py	Source / configuration
src/beambot/beambot/core/tool_exchange_manager.py	Source / configuration
src/beambot/beambot/core/vacuum_monitor.py	Source / configuration

architecture / perception

Read the chapter.

Source path	Kind
src/beambot/beambot/vision/__init__.py	Source / configuration
src/beambot/beambot/vision/detection/__init__.py	Source / configuration
src/beambot/beambot/vision/detection/image_detection.py	Source / configuration
src/beambot/beambot/vision/detection/spincoater_detection.py	Source / configuration
src/beambot/beambot/vision/detection/yolo_object_detection.py	Source / configuration
src/beambot/beambot/vision/motion_target.py	Source / configuration
src/beambot/beambot/vision/vision_engine.py	Source / configuration
src/beambot/beambot/vision/vision_task_detection.py	Source / configuration
src/beambot/data/yolo_dataset/.gitignore	Documentation / metadata / asset
src/beambot/models/sample_detector.pt	Documentation / metadata / asset
src/beambot/models/spincoater_sample_seg.pt	Documentation / metadata / asset

hardware / calibration-scenes

Read the chapter.

Source path	Kind
src/beambot/beambot/mapping/__init__.py	Source / configuration
src/beambot/beambot/mapping/octomap_to_planning_scene.py	Source / configuration
src/beambot/beambot/mapping/pointcloud_relay.py	Source / configuration

hardware / cameras

Read the chapter.

Source path	Kind
src/beambot/beambot/vision/camera/__init__.py	Source / configuration
src/beambot/beambot/vision/camera/zed.py	Source / configuration
src/beambot/beambot/vision/camera/zivid.py	Source / configuration
src/vision/README.md	Documentation / metadata / asset
src/vision/vision.repos	Documentation / metadata / asset

hardware / end-effectors

Read the chapter.

Source path	Kind
src/end_effectors/README.md	Documentation / metadata / asset
src/end_effectors/end_effectors.repos	Documentation / metadata / asset
src/end_effectors/epick_config/CMakeLists.txt	Documentation / metadata / asset
src/end_effectors/epick_config/config/suction_cups.yaml	Source / configuration
src/end_effectors/epick_config/launch/epick_bringup.launch.py	Source / configuration
src/end_effectors/epick_config/package.xml	Source / configuration
src/end_effectors/epick_config/urdf/epick_overlay.xacro	Source / configuration
src/end_effectors/onrobot_2fg7_description/CMakeLists.txt	Documentation / metadata / asset
src/end_effectors/onrobot_2fg7_description/config/2fg7_params.yaml	Source / configuration
src/end_effectors/onrobot_2fg7_description/package.xml	Source / configuration
src/end_effectors/onrobot_2fg7_description/urdf/onrobot_2fg7.xacro	Source / configuration
src/end_effectors/onrobot_2fg7_driver/CMakeLists.txt	Documentation / metadata / asset
src/end_effectors/onrobot_2fg7_driver/launch/2fg7_driver.launch.py	Source / configuration
src/end_effectors/onrobot_2fg7_driver/onrobot_2fg7_driver/__init__.py	Source / configuration
src/end_effectors/onrobot_2fg7_driver/onrobot_2fg7_driver/driver_node.py	Source / configuration
src/end_effectors/onrobot_2fg7_driver/onrobot_2fg7_driver/modbus_client.py	Source / configuration
src/end_effectors/onrobot_2fg7_driver/package.xml	Source / configuration
src/end_effectors/onrobot_2fg7_driver/test_scripts/test_modbus_client.py	Source / configuration
src/end_effectors/onrobot_2fg7_driver/test_scripts/test_modbus_direct.py	Source / configuration
src/end_effectors/onrobot_2fg7_driver/test_scripts/test_ros2_driver.sh	Source / configuration

hardware / robot-models

Read the chapter.

