diff --git a/.gitignore b/.gitignore
new file mode 100644
index 000000000..c73668c0a
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,17 @@
+*.pyc
+*.swp
+urdf.rviz
+node_modules/
+/CMakeLists.txt
+tmp_blockly/
+tmp_code_to_execute/
+.vscode
+*.egg-info
+*__pycache__
+.idea/*
+venv
+
+_build/
+.pytest_cache/
+
+/dev/
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 000000000..20d40b6bc
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
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+  THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW.  EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+  16. Limitation of Liability.
+
+  IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) <year>  <name of author>
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+  If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+    <program>  Copyright (C) <year>  <name of author>
+    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+  The GNU General Public License does not permit incorporating your program
+into proprietary programs.  If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library.  If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.  But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.
\ No newline at end of file
diff --git a/README.md b/README.md
new file mode 100644
index 000000000..8c9922d1d
--- /dev/null
+++ b/README.md
@@ -0,0 +1,17 @@
+# Ned ROS stack
+
+Licensed under GPLv3 (see [LICENSE file](LICENSE))
+
+This repository contains all ROS packages used on Ned robot (Raspberry Pi 4B - Ubuntu server 18.04.5 for ARM).
+## Ned ROS Stack overview
+
+Here's a global overview of Ned ROS Stack :
+
+![Ned ros stack - global overview](https://niryo.com/wp-content/uploads/github/ned_global_overview.jpg)
+## How to use Ned with a graphical interface ?
+
+You can [download Niryo Studio](https://niryo.com/download/?utm_source=github) (Linux, Windows and MacOS compatible).
+
+## Documentation link
+
+You can find the whole generated documentation of this project at [Niryo Documentation](https://niryo.com/)
\ No newline at end of file
diff --git a/niryo_robot_bringup/CMakeLists.txt b/niryo_robot_bringup/CMakeLists.txt
new file mode 100644
index 000000000..8b9cdcd5c
--- /dev/null
+++ b/niryo_robot_bringup/CMakeLists.txt
@@ -0,0 +1,7 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(niryo_robot_bringup)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
diff --git a/niryo_robot_bringup/launch/desktop_gazebo_simulation.launch b/niryo_robot_bringup/launch/desktop_gazebo_simulation.launch
new file mode 100644
index 000000000..e15976653
--- /dev/null
+++ b/niryo_robot_bringup/launch/desktop_gazebo_simulation.launch
@@ -0,0 +1,41 @@
+<!-- This launch file allows to run simulation on Gazebo
+Warning : Some errors are present in Gazebo
+-> It will log some errors because it cannot unload joint_controller (It's because ROS does it before Gazebo)
+-> Gazebo GUI is kinda bad on closing. It will always run into SIGTERM. So, what you should do is
+to change _TIMEOUT_SIGINT value in the file /opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/nodeprocess.py
+This will reduce the amount of time spent waiting during program shutdown
+-->
+<launch>
+    <!-- Arguments definition -->
+    <arg name="gripper_n_camera" default="true"/>
+    <arg name="gui" default="true"/>
+    <arg name="hardware_version" value="ned"/>
+
+    <!-- Load URDF -->
+    <arg name="urdf_path" value="urdf/$(arg hardware_version)/niryo_$(arg hardware_version)_gripper1_n_camera.urdf.xacro" if="$(arg gripper_n_camera)"/>
+    <arg name="urdf_path" value="urdf/$(arg hardware_version)/niryo_$(arg hardware_version)_gazebo.urdf.xacro" unless="$(arg gripper_n_camera)"/>
+
+    <param name="robot_description"
+        command="$(find xacro)/xacro $(find niryo_robot_description)/$(arg urdf_path)"/>
+
+    <param name="robot_description_tf2"
+        command="$(find xacro)/xacro $(find niryo_robot_description)/$(arg urdf_path)"/>
+
+    <!-- Define most of ROS parameters -->
+    <include file="$(find niryo_robot_bringup)/launch/niryo_robot_base_simulation.launch.xml">
+        <arg name="simu_gripper" value="$(arg gripper_n_camera)"/>
+        <arg name="gazebo" value="true"/>
+    </include>
+
+    <!-- Launching Gazebo World -->
+    <include file="$(find niryo_robot_gazebo)/launch/niryo_robot_gazebo_world.launch.xml">
+        <arg name="gui" value="$(arg gui)"/>
+    </include>
+
+    <!-- Launching vision if the user didn't swap camera arg to false -->
+    <include file="$(find niryo_robot_vision)/launch/vision_node.launch" if="$(arg gripper_n_camera)">
+        <arg name="simulation_mode" value="true"/>
+    </include>
+        <param name="/niryo_robot_vision/initialized" type="bool" value="true" unless="$(arg gripper_n_camera)"/>
+
+</launch>
diff --git a/niryo_robot_bringup/launch/desktop_rviz_simulation.launch b/niryo_robot_bringup/launch/desktop_rviz_simulation.launch
new file mode 100644
index 000000000..45e6ece8a
--- /dev/null
+++ b/niryo_robot_bringup/launch/desktop_rviz_simulation.launch
@@ -0,0 +1,28 @@
+<launch>
+    <!-- Arguments definition -->
+    <arg name="gui" default="true"/>
+    <arg name="hardware_version" value="ned"/>
+
+    <!-- Load URDF -->
+    <arg name="urdf_path" value="urdf/$(arg hardware_version)/niryo_$(arg hardware_version).urdf.xacro"/>
+
+    <param name="robot_description"
+           command="$(find xacro)/xacro $(find niryo_robot_description)/$(arg urdf_path)"/>
+
+    <param name="robot_description_tf2"
+           command="$(find xacro)/xacro $(find niryo_robot_description)/$(arg urdf_path)"/>
+
+
+    <!-- Define most of ROS parameters -->
+    <include file="$(find niryo_robot_bringup)/launch/niryo_robot_base_simulation.launch.xml">
+    </include>
+
+    <group if="$(arg gui)">
+        <!-- Launching Rviz -->
+        <node name="rviz" pkg="rviz" type="rviz" args="-d $(find niryo_robot_description)/config/default_config.rviz"/>
+    </group>
+
+    <group ns="niryo_robot/info">
+        <param name="/niryo_robot_vision/initialized" type="bool" value="true"/>
+    </group>
+</launch>
diff --git a/niryo_robot_bringup/launch/niryo_ned_robot.launch b/niryo_robot_bringup/launch/niryo_ned_robot.launch
new file mode 100644
index 000000000..ad5f26c7b
--- /dev/null
+++ b/niryo_robot_bringup/launch/niryo_ned_robot.launch
@@ -0,0 +1,10 @@
+<launch>
+    <!-- Arguments definition -->
+    <arg name="iot_enabled" default="false"/>
+    <arg name="debug" default="false"/>
+
+    <include file="$(find niryo_robot_bringup)/launch/niryo_robot_base_robot.launch.xml">>
+        <arg name="iot_enabled" value="$(arg iot_enabled)"/>
+        <arg name="debug" value="$(arg debug)"/>
+    </include>
+</launch>
diff --git a/niryo_robot_bringup/launch/niryo_robot_base_common.launch.xml b/niryo_robot_bringup/launch/niryo_robot_base_common.launch.xml
new file mode 100644
index 000000000..3510b4e29
--- /dev/null
+++ b/niryo_robot_bringup/launch/niryo_robot_base_common.launch.xml
@@ -0,0 +1,62 @@
+<launch>
+    <!-- Arguments -->
+    <arg name="gazebo" default="false"/>
+    <arg name="hardware_version" value="ned"/>
+    <arg name="simu_gripper" default="false"/>
