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Browse code and configuration from the documented EROBS edition. Each listing links to its explanatory guide. Generated assets, credentials, and private agent configuration are excluded.

File	Explanation
.doecode.yml	packages
.github/dependabot.yml	packages
.github/workflows/docker-publish.yml	packages
.github/workflows/ruff.yml	packages
.github/workflows/super-linter.yml	packages
.pre-commit-config.yaml	packages
docker/img_build.sh	containers
docker/jazzy/start-vnc.sh	containers
scripts/pdf-launch-scripts/bsui-launch.sh	beamlines
scripts/pdf-launch-scripts/hello-talker.sh	beamlines
scripts/pdf-launch-scripts/mtc-moveit-launch.sh	beamlines
scripts/pdf-launch-scripts/robotiq-driver-entrypoint.sh	beamlines
scripts/pdf-launch-scripts/robotiq-driver-launch.sh	beamlines
scripts/pdf-launch-scripts/sample-movement-server-launch.sh	beamlines
scripts/pdf-launch-scripts/simple_listener.py	beamlines
scripts/pdf-launch-scripts/ur-driver-launch.sh	beamlines
scripts/pdf-launch-scripts/ur-hande-driver-launch.sh	beamlines
scripts/survey_mapping/merge_survey_bag.py	survey
scripts/survey_mapping/run_survey.py	survey
scripts/survey_mapping/survey_poses.yaml	survey
scripts/survey_mapping/teach_survey_poses.py	survey
scripts/survey_mapping/tf_qos_override.yaml	survey
setup.sh	setup
src/beambot/beambot/init.py	modules
src/beambot/beambot/action_servers/init.py	execution
src/beambot/beambot/action_servers/base_action_server.py	execution
src/beambot/beambot/action_servers/end_effector_server.py	execution
src/beambot/beambot/action_servers/move_to_server.py	execution
src/beambot/beambot/action_servers/orchestrator.py	execution
src/beambot/beambot/action_servers/pipettor_server.py	execution
src/beambot/beambot/action_servers/sample_pick_place_server.py	execution
src/beambot/beambot/action_servers/tool_exchange_server.py	execution
src/beambot/beambot/action_servers/vision_scan_server.py	execution
src/beambot/beambot/action_servers/vision_task_server.py	execution
src/beambot/beambot/agent/init.py	mcp-agent
src/beambot/beambot/agent/main.py	mcp-agent
src/beambot/beambot/agent/robot_agent.py	mcp-agent
src/beambot/beambot/config_loader.py	configuration
src/beambot/beambot/core/init.py	lifecycle
src/beambot/beambot/core/moveit_lifecycle_manager.py	lifecycle
src/beambot/beambot/core/plan_cache.py	batching
src/beambot/beambot/core/task_batching.py	batching
src/beambot/beambot/core/task_script.py	tasks
src/beambot/beambot/core/tool_exchange_manager.py	lifecycle
src/beambot/beambot/core/vacuum_monitor.py	lifecycle
src/beambot/beambot/mapping/init.py	calibration-scenes
src/beambot/beambot/mapping/octomap_to_planning_scene.py	calibration-scenes
src/beambot/beambot/mapping/pointcloud_relay.py	calibration-scenes
src/beambot/beambot/stages/init.py	execution
src/beambot/beambot/stages/base_stages.py	execution
src/beambot/beambot/stages/end_effector_stages.py	execution
src/beambot/beambot/stages/move_to_stages.py	execution
src/beambot/beambot/stages/pick_sample_stages.py	execution
src/beambot/beambot/stages/pipettor_stages.py	execution
src/beambot/beambot/stages/place_sample_stages.py	execution
src/beambot/beambot/stages/tool_exchange_stages.py	execution
src/beambot/beambot/stages/vision_task_stages.py	execution
src/beambot/beambot/vision/init.py	perception
src/beambot/beambot/vision/camera/init.py	cameras
src/beambot/beambot/vision/camera/zed.py	cameras
src/beambot/beambot/vision/camera/zivid.py	cameras
src/beambot/beambot/vision/detection/init.py	perception
src/beambot/beambot/vision/detection/image_detection.py	perception
src/beambot/beambot/vision/detection/spincoater_detection.py	perception
src/beambot/beambot/vision/detection/yolo_object_detection.py	perception
src/beambot/beambot/vision/motion_target.py	perception