Source path	Kind
src/custom-ur-descriptions/cms_moveit_config/CMakeLists.txt	Documentation / metadata / asset
src/custom-ur-descriptions/cms_moveit_config/config/2fg7/initial_positions.yaml	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/config/2fg7/joint_limits.yaml	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/config/2fg7/moveit_controllers.yaml	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/config/epick/initial_positions.yaml	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/config/epick/joint_limits.yaml	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/config/epick/moveit_controllers.yaml	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/config/epick_controllers.yaml	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/config/hande/initial_positions.yaml	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/config/hande/joint_limits.yaml	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/config/hande/moveit_controllers.yaml	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/config/hande_controllers.yaml	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/config/joystick_teleop.yaml	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/config/kinematics.yaml	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/config/none/initial_positions.yaml	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/config/none/joint_limits.yaml	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/config/none/moveit_controllers.yaml	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/config/ompl_planning.yaml	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/config/pilz_cartesian_limits.yaml	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/config/pilz_industrial_motion_planner_planning.yaml	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/config/pipettor/initial_positions.yaml	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/config/pipettor/joint_limits.yaml	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/config/pipettor/moveit_controllers.yaml	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/config/servo.yaml	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/config/stomp_planning.yaml	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/config/ur_base_controllers.yaml	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/launch/robot_bringup.launch.py	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/package.xml	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/rviz/view_robot_mtc.rviz	Documentation / metadata / asset
src/custom-ur-descriptions/cms_moveit_config/src/servo_node_jazzy.cpp	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/srdf/2fg7.srdf.xacro	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/srdf/common.srdf.xacro	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/srdf/epick.srdf.xacro	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/srdf/hande.srdf.xacro	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/srdf/none.srdf.xacro	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/srdf/pipettor.srdf.xacro	Source / configuration
src/custom-ur-descriptions/cms_moveit_config/srdf/ur.srdf.xacro	Source / configuration
src/custom-ur-descriptions/cms_robot_description/CMakeLists.txt	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/README.md	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/config/hand_eye_calibration.yaml	Source / configuration
src/custom-ur-descriptions/cms_robot_description/config/ur5e_calibration.yaml	Source / configuration
src/custom-ur-descriptions/cms_robot_description/meshes/tool_exchanger/EX-50-35_wrist_extension.stl	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/meshes/tool_exchanger/Tool_block.stl	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/meshes/tool_exchanger/W-010-B_epick_coupling.stl	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/meshes/tool_exchanger/WM1_robot_plate.stl	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/meshes/tool_exchanger/WM1_tool_plate.stl	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/meshes/zivid/zivid_onarm_mount.stl	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/package.xml	Source / configuration
src/custom-ur-descriptions/cms_robot_description/urdf/convert_urdf_for_isaac.sh	Source / configuration
src/custom-ur-descriptions/cms_robot_description/urdf/isaac_sim_joint_params.yaml	Source / configuration
src/custom-ur-descriptions/cms_robot_description/urdf/te_coupling.xacro	Source / configuration
src/custom-ur-descriptions/cms_robot_description/urdf/te_robotside.xacro	Source / configuration
src/custom-ur-descriptions/cms_robot_description/urdf/te_toolside.xacro	Source / configuration
src/custom-ur-descriptions/cms_robot_description/urdf/tool_block.xacro	Source / configuration
src/custom-ur-descriptions/cms_robot_description/urdf/ur_standalone.urdf	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_standalone.xacro	Source / configuration
src/custom-ur-descriptions/cms_robot_description/urdf/ur_standalone_isaac.urdf	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_standalone_isaac/configuration/ur_standalone_isaac_base.usd	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_standalone_isaac/configuration/ur_standalone_isaac_physics.usd	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_standalone_isaac/configuration/ur_standalone_isaac_robot.usd	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_standalone_isaac/configuration/ur_standalone_isaac_sensor.usd	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_standalone_isaac/ur_standalone_isaac.usd	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_2fg7.urdf	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_2fg7.xacro	Source / configuration
