Python interface classes and action servers for control of the Baxter Research Robot from Rethink Robotics

.
|
+-- src/                                  baxter_interface api
|   +-- baxter_interface/                 baxter component classes
|       +-- analog_io.py
|       +-- camera.py
|       +-- digital_io.py
|       +-- gripper.py
|       +-- head.py
|       +-- limb.py
|       +-- navigator.py
|       +-- robot_enable.py
|       +-- robust_controller.py
|       +-- settings.py
|   +-- baxter_control/                   generic control utilities
|   +-- baxter_dataflow/                  timing/program flow utilities
|   +-- joint_trajectory_action/          joint trajectory action implementation
|   +-- gripper_action/                   gripper action implementation
|
+-- scripts/                              action server executables
|   +-- joint_trajectory_action_server.py
|   +-- gripper_action_server.py
|
+-- cfg/                                  dynamic reconfigure action configs

http://sdk.rethinkrobotics.com/wiki/Release-Changes