+    <arg name="simulation_mode" default="false"/>
+    <arg name="debug" default="false"/>
+
+    <!-- SHARED PARAMS -->
+    <group ns="niryo_robot">
+        <param name="hardware_version" type="str" value="$(arg hardware_version)"/>
+        <param name="reboot_when_auto_change_version" type="bool" value="true"/>
+        <param name="simulation_mode" type="bool" value="$(arg simulation_mode)"/>
+    </group>
+
+    <group ns="niryo_robot/info">
+        <param name="robot_type" type="string" value="niryo_$(arg hardware_version)" />
+        <param name="ros_version" type="string" command="rosversion niryo_robot_bringup"/>
+    </group>
+
+    <group ns="niryo_robot/python_ros_wrapper">
+        <param name="service_timeout" type="int" value="2"/>
+        <param name="action_connection_timeout" type="int" value="20"/>
+        <param name="action_execute_timeout" type="int" value="60"/>
+        <param name="action_preempt_timeout" type="int" value="60"/>
+    </group>
+
+    <arg name="ros_version" value="$(optenv ROS_DISTRO kinetic)"/>
+
+    <!-- Launching TF ROS Bridge-->
+    <node name="tf2_web_republisher" pkg="tf2_web_republisher" type="tf2_web_republisher"/>
+    <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch">
+        <arg name="port" value="9090"/>
+         <arg name="output" value="log" unless="$(eval 'kinetic' == arg('ros_version'))"/>
+    </include>
+
+    <!-- Including launch files -->
+
+    <include file="$(find niryo_robot_hardware_interface)/launch/controllers.launch">
+        <arg name="gazebo" default="$(arg gazebo)"/>
+        <arg name="simu_gripper" default="$(arg simu_gripper)"/>
+        <arg name="simulation_mode" default="$(arg simulation_mode)"/>
+        <arg name="debug" value="$(arg debug)"/>
+    </include>
+
+    <include file="$(find niryo_robot_commander)/launch/robot_commander.launch">
+        <arg name="simu_gripper" value="$(arg simu_gripper)"/>
+    </include>
+
+    <include file="$(find niryo_robot_poses_handlers)/launch/poses_handlers.launch">
+        <arg name="simulation_mode" value="$(arg simulation_mode)"/>
+    </include>
+
+    <include file="$(find niryo_robot_programs_manager)/launch/programs_manager.launch">
+        <arg name="simulation_mode" value="$(arg simulation_mode)"/>
+    </include>
+
+    <include file="$(find niryo_robot_user_interface)/launch/user_interface.launch">
+    </include>
+
+    <include file="$(find niryo_robot_modbus)/launch/modbus_server.launch"/>
+</launch>
diff --git a/niryo_robot_bringup/launch/niryo_robot_base_robot.launch.xml b/niryo_robot_bringup/launch/niryo_robot_base_robot.launch.xml
new file mode 100644
index 000000000..52de8c4af
--- /dev/null
+++ b/niryo_robot_bringup/launch/niryo_robot_base_robot.launch.xml
@@ -0,0 +1,54 @@
+<launch>
+    <!-- Arguments -->
+    <arg name="iot_enabled" default="false"/>
+    <arg name="debug" default="false"/>
+    <arg name="hardware_version" value="ned"/>
+    <arg name="rpi_model" value="4"/>
+    <arg name="conf_location" value="~/.config/niryo"/>
+
+    <!-- Load URDF -->
+    <param name="robot_description"
+           command="$(find xacro)/xacro $(find niryo_robot_description)/urdf/$(arg hardware_version)/without_mesh_niryo_$(arg hardware_version).urdf.xacro"/>
+    <param name="robot_description_tf2"
+           command="$(find xacro)/xacro $(find niryo_robot_description)/urdf/$(arg hardware_version)/niryo_$(arg hardware_version).urdf.xacro"/>
+
+    <!-- PARAMS -->
+    <group ns="niryo_robot/info">
+        <param name="image_version" type="string"
+               textfile="/home/niryo/.config/niryo/version/version.txt"/>
+    </group>
+
+    <group ns="niryo_robot/robot_state">
+        <param name="rate_publish_state" type="double" value="5.0"/>
+    </group>
+
+    <!-- Including shared params & nodes -->
+
+    <include file="$(find niryo_robot_bringup)/launch/niryo_robot_base_common.launch.xml">
+        <arg name="simulation_mode" value="false"/>
+        <arg name="debug" value="$(arg debug)"/>
+    </include>
+
+    <!--   Rpi node (IO / fan / ...)   -->
+    <!-- Ned RPI 4 -->
+    <include file="$(find niryo_robot_rpi)/launch/rpi_4.launch"/>
+
+    <!-- Launching vision node -->
+    <include file="$(find niryo_robot_vision)/launch/vision_node.launch">
+        <arg name="simulation_mode" value="false"/>
+    </include>
+
+    <include file="$(find niryo_robot_iot)/launch/serial_number.launch"/>
+
+    <group if="$(arg iot_enabled)">
+        <!-- Launching IOT nodes -->
+        <include file="$(find niryo_robot_iot)/launch/mqtt_client.launch">
+            <arg name="conf_location" value="$(arg conf_location)"/>
+        </include>
+    </group>
+
+    <include file="$(find niryo_robot_system_api_client)/launch/system_api_client.launch">
+        <arg name="simulation_mode" value="false"/>
+    </include>
+
+</launch>
diff --git a/niryo_robot_bringup/launch/niryo_robot_base_simulation.launch.xml b/niryo_robot_bringup/launch/niryo_robot_base_simulation.launch.xml
new file mode 100644
index 000000000..107c829ab
--- /dev/null
+++ b/niryo_robot_bringup/launch/niryo_robot_base_simulation.launch.xml
@@ -0,0 +1,22 @@
+<launch>
+    <!-- Arguments -->
+    <arg name="gazebo" default="false"/>
+    <arg name="hardware_version" value="ned"/>
+    <arg name="simu_gripper" default="false"/>
+
+    <!-- PARAMS -->
+    <group ns="niryo_robot/robot_state">
+        <param name="rate_publish_state" type="double" value="20.0"/>
+    </group>
+
+    <!-- Including shared params & nodes -->
+    <include file="$(find niryo_robot_bringup)/launch/niryo_robot_base_common.launch.xml">
+        <arg name="gazebo" value="$(arg gazebo)"/>
+        <arg name="simulation_mode" value="true"/>
+        <arg name="simu_gripper" value="$(arg simu_gripper)"/>
+    </include>
+
+    <!-- Ghost node for enabling RPI simulation -->
+    <include file="$(find niryo_robot_rpi)/launch/rpi_simulation.launch"/>
+
+</launch>
diff --git a/niryo_robot_bringup/package.xml b/niryo_robot_bringup/package.xml
new file mode 100644
index 000000000..97d02dcf1
--- /dev/null
+++ b/niryo_robot_bringup/package.xml
@@ -0,0 +1,11 @@
+<package>
+  <name>niryo_robot_bringup</name>
+  <version>3.0.0</version>
+  <description>Provides roslaunch scripts to start Ned packages and initialize ROS params</description>
+  <author email="r.lux@niryo.com">Rémi Lux</author>
+  <maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>
+  <maintainer email="c.ducatez@niryo.com">Corentin Ducatez</maintainer>
+  <license>GPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+</package>
diff --git a/niryo_robot_commander/CMakeLists.txt b/niryo_robot_commander/CMakeLists.txt
new file mode 100644
index 000000000..22a64bca2
--- /dev/null
+++ b/niryo_robot_commander/CMakeLists.txt
@@ -0,0 +1,53 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(niryo_robot_commander)
+
+find_package(catkin REQUIRED COMPONENTS
+  actionlib_msgs
+  geometry_msgs
+  niryo_robot_msgs
+  niryo_robot_tools
+)
+
+add_message_files(
+  FILES
+  ArmMoveCommand.msg
+  PausePlanExecution.msg
+  RobotCommand.msg
+  ShiftPose.msg
+)
+
+add_service_files(
+  DIRECTORY srv
+  FILES
+  GetFK.srv
+  GetIK.srv
+  JogShift.srv
+)
+
+add_action_files(
+  DIRECTORY action