src/beambot/beambot/vision/vision_engine.py	perception
src/beambot/beambot/vision/vision_task_detection.py	perception
src/beambot/config/beamline_scene.yaml	configuration
src/beambot/config/cms_beamline.yaml	configuration
src/beambot/config/cms_drylab.yaml	configuration
src/beambot/config/lix_beamline.yaml	configuration
src/beambot/config/zivid/manufacturing_specular.yml	configuration
src/beambot/config/zivid/manufacturing_specular_fullres.yml	configuration
src/beambot/config/zivid/scene_capture_noproj.yml	configuration
src/beambot/config/zivid/zivid_settings.yml	configuration
src/beambot/launch/beambot_bringup.launch.py	launch
src/beambot/launch/octomap_mapping.launch.py	launch
src/beambot/mcp_server/beambot_mcp_server.py	mcp
src/beambot/mcp_server/point_selector_gui.py	mcp
src/beambot/package.xml	modules
src/beambot/scripts/beambot_client.py	commands
src/beambot/scripts/capture_octomap.py	commands
src/beambot/scripts/perf_trace_run.sh	commands
src/beambot/scripts/perf_trace_summarize.py	commands
src/beambot_interfaces/action/EndEffectorAction.action	actions
src/beambot_interfaces/action/MTCExecution.action	actions
src/beambot_interfaces/action/MoveToAction.action	actions
src/beambot_interfaces/action/PickSampleAction.action	actions
src/beambot_interfaces/action/PipettorAction.action	actions
src/beambot_interfaces/action/PlaceSampleAction.action	actions
src/beambot_interfaces/action/ToolExchangeAction.action	actions
src/beambot_interfaces/action/VisionScanAction.action	actions
src/beambot_interfaces/action/VisionTaskAction.action	actions
src/beambot_interfaces/package.xml	actions
src/bluesky_ros/init.py	bluesky-epics
src/bluesky_ros/mtc_ophyd_device.py	bluesky-epics
src/bluesky_ros/mtc_ophyd_device_async.py	bluesky-epics
src/bluesky_ros/pv_service.py	bluesky-epics
src/bluesky_ros/pv_to_topic.py	bluesky-epics
src/bluesky_ros/simple_mtc_bluesky.py	bluesky-epics
src/cms/handeye_cal_poses.yaml	beamlines
src/cms/poses.yaml	beamlines
src/custom-ur-descriptions/cms_moveit_config/config/2fg7/initial_positions.yaml	robot-models
src/custom-ur-descriptions/cms_moveit_config/config/2fg7/joint_limits.yaml	robot-models
src/custom-ur-descriptions/cms_moveit_config/config/2fg7/moveit_controllers.yaml	robot-models
src/custom-ur-descriptions/cms_moveit_config/config/epick/initial_positions.yaml	robot-models
src/custom-ur-descriptions/cms_moveit_config/config/epick/joint_limits.yaml	robot-models
src/custom-ur-descriptions/cms_moveit_config/config/epick/moveit_controllers.yaml	robot-models
src/custom-ur-descriptions/cms_moveit_config/config/epick_controllers.yaml	robot-models
src/custom-ur-descriptions/cms_moveit_config/config/hande/initial_positions.yaml	robot-models
src/custom-ur-descriptions/cms_moveit_config/config/hande/joint_limits.yaml	robot-models
src/custom-ur-descriptions/cms_moveit_config/config/hande/moveit_controllers.yaml	robot-models
src/custom-ur-descriptions/cms_moveit_config/config/hande_controllers.yaml	robot-models
src/custom-ur-descriptions/cms_moveit_config/config/joystick_teleop.yaml	robot-models
src/custom-ur-descriptions/cms_moveit_config/config/kinematics.yaml	robot-models
src/custom-ur-descriptions/cms_moveit_config/config/none/initial_positions.yaml	robot-models
src/custom-ur-descriptions/cms_moveit_config/config/none/joint_limits.yaml	robot-models
src/custom-ur-descriptions/cms_moveit_config/config/none/moveit_controllers.yaml	robot-models
src/custom-ur-descriptions/cms_moveit_config/config/ompl_planning.yaml	robot-models
src/custom-ur-descriptions/cms_moveit_config/config/pilz_cartesian_limits.yaml	robot-models
src/custom-ur-descriptions/cms_moveit_config/config/pilz_industrial_motion_planner_planning.yaml	robot-models
src/custom-ur-descriptions/cms_moveit_config/config/pipettor/initial_positions.yaml	robot-models