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_2fg7_isaac.urdf	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_epick.urdf	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_epick.xacro	Source / configuration
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_epick_isaac.urdf	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_epick_isaac/configuration/ur_with_zivid_epick_isaac_base.usd	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_epick_isaac/configuration/ur_with_zivid_epick_isaac_physics.usd	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_epick_isaac/configuration/ur_with_zivid_epick_isaac_robot.usd	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_epick_isaac/configuration/ur_with_zivid_epick_isaac_sensor.usd	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_epick_isaac/ur_with_zivid_epick_isaac.usd	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_hande.urdf	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_hande.xacro	Source / configuration
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_hande/configuration/ur_with_zivid_hande_base.usd	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_hande/configuration/ur_with_zivid_hande_physics.usd	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_hande/configuration/ur_with_zivid_hande_robot.usd	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_hande/configuration/ur_with_zivid_hande_sensor.usd	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_hande/ur_with_zivid_hande.usd	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_hande_isaac.urdf	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_hande_isaac/configuration/ur_with_zivid_hande_isaac_base.usd	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_hande_isaac/configuration/ur_with_zivid_hande_isaac_physics.usd	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_hande_isaac/configuration/ur_with_zivid_hande_isaac_robot.usd	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_hande_isaac/configuration/ur_with_zivid_hande_isaac_sensor.usd	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_hande_isaac/ur_with_zivid_hande_isaac.usd	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_pipettor.urdf	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_pipettor.xacro	Source / configuration
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_pipettor_isaac.urdf	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_pipettor_isaac/configuration/ur_with_zivid_pipettor_isaac_base.usd	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_pipettor_isaac/configuration/ur_with_zivid_pipettor_isaac_physics.usd	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_pipettor_isaac/configuration/ur_with_zivid_pipettor_isaac_robot.usd	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_pipettor_isaac/configuration/ur_with_zivid_pipettor_isaac_sensor.usd	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_pipettor_isaac/ur_with_zivid_pipettor_isaac.usd	Documentation / metadata / asset
src/custom-ur-descriptions/cms_robot_description/urdf/urdf_to_usd.py	Source / configuration
src/custom-ur-descriptions/cms_robot_description/urdf/wrist_extension.xacro	Source / configuration
src/custom-ur-descriptions/cms_robot_description/urdf/zivid_camera_mount.xacro	Source / configuration
src/custom-ur-descriptions/lix_moveit_config/CMakeLists.txt	Documentation / metadata / asset
src/custom-ur-descriptions/lix_moveit_config/config/hande/initial_positions.yaml	Source / configuration
src/custom-ur-descriptions/lix_moveit_config/config/hande/joint_limits.yaml	Source / configuration
src/custom-ur-descriptions/lix_moveit_config/config/hande/moveit_controllers.yaml	Source / configuration
src/custom-ur-descriptions/lix_moveit_config/config/hande_controllers.yaml	Source / configuration
src/custom-ur-descriptions/lix_moveit_config/config/kinematics.yaml	Source / configuration
src/custom-ur-descriptions/lix_moveit_config/config/ompl_planning.yaml	Source / configuration
src/custom-ur-descriptions/lix_moveit_config/config/pilz_cartesian_limits.yaml	Source / configuration
src/custom-ur-descriptions/lix_moveit_config/config/pilz_industrial_motion_planner_planning.yaml	Source / configuration
src/custom-ur-descriptions/lix_moveit_config/config/ur_base_controllers.yaml	Source / configuration
src/custom-ur-descriptions/lix_moveit_config/launch/robot_bringup.launch.py	Source / configuration
src/custom-ur-descriptions/lix_moveit_config/package.xml	Source / configuration
src/custom-ur-descriptions/lix_moveit_config/rviz/view_robot_mtc.rviz	Documentation / metadata / asset
src/custom-ur-descriptions/lix_moveit_config/srdf/common.srdf.xacro	Source / configuration
src/custom-ur-descriptions/lix_moveit_config/srdf/hande.srdf.xacro	Source / configuration
src/custom-ur-descriptions/lix_moveit_config/srdf/ur.srdf.xacro	Source / configuration
src/custom-ur-descriptions/lix_robot_description/CMakeLists.txt	Documentation / metadata / asset
src/custom-ur-descriptions/lix_robot_description/config/ur5e_calibration.yaml	Source / configuration
src/custom-ur-descriptions/lix_robot_description/package.xml	Source / configuration
src/custom-ur-descriptions/lix_robot_description/urdf/ur_with_hande.xacro	Source / configuration