+  FILES
+  RobotMove.action
+)
+
+catkin_python_setup()
+
+generate_messages(
+  DEPENDENCIES
+  geometry_msgs
+  niryo_robot_msgs
+  niryo_robot_tools
+)
+
+catkin_package(
+  CATKIN_DEPENDS
+  actionlib_msgs
+  geometry_msgs
+  niryo_robot_msgs
+  niryo_robot_tools
+)
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
diff --git a/niryo_robot_commander/action/RobotMove.action b/niryo_robot_commander/action/RobotMove.action
new file mode 100644
index 000000000..25355a0ae
--- /dev/null
+++ b/niryo_robot_commander/action/RobotMove.action
@@ -0,0 +1,9 @@
+# goal
+niryo_robot_commander/RobotCommand cmd
+---
+# result
+int32 status
+string message
+---
+# feedback
+niryo_robot_msgs/RobotState state
diff --git a/niryo_robot_commander/config/commander_params.yaml b/niryo_robot_commander/config/commander_params.yaml
new file mode 100644
index 000000000..3b7e4f48b
--- /dev/null
+++ b/niryo_robot_commander/config/commander_params.yaml
@@ -0,0 +1,23 @@
+# - MoveIt! params
+reference_frame: world
+move_group_commander_name: arm
+joint_controller_name: "/niryo_robot_follow_joint_trajectory_controller"
+
+# Planning settings
+allow_replanning: true
+goal_joint_tolerance: 0.0001
+goal_position_tolerance: 0.0001
+goal_orientation_tolerance: 0.001
+
+trajectory_minimum_timeout : 3.0
+compute_plan_max_tries : 3
+
+# - Other params
+# "Is Active" topic's publish rate
+active_publish_rate_sec: 0.1
+
+command_still_active_max_tries : 3
+
+tool_timeout : 3.0
+
+pause_timeout : 45.0
diff --git a/niryo_robot_commander/config/jog_params.yaml b/niryo_robot_commander/config/jog_params.yaml
new file mode 100644
index 000000000..b77864c88
--- /dev/null
+++ b/niryo_robot_commander/config/jog_params.yaml
@@ -0,0 +1,11 @@
+jog_enable_publish_rate: 1.0
+
+jog_timer_rate_sec: 0.15
+
+jog_limits:
+  translation: 0.05 # Not more than 5 cm
+  rotation: 0.5 # Not more that 0.5 radians
+  joints: 0.2 # Not more than 0.2 radians
+
+time_without_jog_limit: 2.0
+check_disable_jog_rate: 1.0
diff --git a/niryo_robot_commander/config/ned/robot_command_validation.yaml b/niryo_robot_commander/config/ned/robot_command_validation.yaml
new file mode 100644
index 000000000..1cb974522
--- /dev/null
+++ b/niryo_robot_commander/config/ned/robot_command_validation.yaml
@@ -0,0 +1,28 @@
+#
+#
+# Validation for a RobotCommand
+# (taken from urdf)
+#
+
+position_limits:
+    x:
+        min: -0.50
+        max: 0.50
+    y:
+        min: -0.50
+        max: 0.50
+    z:
+        min: -0.15
+        max: 0.60
+
+rpy_limits:
+    roll:
+        min: -3.142
+        max: 3.142
+    pitch:
+        min: -3.142
+        max: 3.142
+    yaw:
+        min: -3.142
+        max: 3.142
+
diff --git a/niryo_robot_commander/config/rosconsole.config b/niryo_robot_commander/config/rosconsole.config
new file mode 100644
index 000000000..f948f53ac
--- /dev/null
+++ b/niryo_robot_commander/config/rosconsole.config
@@ -0,0 +1,3 @@
+# Override move_group_logger to output only warn and higher
+log4j.logger.ros.moveit_core.robot_model=WARN
+log4j.logger.ros.moveit_ros_occupancy_map_monitor=FATAL
diff --git a/niryo_robot_commander/launch/robot_commander.launch b/niryo_robot_commander/launch/robot_commander.launch
new file mode 100644
index 000000000..bef86fb02
--- /dev/null
+++ b/niryo_robot_commander/launch/robot_commander.launch
@@ -0,0 +1,38 @@
+<launch>
+    <arg name="hardware_version" value="ned"/>
+    <arg name="simu_gripper"/>
+
+    <!-- Command validation params -->
+    <group ns="niryo_robot/robot_command_validation">
+        <rosparam file="$(find niryo_robot_commander)/config/$(arg hardware_version)/robot_command_validation.yaml"/>
+    </group>
+
+    <!-- Override MoveIt default logging from INFO to WARn -->
+    <env name="ROSCONSOLE_CONFIG_FILE" value="$(find niryo_robot_commander)/config/rosconsole.config"/>
+
+    <!-- Moveit move_group -->
+    <group if="$(eval hardware_version == 'ned')">
+        <include file="$(find niryo_ned_moveit_config_w_gripper1)/launch/move_group.launch" if="$(arg simu_gripper)">
+            <arg name="load_robot_description" value="false"/>
+        </include>
+        <include file="$(find niryo_ned_moveit_config_standalone)/launch/move_group.launch" unless="$(arg simu_gripper)"/>
+    </group>
+    <!-- Moveit move_group params -->
+    <group ns="/move_group">
+        <!-- Disable Moveit! controller timeout -->
+        <param name="trajectory_execution/execution_duration_monitoring" value="false"/>
+
+        <param name="trajectory_execution/allowed_start_tolerance" value="0.0"/>
+
+        <!-- Allows joints to be outside of min and max values when starting -->
+        <param name="start_state_max_bounds_error" value="0.1"/>
+    </group>
+
+    <!-- Launch Robot commander node -->
+    <node name="niryo_robot_commander" pkg="niryo_robot_commander" type="robot_commander_node.py" output="screen"
+          respawn="false">
+        <rosparam command="load" file="$(find niryo_robot_commander)/config/commander_params.yaml"/>
+        <rosparam command="load" file="$(find niryo_robot_commander)/config/jog_params.yaml"/>
+        <param name="simu_gripper" type="bool" value="$(arg simu_gripper)"/>
+    </node>
+</launch>
diff --git a/niryo_robot_commander/msg/ArmMoveCommand.msg b/niryo_robot_commander/msg/ArmMoveCommand.msg
new file mode 100644
index 000000000..1e5ea54c4
--- /dev/null
+++ b/niryo_robot_commander/msg/ArmMoveCommand.msg
@@ -0,0 +1,10 @@
+int32 cmd_type
+
+float64[] joints
+geometry_msgs/Point position
+niryo_robot_msgs/RPY rpy
+geometry_msgs/Quaternion orientation
+niryo_robot_commander/ShiftPose shift
+
+geometry_msgs/Pose[] list_poses
+float32 dist_smoothing
diff --git a/niryo_robot_commander/msg/PausePlanExecution.msg b/niryo_robot_commander/msg/PausePlanExecution.msg
new file mode 100644
index 000000000..a02da64d1
--- /dev/null
+++ b/niryo_robot_commander/msg/PausePlanExecution.msg
@@ -0,0 +1,7 @@
+int8 STANDBY = 0
+int8 PLAY = 1
+int8 PAUSE = 2
+int8 RESUME = 3
+int8 CANCEL = 4
+
+int8 state
diff --git a/niryo_robot_commander/msg/RobotCommand.msg b/niryo_robot_commander/msg/RobotCommand.msg
new file mode 100644
index 000000000..540d7782d
--- /dev/null
+++ b/niryo_robot_commander/msg/RobotCommand.msg
@@ -0,0 +1,11 @@
+int32 MOVE_ONLY = 1
+int32 TOOL_ONLY = 2
+
+int32 cmd_type
+
+niryo_robot_commander/ArmMoveCommand arm_cmd
+
+niryo_robot_tools/ToolCommand tool_cmd
+
+# In the future, allow a tool command to be launched at the same time as an Arm command
+# 3 choices : arm only, arm + tool, tool only
diff --git a/niryo_robot_commander/msg/ShiftPose.msg b/niryo_robot_commander/msg/ShiftPose.msg
new file mode 100644
index 000000000..2747cea44
--- /dev/null
+++ b/niryo_robot_commander/msg/ShiftPose.msg
@@ -0,0 +1,2 @@
+int32 axis_number
+float64 value
diff --git a/niryo_robot_commander/package.xml b/niryo_robot_commander/package.xml
new file mode 100644
index 000000000..3653ad235
--- /dev/null
+++ b/niryo_robot_commander/package.xml
@@ -0,0 +1,39 @@
+<package>
+    <name>niryo_robot_commander</name>
+    <version>3.0.0</version>
+    <description>
+        Interface between user and Moveit! to easily control Ned (arm + tools). Validates params, checks if
+        previous trajectory has not finished, ...