src/custom-ur-descriptions/cms_moveit_config/config/pipettor/joint_limits.yaml	robot-models
src/custom-ur-descriptions/cms_moveit_config/config/pipettor/moveit_controllers.yaml	robot-models
src/custom-ur-descriptions/cms_moveit_config/config/servo.yaml	robot-models
src/custom-ur-descriptions/cms_moveit_config/config/stomp_planning.yaml	robot-models
src/custom-ur-descriptions/cms_moveit_config/config/ur_base_controllers.yaml	robot-models
src/custom-ur-descriptions/cms_moveit_config/launch/robot_bringup.launch.py	robot-models
src/custom-ur-descriptions/cms_moveit_config/package.xml	robot-models
src/custom-ur-descriptions/cms_moveit_config/src/servo_node_jazzy.cpp	robot-models
src/custom-ur-descriptions/cms_moveit_config/srdf/2fg7.srdf.xacro	robot-models
src/custom-ur-descriptions/cms_moveit_config/srdf/common.srdf.xacro	robot-models
src/custom-ur-descriptions/cms_moveit_config/srdf/epick.srdf.xacro	robot-models
src/custom-ur-descriptions/cms_moveit_config/srdf/hande.srdf.xacro	robot-models
src/custom-ur-descriptions/cms_moveit_config/srdf/none.srdf.xacro	robot-models
src/custom-ur-descriptions/cms_moveit_config/srdf/pipettor.srdf.xacro	robot-models
src/custom-ur-descriptions/cms_moveit_config/srdf/ur.srdf.xacro	robot-models
src/custom-ur-descriptions/cms_robot_description/config/hand_eye_calibration.yaml	robot-models
src/custom-ur-descriptions/cms_robot_description/config/ur5e_calibration.yaml	robot-models
src/custom-ur-descriptions/cms_robot_description/package.xml	robot-models
src/custom-ur-descriptions/cms_robot_description/urdf/convert_urdf_for_isaac.sh	robot-models
src/custom-ur-descriptions/cms_robot_description/urdf/isaac_sim_joint_params.yaml	robot-models
src/custom-ur-descriptions/cms_robot_description/urdf/te_coupling.xacro	robot-models
src/custom-ur-descriptions/cms_robot_description/urdf/te_robotside.xacro	robot-models
src/custom-ur-descriptions/cms_robot_description/urdf/te_toolside.xacro	robot-models
src/custom-ur-descriptions/cms_robot_description/urdf/tool_block.xacro	robot-models
src/custom-ur-descriptions/cms_robot_description/urdf/ur_standalone.xacro	robot-models
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_2fg7.xacro	robot-models
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_epick.xacro	robot-models
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_hande.xacro	robot-models
src/custom-ur-descriptions/cms_robot_description/urdf/ur_with_zivid_pipettor.xacro	robot-models
src/custom-ur-descriptions/cms_robot_description/urdf/urdf_to_usd.py	robot-models
src/custom-ur-descriptions/cms_robot_description/urdf/wrist_extension.xacro	robot-models
src/custom-ur-descriptions/cms_robot_description/urdf/zivid_camera_mount.xacro	robot-models
src/custom-ur-descriptions/lix_moveit_config/config/hande/initial_positions.yaml	robot-models
src/custom-ur-descriptions/lix_moveit_config/config/hande/joint_limits.yaml	robot-models
src/custom-ur-descriptions/lix_moveit_config/config/hande/moveit_controllers.yaml	robot-models
src/custom-ur-descriptions/lix_moveit_config/config/hande_controllers.yaml	robot-models
src/custom-ur-descriptions/lix_moveit_config/config/kinematics.yaml	robot-models
src/custom-ur-descriptions/lix_moveit_config/config/ompl_planning.yaml	robot-models
src/custom-ur-descriptions/lix_moveit_config/config/pilz_cartesian_limits.yaml	robot-models
src/custom-ur-descriptions/lix_moveit_config/config/pilz_industrial_motion_planner_planning.yaml	robot-models
src/custom-ur-descriptions/lix_moveit_config/config/ur_base_controllers.yaml	robot-models
src/custom-ur-descriptions/lix_moveit_config/launch/robot_bringup.launch.py	robot-models
src/custom-ur-descriptions/lix_moveit_config/package.xml	robot-models
src/custom-ur-descriptions/lix_moveit_config/srdf/common.srdf.xacro	robot-models