hardware / survey

Read the chapter.

Source path	Kind
scripts/survey_mapping/README.md	Documentation / metadata / asset
scripts/survey_mapping/merge_survey_bag.py	Source / configuration
scripts/survey_mapping/run_survey.py	Source / configuration
scripts/survey_mapping/survey_poses.yaml	Source / configuration
scripts/survey_mapping/teach_survey_poses.py	Source / configuration
scripts/survey_mapping/tf_qos_override.yaml	Source / configuration

integrations / beamlines

Read the chapter.

Source path	Kind
pixi.toml	Source / configuration
scripts/pdf-launch-scripts/README.md	Documentation / metadata / asset
scripts/pdf-launch-scripts/bsui-launch.sh	Source / configuration
scripts/pdf-launch-scripts/hello-talker.sh	Source / configuration
scripts/pdf-launch-scripts/mtc-moveit-launch.sh	Source / configuration
scripts/pdf-launch-scripts/robotiq-driver-entrypoint.sh	Source / configuration
scripts/pdf-launch-scripts/robotiq-driver-launch.sh	Source / configuration
scripts/pdf-launch-scripts/sample-movement-server-launch.sh	Source / configuration
scripts/pdf-launch-scripts/simple_listener.py	Source / configuration
scripts/pdf-launch-scripts/ur-driver-launch.sh	Source / configuration
scripts/pdf-launch-scripts/ur-hande-driver-launch.sh	Source / configuration
src/cms/.gitkeep	Documentation / metadata / asset
src/cms/handeye_cal_poses.yaml	Source / configuration
src/cms/poses.yaml	Source / configuration
src/lix/.gitkeep	Documentation / metadata / asset
src/lix/poses.yaml	Source / configuration

integrations / bluesky-epics

Read the chapter.

Source path	Kind
src/bluesky_ros/README.md	Documentation / metadata / asset
src/bluesky_ros/__init__.py	Source / configuration
src/bluesky_ros/mtc_ophyd_device.py	Source / configuration
src/bluesky_ros/mtc_ophyd_device_async.py	Source / configuration
src/bluesky_ros/pv_service.py	Source / configuration
src/bluesky_ros/pv_to_topic.py	Source / configuration
src/bluesky_ros/simple_mtc_bluesky.py	Source / configuration

integrations / containers

Read the chapter.

Source path	Kind
docker/README.md	Documentation / metadata / asset
docker/bsui-minimal/Dockerfile	Documentation / metadata / asset
docker/bsui-minimal/README.md	Documentation / metadata / asset
docker/bsui/Dockerfile	Documentation / metadata / asset
docker/bsui/bsui.bash	Documentation / metadata / asset
docker/epics/Dockerfile	Documentation / metadata / asset
docker/img_build.sh	Source / configuration
docker/jazzy/Dockerfile	Documentation / metadata / asset
docker/jazzy/start-vnc.sh	Source / configuration

integrations / mcp-agent

Read the chapter.

Source path	Kind
.agents/skills/robot-operation/SKILL.md	Documentation / metadata / asset
.claude/skills/robot-operation/SKILL.md	Documentation / metadata / asset
.mcp.json	Documentation / metadata / asset
src/beambot/beambot/agent/__init__.py	Source / configuration
src/beambot/beambot/agent/__main__.py	Source / configuration
src/beambot/beambot/agent/robot_agent.py	Source / configuration
src/beambot/beambot/agent/robot_operation.md	Documentation / metadata / asset

maintenance / limitations

Read the chapter.

Source path	Kind
docs/Container_documentation.md	Documentation / metadata / asset
docs/bluesky_ros.md	Documentation / metadata / asset

operate / poses

Read the chapter.

Source path	Kind
src/cms/runs/2.hold_anti_solvent_notip.json	Documentation / metadata / asset
src/cms/runs/FULL_EXPERIMENT_RUN.json	Documentation / metadata / asset
src/cms/runs/after_hotplate_toolchange.json	Documentation / metadata / asset
src/cms/runs/anti_solvent_dispense.json	Documentation / metadata / asset
src/cms/runs/anti_solvent_hold.json	Documentation / metadata / asset
src/cms/runs/antisolvent_toolex_nodispose.json	Documentation / metadata / asset
src/cms/runs/dispose_anti_solvent_tip_toolchange.json	Documentation / metadata / asset
src/cms/runs/first_solution_dispense.json	Documentation / metadata / asset
src/cms/runs/hotplate_to_garage.json	Documentation / metadata / asset
src/cms/runs/manual_spincoater_pickup.json	Documentation / metadata / asset
src/cms/runs/new1spincoater_pickup.json	Documentation / metadata / asset
src/cms/runs/oscan.json	Documentation / metadata / asset
src/cms/runs/pick_place_samplebar1.json	Documentation / metadata / asset
src/cms/runs/pick_place_samplebar2.json	Documentation / metadata / asset
src/cms/runs/pickup_from_spincoater.json	Documentation / metadata / asset
src/cms/runs/place_on_hotplate.json	Documentation / metadata / asset
src/cms/runs/place_on_sampleholder1.json	Documentation / metadata / asset
src/cms/runs/place_on_sampleholder2.json	Documentation / metadata / asset
src/cms/runs/sample_to_spincoater.json	Documentation / metadata / asset
src/cms/runs/tip_scanner.json	Documentation / metadata / asset

operate / tasks

Read the chapter.