+    </description>
+    <author email="r.lux@niryo.com">Rémi Lux</author>
+    <maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>
+    <maintainer email="v.pitre@niryo.com">Valentin Pitre</maintainer>
+    <license>GPLv3</license>
+
+    <buildtool_depend>catkin</buildtool_depend>
+
+    <build_depend>actionlib_msgs</build_depend>
+    <build_depend>geometry_msgs</build_depend>
+    <build_depend>niryo_robot_msgs</build_depend>
+    <build_depend>niryo_robot_tools</build_depend>
+
+    <run_depend>actionlib</run_depend>
+    <run_depend>actionlib_msgs</run_depend>
+    <run_depend>control_msgs</run_depend>
+    <run_depend>geometry_msgs</run_depend>
+    <run_depend>moveit</run_depend>
+    <run_depend>moveit_msgs</run_depend>
+    <run_depend>niryo_robot_hardware_interface</run_depend>
+    <run_depend>niryo_robot_msgs</run_depend>
+    <run_depend>niryo_robot_tools</run_depend>
+    <run_depend>ros_controllers</run_depend>
+    <run_depend>rosbridge_server</run_depend>
+    <run_depend>sensor_msgs</run_depend>
+    <run_depend>std_msgs</run_depend>
+    <run_depend>tf2_web_republisher</run_depend>
+    <run_depend>trajectory_msgs</run_depend>
+
+    <!-- Python Dependencies -->
+    <run_depend>python-numpy</run_depend>
+
+</package>
diff --git a/niryo_robot_commander/scripts/ArmParametersValidator.py b/niryo_robot_commander/scripts/ArmParametersValidator.py
new file mode 100755
index 000000000..d1189d7e5
--- /dev/null
+++ b/niryo_robot_commander/scripts/ArmParametersValidator.py
@@ -0,0 +1,117 @@
+#!/usr/bin/env python
+
+import rospy
+from urdf_parser_py.urdf import URDF
+
+from math import sqrt
+
+from niryo_robot_commander.command_enums import ArmCommanderException
+
+# Command Status
+from niryo_robot_msgs.msg import CommandStatus
+
+# Messages
+from geometry_msgs.msg import Point
+from niryo_robot_msgs.msg import RPY
+
+
+class ArmParametersValidator:
+    """
+    Object which allows to validate arm movement
+    """
+
+    def __init__(self, validation_consts):
+        self.validation_consts = validation_consts
+        self.joints_limits = self.joints_limits_from_urdf()
+
+    def joints_limits_from_urdf(self):
+        robot_urdf = URDF.from_parameter_server()
+        joint_name_list = ["joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6"]
+
+        self.joints_limits = []
+        for joint in robot_urdf.joints:
+            if joint.name in joint_name_list:
+                self.joints_limits.append(joint.limit)
+                rospy.set_param("/niryo_robot/robot_command_validation/joint_limits/{}".format(joint.name),
+                                {"min": joint.limit.lower, "max": joint.limit.upper})
+
+        return self.joints_limits
+
+    def get_joints_limits(self):
+        return self.joints_limits
+
+    def validate_trajectory(self, plan):
+        rospy.loginfo("Checking trajectory validity")
+        for joint in plan.trajectory.joint_trajectory.points:
+            self.validate_joints(joint.positions)
+
+    def validate_joints(self, joint_array):
+        if len(joint_array) != len(self.joints_limits):
+            raise ArmCommanderException(CommandStatus.INVALID_PARAMETERS,
+                                        "Joint array must have {} joints".format(len(self.joints_limits)))
+
+        for joint_index, joint_cmd in enumerate(joint_array):
+            if self.joints_limits[joint_index] and not self.joints_limits[joint_index].lower <= joint_cmd <= \
+                                                       self.joints_limits[joint_index].upper:
+                raise ArmCommanderException(CommandStatus.INVALID_PARAMETERS,
+                                            "joint_{} not in range ({}, {})".format(joint_index + 1, self.joints_limits[
+                                                joint_index].lower, self.joints_limits[joint_index].upper))
+
+    def validate_position(self, position):
+        if isinstance(position, Point):
+            x = position.x
+            y = position.y
+            z = position.z
+        else:
+            x, y, z = position
+
+        v = self.validation_consts['position_limits']
+
+        if x < v['x']['min'] or x > v['x']['max']:
+            raise ArmCommanderException(CommandStatus.INVALID_PARAMETERS,
+                                        "x not in range ( {} , {} )".format(v['x']['min'], v['x']['max']))
+        if y < v['y']['min'] or y > v['y']['max']:
+            raise ArmCommanderException(CommandStatus.INVALID_PARAMETERS,
+                                        "y not in range ( {} , {} )".format(v['y']['min'], v['y']['max']))
+        if z < v['z']['min'] or z > v['z']['max']:
+            raise ArmCommanderException(CommandStatus.INVALID_PARAMETERS,
+                                        "z not in range ( {} , {} )".format(v['z']['min'], v['z']['max']))
+
+    def validate_orientation(self, orientation):
+        if isinstance(orientation, RPY):
+            roll = orientation.roll
+            pitch = orientation.pitch
+            yaw = orientation.yaw
+        else:
+            roll = orientation[0]
+            pitch = orientation[1]
+            yaw = orientation[2]
+
+        v = self.validation_consts['rpy_limits']
+
+        if roll < v['roll']['min'] or roll > v['roll']['max']:
+            raise ArmCommanderException(CommandStatus.INVALID_PARAMETERS,
+                                        "roll not in range ( {} , {} )".format(v['roll']['min'], v['roll']['max']))
+
+        if pitch < v['pitch']['min'] or pitch > v['pitch']['max']:
+            raise ArmCommanderException(CommandStatus.INVALID_PARAMETERS,
+                                        "pitch not in range ( {} , {} )".format(v['pitch']['min'], v['pitch']['max']))
+
+        if yaw < v['yaw']['min'] or yaw > v['yaw']['max']:
+            raise ArmCommanderException(CommandStatus.INVALID_PARAMETERS,
+                                        "yaw not in range ( {} , {} )".format(v['yaw']['min'], v['yaw']['max']))
+
+    @staticmethod
+    def validate_orientation_quaternion(quat):
+        norm = quat.x ** 2 + quat.y ** 2 + quat.z ** 2 + quat.w ** 2
+        norm = sqrt(norm)
+        if abs(norm - 1.0) > 0.001:
+            raise ArmCommanderException(CommandStatus.INVALID_PARAMETERS,
+                                        "Quaternion is not normalised.")