src/custom-ur-descriptions/lix_moveit_config/srdf/hande.srdf.xacro	robot-models
src/custom-ur-descriptions/lix_moveit_config/srdf/ur.srdf.xacro	robot-models
src/custom-ur-descriptions/lix_robot_description/config/ur5e_calibration.yaml	robot-models
src/custom-ur-descriptions/lix_robot_description/package.xml	robot-models
src/custom-ur-descriptions/lix_robot_description/urdf/ur_with_hande.xacro	robot-models
src/demos/hello_orchestrator_py/hello_orchestrator_py/init.py	modules
src/demos/hello_orchestrator_py/hello_orchestrator_py/base_action_server.py	modules
src/demos/hello_orchestrator_py/hello_orchestrator_py/stages/init.py	modules
src/demos/hello_orchestrator_py/hello_orchestrator_py/stages/base_stages.py	modules
src/demos/hello_orchestrator_py/hello_orchestrator_py/stages/move_stages.py	modules
src/demos/hello_orchestrator_py/hello_orchestrator_py/stages/print_stages.py	modules
src/demos/hello_orchestrator_py/launch/demo.launch.py	modules
src/demos/hello_orchestrator_py/package.xml	modules
src/demos/hello_orchestrator_py/scripts/move_server.py	modules
src/demos/hello_orchestrator_py/scripts/orchestrator_client.py	modules
src/demos/hello_orchestrator_py/scripts/orchestrator_server.py	modules
src/demos/hello_orchestrator_py/scripts/print_server.py	modules
src/demos/hello_orchestrator_py_interfaces/action/MoveToNamedState.action	modules
src/demos/hello_orchestrator_py_interfaces/action/OrchestratorTask.action	modules
src/demos/hello_orchestrator_py_interfaces/action/PrintMessage.action	modules
src/demos/hello_orchestrator_py_interfaces/package.xml	modules
src/end_effectors/end_effectors.repos	end-effectors
src/end_effectors/epick_config/config/suction_cups.yaml	end-effectors
src/end_effectors/epick_config/launch/epick_bringup.launch.py	end-effectors
src/end_effectors/epick_config/package.xml	end-effectors
src/end_effectors/epick_config/urdf/epick_overlay.xacro	end-effectors
src/end_effectors/onrobot_2fg7_description/config/2fg7_params.yaml	end-effectors
src/end_effectors/onrobot_2fg7_description/package.xml	end-effectors
src/end_effectors/onrobot_2fg7_description/urdf/onrobot_2fg7.xacro	end-effectors
src/end_effectors/onrobot_2fg7_driver/launch/2fg7_driver.launch.py	end-effectors
src/end_effectors/onrobot_2fg7_driver/onrobot_2fg7_driver/init.py	end-effectors
src/end_effectors/onrobot_2fg7_driver/onrobot_2fg7_driver/driver_node.py	end-effectors
src/end_effectors/onrobot_2fg7_driver/onrobot_2fg7_driver/modbus_client.py	end-effectors
src/end_effectors/onrobot_2fg7_driver/package.xml	end-effectors
src/end_effectors/onrobot_2fg7_driver/test_scripts/test_modbus_client.py	end-effectors
src/end_effectors/onrobot_2fg7_driver/test_scripts/test_modbus_direct.py	end-effectors
src/end_effectors/onrobot_2fg7_driver/test_scripts/test_ros2_driver.sh	end-effectors
src/lix/poses.yaml	beamlines
src/mtc_gui/launch/mtc_gui_client.launch.py	modules
src/mtc_gui/mtc_gui/init.py	modules
src/mtc_gui/mtc_gui/agent_bridge.py	modules
src/mtc_gui/mtc_gui/agent_modes.py	modules
src/mtc_gui/mtc_gui/camera_panel.py	modules
src/mtc_gui/mtc_gui/chat_panel.py	modules
src/mtc_gui/mtc_gui/main.py	modules
src/mtc_gui/mtc_gui/main_window.py	modules
src/mtc_gui/mtc_gui/pose_dialogs.py	modules
src/mtc_gui/mtc_gui/pose_io.py	modules
src/mtc_gui/mtc_gui/poses_panel.py	modules
src/mtc_gui/mtc_gui/ros2_bridge.py	modules
src/mtc_gui/mtc_gui/step_list_panel.py	modules
src/mtc_gui/mtc_gui/task_forms.py	modules
src/mtc_gui/mtc_gui/theme.py	modules
src/mtc_gui/mtc_gui/visualization_panel.py	modules
src/mtc_gui/package.xml	modules
src/mtc_gui/setup.py	modules
src/vision/vision.repos	cameras
utils/sim_start_mcp.sh	commands
utils/start_mcp.sh	commands
utils/start_mcp_nobag.sh	commands
utils/start_robot.sh	commands
utils/start_robot_nobag.sh	commands
utils/start_ursim.sh	commands