Source path	Kind
src/cms/tasks/demo_epick_moveto.json	Documentation / metadata / asset
src/cms/tasks/epick_spincoater_forward_retract.json	Documentation / metadata / asset
src/cms/tasks/epick_tool_exchange_to_spincoater.json	Documentation / metadata / asset
src/cms/tasks/hande_spincoat_to_hotplate.json	Documentation / metadata / asset
src/cms/tasks/perf_safe_transport_to_safe_exchange.json	Documentation / metadata / asset
src/cms/tasks/pipettor_tip_pickup.json	Documentation / metadata / asset
src/cms/tasks/pipettor_tip_to_spincoater.json	Documentation / metadata / asset
src/cms/tasks/sample_to_spincoater.json	Documentation / metadata / asset
src/cms/tasks/spincoat_to_hotplate.json	Documentation / metadata / asset
src/cms/tasks/transport_to_exchange_nogripper.json	Documentation / metadata / asset

reference / actions

Read the chapter.

Source path	Kind
src/beambot_interfaces/CMakeLists.txt	Documentation / metadata / asset
src/beambot_interfaces/action/EndEffectorAction.action	Source / configuration
src/beambot_interfaces/action/MTCExecution.action	Source / configuration
src/beambot_interfaces/action/MoveToAction.action	Source / configuration
src/beambot_interfaces/action/PickSampleAction.action	Source / configuration
src/beambot_interfaces/action/PipettorAction.action	Source / configuration
src/beambot_interfaces/action/PlaceSampleAction.action	Source / configuration
src/beambot_interfaces/action/ToolExchangeAction.action	Source / configuration
src/beambot_interfaces/action/VisionScanAction.action	Source / configuration
src/beambot_interfaces/action/VisionTaskAction.action	Source / configuration
src/beambot_interfaces/package.xml	Source / configuration

reference / commands

Read the chapter.

Source path	Kind
src/beambot/scripts/beambot_client.py	Source / configuration
src/beambot/scripts/capture_octomap.py	Source / configuration
src/beambot/scripts/perf_trace_run.sh	Source / configuration
src/beambot/scripts/perf_trace_summarize.py	Source / configuration
utils/sim_start_mcp.sh	Source / configuration
utils/start_mcp.sh	Source / configuration
utils/start_mcp_nobag.sh	Source / configuration
utils/start_robot.sh	Source / configuration
utils/start_robot_nobag.sh	Source / configuration
utils/start_ursim.sh	Source / configuration

reference / configuration

Read the chapter.

Source path	Kind
src/beambot/config/beamline_scene.yaml	Source / configuration
src/beambot/config/cms_beamline.yaml	Source / configuration
src/beambot/config/cms_drylab.yaml	Source / configuration
src/beambot/config/lix_beamline.yaml	Source / configuration
src/beambot/config/oscan_octomap.bt	Documentation / metadata / asset
src/beambot/config/zivid/manufacturing_specular.yml	Source / configuration
src/beambot/config/zivid/manufacturing_specular_fullres.yml	Source / configuration
src/beambot/config/zivid/scene_capture_noproj.yml	Source / configuration
src/beambot/config/zivid/zivid_settings.yml	Source / configuration

reference / launch

Read the chapter.

Source path	Kind
src/beambot/launch/beambot_bringup.launch.py	Source / configuration
src/beambot/launch/octomap_mapping.launch.py	Source / configuration

reference / mcp

Read the chapter.

Source path	Kind
src/beambot/mcp_server/beambot_mcp_server.py	Source / configuration
src/beambot/mcp_server/point_selector_gui.py	Source / configuration

reference / modules

Read the chapter.