+
+    @staticmethod
+    def validate_shift_pose(shift):
+        if shift.axis_number not in [0, 1, 2, 3, 4, 5]:
+            raise ArmCommanderException(CommandStatus.INVALID_PARAMETERS, "shift axis number not in [0,1,2,3,4,5]")
+        if shift.value < -1.0 or shift.value > 1.0:
+            raise ArmCommanderException(CommandStatus.INVALID_PARAMETERS, "shift value can't be null and < -1 or > 1")
diff --git a/niryo_robot_commander/scripts/__init__.py b/niryo_robot_commander/scripts/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/niryo_robot_commander/scripts/arm_commander.py b/niryo_robot_commander/scripts/arm_commander.py
new file mode 100644
index 000000000..e5a441776
--- /dev/null
+++ b/niryo_robot_commander/scripts/arm_commander.py
@@ -0,0 +1,788 @@
+#!/usr/bin/env python
+
+# Lib
+import rospy
+import moveit_commander
+from tf.transformations import quaternion_from_euler, euler_from_quaternion
+
+import copy
+import threading
+
+import math
+import numpy as np
+import random
+
+# Command Status
+from niryo_robot_msgs.msg import CommandStatus
+
+# Messages
+from actionlib_msgs.msg import GoalStatus
+from geometry_msgs.msg import Pose, Point, Quaternion
+from control_msgs.msg import FollowJointTrajectoryActionGoal
+from control_msgs.msg import FollowJointTrajectoryActionResult
+from control_msgs.msg import FollowJointTrajectoryActionFeedback
+from moveit_msgs.msg import PositionIKRequest
+from moveit_msgs.msg import MoveItErrorCodes
+from moveit_msgs.msg import RobotState as RobotStateMoveIt
+from sensor_msgs.msg import JointState
+from std_msgs.msg import Empty, Header, Int32
+from trajectory_msgs.msg import JointTrajectory
+from visualization_msgs.msg import Marker, MarkerArray
+
+from niryo_robot_msgs.msg import RobotState, RPY
+
+# Services
+from moveit_msgs.srv import GetPositionFK, GetPositionIK
+from niryo_robot_msgs.srv import Trigger
+from niryo_robot_commander.srv import GetFK, GetIK
+from niryo_robot_msgs.srv import SetInt
+
+# Enums
+from niryo_robot_commander.command_enums import MoveCommandType, ArmCommanderException
+
+
+class ArmCommander:
+    """
+    Object which command the Arm via MoveIt
+    """
+
+    def __init__(self, parameters_validator):
+
+        # Getting reference frame from robot_commander.launch
+        self.__reference_frame = rospy.get_param("~reference_frame")
+
+        # - Subscribers
+        joint_controller_base_name = rospy.get_param("~joint_controller_name")
+        rospy.Subscriber('{}/follow_joint_trajectory/goal'.format(joint_controller_base_name),
+                         FollowJointTrajectoryActionGoal, self.__callback_new_goal)
+
+        rospy.Subscriber('{}/follow_joint_trajectory/result'.format(joint_controller_base_name),
+                         FollowJointTrajectoryActionResult, self.__callback_goal_result)
+
+        rospy.Subscriber('{}/follow_joint_trajectory/feedback'.format(joint_controller_base_name),
+                         FollowJointTrajectoryActionFeedback, self.__callback_current_feedback)
+
+        self.__traj_goal_pub = rospy.Publisher('{}/follow_joint_trajectory/goal'.format(joint_controller_base_name),
+                                               FollowJointTrajectoryActionGoal, queue_size=1)
+
+        self.__joints = None
+        self.__joints_name = ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']
+        rospy.Subscriber('/joint_states', JointState, self.__callback_sub_joint_states)
+
+        # - Direct topic to joint_trajectory_controller
+        self.__current_goal_id = None
+        self.__current_feedback = None
+        self.__current_goal_result = GoalStatus.LOST
+
+        self.__joint_trajectory_publisher = rospy.Publisher('{}/command'.format(joint_controller_base_name),
+                                                            JointTrajectory, queue_size=10)
+        self.__reset_controller_service = rospy.ServiceProxy('/niryo_robot/joints_interface/steppers_reset_controller',
+                                                      Trigger)
+
+        # -- Commanders
+        # - Move It Commander
+        # Get Arm MoveGroupCommander
+        self.__arm = moveit_commander.MoveGroupCommander(rospy.get_param("~move_group_commander_name"))
+        # Get end effector link
+        self.__end_effector_link = self.__arm.get_end_effector_link()
+
+        # Set pose reference frame
+        self.__arm.set_pose_reference_frame(self.__reference_frame)
+
+        # Set planning parameters
+        self.__arm.allow_replanning(rospy.get_param("~allow_replanning"))
+        self.__arm.set_goal_joint_tolerance(rospy.get_param("~goal_joint_tolerance"))
+        self.__arm.set_goal_position_tolerance(rospy.get_param("~goal_position_tolerance"))
+        self.__arm.set_goal_orientation_tolerance(rospy.get_param("~goal_orientation_tolerance"))
+
+        rospy.loginfo("Arm commander - MoveIt! successfully connected to move_group '{}'".format(self.__arm.get_name()))
+        rospy.logdebug("Arm commander - MoveIt! will move '{}' in the"
+                       " planning_frame '{}'".format(self.__end_effector_link, self.__arm.get_planning_frame()))
+
+        # Validation
+        self.__parameters_validator = parameters_validator
+
+        # Event which allows to timeout if trajectory take too long
+        self.__traj_finished_event = threading.Event()
+
+        # Others params
+        self.__trajectory_minimum_timeout = rospy.get_param("~trajectory_minimum_timeout")
+        self.__compute_plan_max_tries = rospy.get_param("~compute_plan_max_tries")
+
+        # - CALLABLE SERVICES
+
+        # Arm velocity
+        self.__max_velocity_scaling_factor = 100  # Start robot with max velocity
+        self.__max_velocity_scaling_factor_pub = rospy.Publisher(
+            '/niryo_robot/max_velocity_scaling_factor', Int32, queue_size=10)
+        self.timer = rospy.Timer(rospy.Duration(1), self.__publish_arm_max_velocity_scaling_factor)
+        rospy.Service('/niryo_robot_commander/set_max_velocity_scaling_factor', SetInt,
+                      self.__callback_set_max_velocity_scaling_factor)
+
+        # Kinematics
+        rospy.Service('/niryo_robot/kinematics/forward', GetFK,
+                      self.__callback_get_forward_kinematics)
+        rospy.Service('/niryo_robot/kinematics/inverse', GetIK,
+                      self.__callback_get_inverse_kinematics)
+
+    # -- Publishers call
+    def __publish_arm_max_velocity_scaling_factor(self, _):
+        """
+        Publish Integer between 1 and 100 which correspond to the function name :)
+        :param _: TimeEvent object which is not used
+        :return: None
+        """
+        msg = Int32()
+        msg.data = self.__max_velocity_scaling_factor
+        self.__max_velocity_scaling_factor_pub.publish(msg)
+
+    def __set_position_hold_mode(self):
+        """
+        Stop the Robot where it is
+        :return: None
+        """
+        msg = JointTrajectory()
+        msg.header.stamp = rospy.Time.now()
+        msg.points = []
+        self.__joint_trajectory_publisher.publish(msg)
+
+    def __reset_controller(self):
+        self.__reset_controller_service()
+        # very important delay to avoid unexpected issues from ros_control
+        rospy.sleep(0.05)
+
+    # -- Callbacks
+    def __callback_sub_joint_states(self, joint_states):
+        self.__joints = list(joint_states.position[:6])
+
+    def __callback_new_goal(self, msg):
+        """
+        Happens when a new goal is published. Set the current goal
+        :param msg: Object containing info on the new goal
+        :type msg: FollowJointTrajectoryActionGoal
+        :return: None
+        """
+        self.__current_goal_id = msg.goal_id.id
+        rospy.logdebug("Arm commander - Got a goal id : {}".format(self.__current_goal_id))
+
+    def __callback_current_feedback(self, msg):
+        self.__current_feedback = msg
+
+    def __callback_goal_result(self, msg):
+        """
+        Function called when the action is finished
+        :param msg:
+        :return:
+        """
+        if msg.status.goal_id.id == self.__current_goal_id:
+            self.__current_goal_result = msg.status.status
+            rospy.logdebug("Arm commander - Result : ".format(self.__current_goal_result))
+            self.__traj_finished_event.set()
+        else:
+            rospy.loginfo("Arm commander - Received result, WRONG GOAL ID")
+
+    def __callback_set_max_velocity_scaling_factor(self, req):
+        if not 0 < req.value <= 100:
+            return {'status': CommandStatus.INVALID_PARAMETERS, 'message': 'Value must be between 1 and 100'}
+        try:
+            self.__set_max_velocity_scaling_factor(req.value / 100.0)
+        except ArmCommanderException as e:
+            return {'status': CommandStatus.ARM_COMMANDER_FAILURE, 'message': e.message}
+        self.__max_velocity_scaling_factor = req.value
+        self.__publish_arm_max_velocity_scaling_factor(None)
+        return {'status': CommandStatus.SUCCESS, 'message': 'Success'}
+
+    def __callback_get_forward_kinematics(self, req):
+        return self.get_forward_kinematics(joints=req.joints)
+
+    def __callback_get_inverse_kinematics(self, req):
+        pose = req.pose
+        if pose.orientation == Quaternion():
+            angles = pose.rpy
+            qx, qy, qz, qw = quaternion_from_euler(angles.roll, angles.pitch, angles.yaw)
+            pose.orientation = Quaternion(qx, qy, qz, qw)
+        pose = Pose(pose.position, pose.orientation)
+        success, joints = self.get_inverse_kinematics(pose=pose)
+        return success, joints
+
+    # -- Executors
+    def __compute_and_execute_plan_to_target(self):
+        """
+        Firstly try to compute the plan to the set target.
+        If fails a first time, will try ComputePMaxTries times to stop the arm and recompute the plan
+        Then, execute the plan
+        :return: status, message
+        """
+        for tries in range(self.__compute_plan_max_tries + 1):  # We are going to try 3 times
+            # if we are re-trying, first stop current plan
+            if tries > 0:
+                self.stop_current_plan()
+                rospy.sleep(0.1)
+
+            plan = self.__get_computed_plan()
+            if not plan:
+                raise ArmCommanderException(
+                    CommandStatus.PLAN_FAILED, "MoveIt failed to compute the plan.")
+
+            self.__reset_controller()
+            rospy.logdebug("Arm commander - Send MoveIt trajectory to controller.")
+            status, message = self.__execute_plan(plan)
+
+            if status != CommandStatus.SHOULD_RESTART:
+                return status, message
+            if tries >= self.__compute_plan_max_tries:
+                rospy.logerr("Arm commander - Big failure from the controller. Try to restart the robot")
+                return CommandStatus.SHOULD_RESTART, "Please restart the robot and try again."
+            rospy.logwarn("Arm commander - Will retry to compute "
+                          "& execute trajectory {} time(s)".format(self.__compute_plan_max_tries - tries))
+
+    def __compute_and_execute_trajectory(self, list_poses, dist_smoothing=0.01):
+        """
+        Hard try to to smooth Trajectories, not really working at the moment
+        :param list_poses: list of Pose object
+        :param dist_smoothing: smoothing distance
+        :return: None
+        """
+        # rospy.logerr(list_poses)
+        list_plans = []
+        new_state = RobotStateMoveIt()
+        new_state.joint_state.header.stamp = rospy.Time.now()
+        new_state.joint_state.name = self.__joints_name
+        # rospy.logerr(list_poses)
+        for i, pose_target in enumerate(list_poses):
+            # Getting plan to target
+            self.__arm.set_pose_target(pose_target, self.__end_effector_link)
+            list_plans.append(self.__arm.plan())
+
+            # Generating new start state for future iteration
+            success, new_state.joint_state.position = self.get_inverse_kinematics(pose=pose_target)
+            if not success:
+                self.__arm.set_start_state_to_current_state()
+                raise ArmCommanderException(CommandStatus.INVERT_KINEMATICS_FAILURE, "IK Fail")
+            self.__arm.set_start_state(new_state)
+
+        self.__arm.set_start_state_to_current_state()
+        plan = self.__link_plans(dist_smoothing, *list_plans)
+        # self.__display_traj(plan, id_=int(1000 * dist_smoothing))
+        return self.__execute_plan(plan)
+
+    def __display_traj(self, plan, id_=1):
+        topic_display = 'visualization_marker_array'
+        if topic_display in rospy.get_published_topics():
+            markers_array = rospy.wait_for_message(topic_display, MarkerArray).markers
+        else:
+            markers_array = []
+        marker_pub = rospy.Publisher(topic_display, MarkerArray,
+                                     queue_size=10, latch=True)
+
+        cardboard_marker = Marker()
+        cardboard_marker.header.frame_id = "world"
+        cardboard_marker.header.stamp = rospy.Time.now()
+        cardboard_marker.ns = "trajectory"
+        cardboard_marker.id = id_
+        cardboard_marker.type = cardboard_marker.LINE_STRIP
+        cardboard_marker.action = cardboard_marker.ADD
+
+        cardboard_marker.scale.x = 0.01
+
+        cardboard_marker.color.r = random.random()
+        cardboard_marker.color.g = random.random()
+        cardboard_marker.color.b = random.random()
+        cardboard_marker.color.a = 0.8
+
+        cardboard_marker.points = [self.get_forward_kinematics(joints.positions).position for joints in
+                                   plan.joint_trajectory.points]
+
+        cardboard_marker.lifetime = rospy.Duration(0)
+        markers_array.append(cardboard_marker)
+        marker_pub.publish(markers_array)
+
+    def __get_computed_plan(self):
+        """
+        Get computed plan from MoveIt
+        :return: the computed plan if MoveIt succeed else None
+        """
+        plan = self.__arm.plan()
+        return None if not plan.joint_trajectory.points else plan
+
+    def __compute_and_execute_cartesian_plan(self, list_poses):
+        """
+        Compute a cartesian plan according to list_poses and then, execute it
+        The robot will follow a straight line between each points
+        If the plan is not validate, raise ArmCommanderException
+        :param list_poses:
+        :return: status, message
+        """
+        try:
+            plan = self.__compute_cartesian_plan(list_poses)
+        except Exception:
+            raise ArmCommanderException(CommandStatus.ARM_COMMANDER_FAILURE, "IK Fail")
+        return self.__execute_plan(plan)
+
+    def __compute_cartesian_plan(self, list_poses):
+        """
+        Compute cartesian plan from a list of poses
+        As 2 poses cannot be the same, the first operation is to filter list_poses to be sure this condition is met
+        :param list_poses: list of Pose Object
+        :return: Computed plan : RobotTrajectory object
+        """
+
+        def dist_2_poses(p1, p2):
+            np_pose1 = np.array([p1.position.x, p1.position.y, p1.position.z, p1.orientation.x, p1.orientation.y,
+                                 p1.orientation.z, p1.orientation.w])
+            np_pose2 = np.array([p2.position.x, p2.position.y, p2.position.z, p2.orientation.x, p2.orientation.y,
+                                 p2.orientation.z, p2.orientation.w])
+
+            return np.linalg.norm(np_pose1 - np_pose2)
+
+        if len(list_poses) == 0:
+            return GoalStatus.REJECTED, "No Waypoints"
+        for i in reversed(range(len(list_poses) - 1)):
+            if dist_2_poses(list_poses[i + 1], list_poses[i]) < 0.001:
+                list_poses.pop(i)
+        trajectory_plan, fraction = self.__arm.compute_cartesian_path(list_poses, eef_step=0.05, jump_threshold=0.0)
+        return trajectory_plan
+
+    def __execute_plan(self, plan):
+        """
+        Execute the plan given
+        Firstly, calculate a timeout which is : 1.5 times *the estimated time of the plan*
+        Then send execute command to MoveIt and wait until the execution finished or the timeout happens
+        :param plan: Computed plan
+        :type plan: RobotTrajectory
+        :return: CommandStatus, message
+        """
+        if not plan:
+            raise ArmCommanderException(CommandStatus.NO_PLAN_AVAILABLE,
+                                        "You are trying to execute a plan which doesn't exist")
+        # Reset
+        self.__traj_finished_event.clear()
+        self.__current_goal_id = None
+        self.__current_goal_result = GoalStatus.LOST
+
+        trajectory_time_out = max(1.5 * self.__get_plan_time(plan), self.__trajectory_minimum_timeout)
+
+        # Send trajectory and wait
+        self.__arm.execute(plan, wait=False)
+        if self.__traj_finished_event.wait(trajectory_time_out):
+            if self.__current_goal_result == GoalStatus.SUCCEEDED:
+                return CommandStatus.SUCCESS, "Command has been successfully processed"
+            elif self.__current_goal_result == GoalStatus.PREEMPTED:
+                return CommandStatus.STOPPED, "Command has been successfully stopped"
+            elif self.__current_goal_result == GoalStatus.ABORTED:
+                # if joint_trajectory_controller aborts the goal, it will still try to