Source path	Kind
src/beambot/CMakeLists.txt	Documentation / metadata / asset
src/beambot/beambot/__init__.py	Source / configuration
src/beambot/package.xml	Source / configuration
src/demos/hello_orchestrator_py/CMakeLists.txt	Documentation / metadata / asset
src/demos/hello_orchestrator_py/README.md	Documentation / metadata / asset
src/demos/hello_orchestrator_py/config/demo_task.json	Documentation / metadata / asset
src/demos/hello_orchestrator_py/hello_orchestrator_py/__init__.py	Source / configuration
src/demos/hello_orchestrator_py/hello_orchestrator_py/base_action_server.py	Source / configuration
src/demos/hello_orchestrator_py/hello_orchestrator_py/stages/__init__.py	Source / configuration
src/demos/hello_orchestrator_py/hello_orchestrator_py/stages/base_stages.py	Source / configuration
src/demos/hello_orchestrator_py/hello_orchestrator_py/stages/move_stages.py	Source / configuration
src/demos/hello_orchestrator_py/hello_orchestrator_py/stages/print_stages.py	Source / configuration
src/demos/hello_orchestrator_py/launch/demo.launch.py	Source / configuration
src/demos/hello_orchestrator_py/package.xml	Source / configuration
src/demos/hello_orchestrator_py/resource/hello_orchestrator_py	Documentation / metadata / asset
src/demos/hello_orchestrator_py/scripts/move_server.py	Source / configuration
src/demos/hello_orchestrator_py/scripts/orchestrator_client.py	Source / configuration
src/demos/hello_orchestrator_py/scripts/orchestrator_server.py	Source / configuration
src/demos/hello_orchestrator_py/scripts/print_server.py	Source / configuration
src/demos/hello_orchestrator_py_interfaces/CMakeLists.txt	Documentation / metadata / asset
src/demos/hello_orchestrator_py_interfaces/action/MoveToNamedState.action	Source / configuration
src/demos/hello_orchestrator_py_interfaces/action/OrchestratorTask.action	Source / configuration
src/demos/hello_orchestrator_py_interfaces/action/PrintMessage.action	Source / configuration
src/demos/hello_orchestrator_py_interfaces/package.xml	Source / configuration
src/mtc_gui/README.md	Documentation / metadata / asset
src/mtc_gui/launch/mtc_gui_client.launch.py	Source / configuration
src/mtc_gui/mtc_gui/__init__.py	Source / configuration
src/mtc_gui/mtc_gui/agent_bridge.py	Source / configuration
src/mtc_gui/mtc_gui/agent_modes.py	Source / configuration
src/mtc_gui/mtc_gui/camera_panel.py	Source / configuration
src/mtc_gui/mtc_gui/chat_panel.py	Source / configuration
src/mtc_gui/mtc_gui/main.py	Source / configuration
src/mtc_gui/mtc_gui/main_window.py	Source / configuration
src/mtc_gui/mtc_gui/pose_dialogs.py	Source / configuration
src/mtc_gui/mtc_gui/pose_io.py	Source / configuration
src/mtc_gui/mtc_gui/poses_panel.py	Source / configuration
src/mtc_gui/mtc_gui/resources/ColladaLoader.global.js	Documentation / metadata / asset
src/mtc_gui/mtc_gui/resources/OrbitControls.global.js	Documentation / metadata / asset
src/mtc_gui/mtc_gui/resources/STLLoader.global.js	Documentation / metadata / asset
src/mtc_gui/mtc_gui/resources/URDFLoader.global.js	Documentation / metadata / asset
src/mtc_gui/mtc_gui/resources/three.min.js	Documentation / metadata / asset
src/mtc_gui/mtc_gui/resources/viewer.html	Documentation / metadata / asset
src/mtc_gui/mtc_gui/ros2_bridge.py	Source / configuration
src/mtc_gui/mtc_gui/step_list_panel.py	Source / configuration
src/mtc_gui/mtc_gui/task_forms.py	Source / configuration
src/mtc_gui/mtc_gui/theme.py	Source / configuration
src/mtc_gui/mtc_gui/visualization_panel.py	Source / configuration
src/mtc_gui/package.xml	Source / configuration
src/mtc_gui/resource/mtc_gui	Documentation / metadata / asset
src/mtc_gui/setup.cfg	Documentation / metadata / asset
src/mtc_gui/setup.py	Source / configuration

reference / packages

Read the chapter.

Source path	Kind
.dockerignore	Documentation / metadata / asset
.doecode.yml	Source / configuration
.github/dependabot.yml	Source / configuration
.github/workflows/docker-publish.yml	Source / configuration
.github/workflows/ruff.yml	Source / configuration
.github/workflows/super-linter.yml	Source / configuration
.gitignore	Documentation / metadata / asset
.pre-commit-config.yaml	Source / configuration
LICENSE	Documentation / metadata / asset
LICENSE_README	Documentation / metadata / asset

reference / tasks

Read the chapter.

Source path	Kind
src/beambot/beambot/core/task_script.py	Source / configuration

start / index

Read the chapter.

Source path	Kind
README.md	Documentation / metadata / asset

start / setup

Read the chapter.

Source path	Kind
setup.sh	Source / configuration