+                # finish executing the trajectory --> so we ask it to stop from here
+                # http://wiki.ros.org/joint_trajectory_controller -> preemption policy
+                # Send an empty trajectory from the topic interface
+                self.__set_position_hold_mode()
+                abort_str = "Command has been aborted due to a collision or " \
+                            "a motor not able to follow the given trajectory"
+                return CommandStatus.CONTROLLER_PROBLEMS, abort_str
+
+            else:  # problem from ros_control itself
+                self.__current_goal_id = None
+                return CommandStatus.SHOULD_RESTART, ""
+        else:
+            # This timeout will happen if something fails in ros_control
+            # It is not related to a trajectory failure
+            self.__current_goal_id = None
+            return CommandStatus.SHOULD_RESTART, ""
+
+    # --- Callable functions
+
+    def stop_arm(self):
+        rospy.loginfo("Arm commander - Send STOP to arm")
+        self.__arm.stop()
+
+    def stop_current_plan(self):
+        rospy.loginfo("Arm commander - Send STOP to arm and RESET to controller")
+        self.__arm.stop()
+        self.__reset_controller()
+
+    def set_joint_target(self, arm_cmd):
+        """
+        Set controller target to a joint target
+        Then execute the trajectory to the target
+        :param arm_cmd: ArmMoveCommand message containing target values
+        :type : ArmMoveCommand
+        :return: status, message
+        """
+        joints = list(arm_cmd.joints)
+        self.__validate_params_move(MoveCommandType.JOINTS, joints)
+        return self.__set_joint_target_moveit(joints)
+
+    def __set_joint_target_moveit(self, joints):
+        """
+        Set MoveIt target to a joint target
+        Then execute the trajectory to the target
+        :param joints: joints list
+        :type : list[float]
+        :return: status, message
+        """
+        self.__arm.set_joint_value_target(joints)
+        return self.__compute_and_execute_plan_to_target()
+
+    def set_pose_target_from_cmd(self, arm_cmd):
+        """
+        Set MoveIt target to a pose target with RPY
+        Then execute the trajectory to the target
+        :param arm_cmd: ArmMoveCommand message containing target values
+        :type : ArmMoveCommand
+        :return: status, message
+        """
+        self.__validate_params_move(MoveCommandType.POSE, arm_cmd.position, arm_cmd.rpy)
+        x, y, z = arm_cmd.position.x, arm_cmd.position.y, arm_cmd.position.z
+        roll, pitch, yaw = arm_cmd.rpy.roll, arm_cmd.rpy.pitch, arm_cmd.rpy.yaw
+        return self.__set_pose_target_moveit(x, y, z, roll, pitch, yaw)
+
+    def __set_pose_target_moveit(self, x, y, z, roll, pitch, yaw):
+        self.__arm.set_pose_target([x, y, z, roll, pitch, yaw], self.__end_effector_link)
+        return self.__compute_and_execute_plan_to_target()
+
+    def set_position_target(self, arm_cmd):
+        """
+        Set MoveIt target to a position target
+        Then execute the trajectory to the target
+        :param arm_cmd: ArmMoveCommand message containing target values
+        :type : ArmMoveCommand
+        :return: status, message
+        """
+        self.__validate_params_move(MoveCommandType.POSITION, arm_cmd.position)
+        x, y, z = arm_cmd.position.x, arm_cmd.position.y, arm_cmd.position.z
+        self.__arm.set_position_target([x, y, z], self.__end_effector_link)
+        return self.__compute_and_execute_plan_to_target()
+
+    def set_rpy_target(self, arm_cmd):
+        """
+        Set MoveIt target to a rpy target
+        Then execute the trajectory to the target
+        :param arm_cmd: ArmMoveCommand message containing target values
+        :type : ArmMoveCommand
+        :return: status, message
+        """
+        self.__validate_params_move(MoveCommandType.RPY, arm_cmd.rpy)
+        roll, pitch, yaw = arm_cmd.rpy.roll, arm_cmd.rpy.pitch, arm_cmd.rpy.yaw
+        self.__arm.set_rpy_target([roll, pitch, yaw], self.__end_effector_link)
+        return self.__compute_and_execute_plan_to_target()
+
+    def set_pose_quat_target(self, arm_cmd):
+        """
+        Set MoveIt target to a Pose target with quaternion
+        Then execute the trajectory to the target
+        :param arm_cmd: ArmMoveCommand message containing target values
+        :type : ArmMoveCommand
+        :return: status, message
+        """
+        self.__validate_params_move(MoveCommandType.POSE_QUAT, arm_cmd.position, arm_cmd.orientation)
+        x, y, z = arm_cmd.position.x, arm_cmd.position.y, arm_cmd.position.z
+        q_x, q_y, q_z, q_w = arm_cmd.orientation.x, arm_cmd.orientation.y, arm_cmd.orientation.z, arm_cmd.orientation.w
+        self.__arm.set_pose_target([x, y, z, q_x, q_y, q_z, q_w], self.__end_effector_link)
+        return self.__compute_and_execute_plan_to_target()
+
+    def set_pose_quat_from_pose(self, pose):
+        """
+        Set MoveIt target to a Pose target with quaternion
+        Then execute the trajectory to the target
+        :param pose: Pose message containing target values
+        :type : Pose
+        :return: status, message
+        """
+        self.__validate_params_move(MoveCommandType.POSE_QUAT, pose.position, pose.orientation)
+        self.__arm.set_pose_target(pose, self.__end_effector_link)
+        return self.__compute_and_execute_plan_to_target()
+
+    def set_shift_pose_target(self, arm_cmd):
+        """
+        Set MoveIt target to a shifted target from actual position
+        Then execute the trajectory to the target
+        :param arm_cmd: ArmMoveCommand message containing target values
+        :type : ArmMoveCommand
+        :return: status, message
+        """
+        self.__validate_params_move(MoveCommandType.SHIFT_POSE, arm_cmd.shift)
+        self.__arm.shift_pose_target(arm_cmd.shift.axis_number, arm_cmd.shift.value, self.__end_effector_link)
+        return self.__compute_and_execute_plan_to_target()
+
+    def set_linear_trajectory(self, arm_cmd):
+        """
+        Set MoveIt target to a Pose target with RPY
+        Then execute a Linear trajectory to the target
+        :param arm_cmd: ArmMoveCommand message containing target values
+        :type : ArmMoveCommand
+        :return: status, message
+        """
+        x, y, z = arm_cmd.position.x, arm_cmd.position.y, arm_cmd.position.z
+        roll, pitch, yaw = arm_cmd.rpy.roll, arm_cmd.rpy.pitch, arm_cmd.rpy.yaw
+        x_q, y_q, z_q, w_q = quaternion_from_euler(roll, pitch, yaw)
+        msg_pose = Pose(Point(x, y, z), Quaternion(x_q, y_q, z_q, w_q))
+
+        return self.__compute_and_execute_cartesian_plan([msg_pose])
+
+    # - Trajectory
+    def execute_trajectory(self, arm_cmd):
+        """
+        Version 1 : Go to first pose using "classic" trajectory then compute cartesian path between all points
+        Version 2 : Going to all poses one by one using "classical way"
+        Version 3 : Generate all plans, merge them & smooth transitions
+
+        """
+        list_poses = arm_cmd.list_poses
+        if len(list_poses) == 0:
+            return CommandStatus.NO_PLAN_AVAILABLE, "Can't generate plan from a list of length 0"
+
+        dist_smoothing = arm_cmd.dist_smoothing
+
+        if dist_smoothing == 0.0:
+            if len(list_poses) < 3:  # Classical moves
+                for pose in list_poses:
+                    ret = self.set_pose_quat_from_pose(pose)
+                    if ret[0] != CommandStatus.SUCCESS:
+                        return ret
+                return CommandStatus.SUCCESS, "Trajectory is Good!"
+            else:  # Linear path
+                # We are going to the initial pose using "classical" method
+                pose_init = list_poses.pop(0)
+                self.set_pose_quat_from_pose(pose_init)
+                return self.__compute_and_execute_cartesian_plan(list_poses)
+
+        else:
+            return self.__compute_and_execute_trajectory(list_poses, dist_smoothing=dist_smoothing)
+
+    def draw_spiral_trajectory(self, arm_cmd):
+        """
+        Generate waypoints to draw a spiral and generate a cartesian path with these waypoints
+        Then execute the trajectory plan
+
+        :param arm_cmd: ArmMoveCommand message containing target values
+        :type : ArmMoveCommand
+        :return: status, message
+        """
+        min_radius = 0.003
+        radius, angle_step, total_steps = [float(arg) for arg in arm_cmd.args]
+
+        center_position = self.__arm.get_current_pose().pose.position
+        target_pose = self.__arm.get_current_pose().pose
+
+        waypoints = []
+        angle_step_rad = math.radians(angle_step)
+        angle = 0
+        for i in range(2):
+            for dist_from_center in np.linspace(0, float(radius), num=total_steps):
+                if i == 1:
+                    dist_from_center = radius - dist_from_center
+                dist_from_center += min_radius
+                y_offset = dist_from_center * math.cos(angle)
+                z_offset = dist_from_center * math.sin(angle)
+                target_pose.position.y = center_position.y + y_offset
+                target_pose.position.z = center_position.z + z_offset
+                waypoints.append(copy.deepcopy(target_pose))
+                angle += angle_step_rad
+        return self.__compute_and_execute_cartesian_plan(waypoints)
+
+    def __retime_plan(self, plan, velocity_scaling_factor=1.0, acceleration_scaling_factor=1.0, optimize=False):
+        """
+        Take a plan and retime it
+        """
+        start_state = self.__get_plan_start_robot_state(plan)
+
+        if optimize:
+            algorithm = "time_optimal_trajectory_generation"
+        else:
+            algorithm = "iterative_time_parameterization"
+
+        plan_out = self.__arm.retime_trajectory(start_state, plan,
+                                                velocity_scaling_factor=velocity_scaling_factor,
+                                                acceleration_scaling_factor=acceleration_scaling_factor,
+                                                algorithm=algorithm
+                                                )
+        return plan_out
+
+    def __get_plan_start_robot_state(self, plan):
+        start_state = RobotStateMoveIt()
+        start_state.joint_state.header.frame_id = "world"
+        start_state.joint_state.position = plan.joint_trajectory.points[0].positions
+        start_state.joint_state.name = self.__joints_name
+        return start_state
+
+    def __link_plans(self, dist_smoothing=0.0, *plans):
+        """
+        Link plans together with a smooth transition between each of them
+        """
+
+        def dist_2_poses(p1, p2):
+            np_pose1 = np.array([p1.position.x, p1.position.y, p1.position.z])
+            np_pose2 = np.array([p2.position.x, p2.position.y, p2.position.z])
+            dist = np.linalg.norm(np_pose1 - np_pose2)
+            return dist
+
+        def find_limit_point(plan_, dist_smooth, reverse):
+            len_plan = len(plan_.joint_trajectory.points)
+            ind_ref = -1 if reverse else 0
+            reference_pos = self.get_forward_kinematics(plan_.joint_trajectory.points[ind_ref].positions)
+            for raw_ind in range(1, len_plan):
+                if reverse:
+                    ind = len_plan - raw_ind - 1
+                else:
+                    ind = raw_ind
+                pose_i = self.get_forward_kinematics(plan_.joint_trajectory.points[ind].positions)
+                dist_pose_to_target = dist_2_poses(reference_pos, pose_i)
+                if dist_pose_to_target > dist_smooth:
+                    return ind
+            else:
+                if reverse:
+                    return 0
+                else:
+                    return len_plan - 1
+
+        smooth_zones = []
+        offset = 0
+        for plan_in, plan_out in zip(plans[:-1], plans[1:]):
+            begin_index = offset + find_limit_point(plan_in, dist_smoothing, reverse=True)
+            offset += len(plan_in.joint_trajectory.points) - 1
+            mid_index = offset
+            end_index = mid_index + find_limit_point(plan_out, dist_smoothing, reverse=False)
+            smooth_zones.append((begin_index, mid_index, end_index))
+
+        big_plan = plans[0]
+        time_offset = big_plan.joint_trajectory.points[-1].time_from_start
+
+        for plan in plans[1:]:
+            for i in range(1, len(plan.joint_trajectory.points)):
+                plan.joint_trajectory.points[i].time_from_start += time_offset
+
+            big_plan.joint_trajectory.points += plan.joint_trajectory.points[1:]
+
+            time_offset += plan.joint_trajectory.points[-1].time_from_start
+
+        def ind_to_pos(ind):
+            return np.array(big_plan.joint_trajectory.points[ind].positions)
+
+        def bezier(p0, p1, p2, t):
+            return ((1 - t) ** 2) * p0 + 2 * (1 - t) * t * p1 + (t ** 2) * p2
+
+        for smooth_zone in smooth_zones:
+            begin_index, mid_index, end_index = smooth_zone
+            begin_positions, mid_positions, end_positions = map(ind_to_pos, [begin_index, mid_index, end_index])
+            for point_index in range(begin_index + 1, end_index):
+                ratio = float(point_index - begin_index) / (end_index - begin_index)
+                bezier_result = bezier(begin_positions, mid_positions, end_positions, ratio)
+                big_plan.joint_trajectory.points[point_index].positions = bezier_result
+
+        final_plan = self.__retime_plan(big_plan, optimize=True)
+        return final_plan
+
+    def __set_max_velocity_scaling_factor(self, percentage):
+        """
+        Ask MoveIt to set the relative speed to (percentage)%
+        :param percentage:
+        :return: None
+        """
+        self.__arm.set_max_velocity_scaling_factor(percentage)
+
+    # - General Purposes
+
+    def __validate_params_move(self, command_type, *args):
+        """
+        Validate parameters according to command_type
+        The function will raise an error if command is not valid
+        :param command_type:
+        :type command_type: MoveCommandType
+        :param args: parameters
+        :return: None
+        """
+        if command_type == MoveCommandType.JOINTS:
+            self.__parameters_validator.validate_joints(args[0])
+        elif command_type == MoveCommandType.POSE:
+            self.__parameters_validator.validate_position(args[0])
+            self.__parameters_validator.validate_orientation(args[1])
+        elif command_type == MoveCommandType.POSITION:
+            self.__parameters_validator.validate_position(args[0])
+        elif command_type == MoveCommandType.RPY:
+            self.__parameters_validator.validate_orientation(args[0])
+        elif command_type == MoveCommandType.EXECUTE_TRAJ:
+            self.__parameters_validator.validate_trajectory(args[0])
+        elif command_type == MoveCommandType.POSE_QUAT:
+            self.__parameters_validator.validate_position(args[0])
+            self.__parameters_validator.validate_orientation_quaternion(args[1])
+        elif command_type == MoveCommandType.SHIFT_POSE:
+            self.__parameters_validator.validate_shift_pose(args[0])
+        else:
+            raise ArmCommanderException(CommandStatus.UNKNOWN_COMMAND, "Wrong command type")
+
+    @staticmethod
+    def __get_plan_time(plan):
+        """
+        Extract duration from a plan. If it cannot be done, raise ArmCommanderException
+        :param plan: plan given by MoveIt
+        :type plan: RobotTrajectory
+        :return: duration in seconds
+        """
+        if plan and plan.joint_trajectory.points:
+            return plan.joint_trajectory.points[-1].time_from_start.to_sec()
+        else:
+            raise ArmCommanderException(CommandStatus.NO_PLAN_AVAILABLE,
+                                        "No current plan found")
+
+    def get_forward_kinematics(self, joints):
+        """
+        Get forward kinematic from joints
+        :param joints: list of joints value
+        :type joints: Pose
+        :return: A RobotState object
+        """
+        try:
+            rospy.wait_for_service('compute_fk', 2)
+        except (rospy.ServiceException, rospy.ROSException) as e:
+            rospy.logerr("Arm commander - Impossible to connect to FK service : " + str(e))
+            return RobotState()
+        try:
+            moveit_fk = rospy.ServiceProxy('compute_fk', GetPositionFK)
+            fk_link = ['base_link', 'tool_link']
+            header = Header(0, rospy.Time.now(), "world")
+            rs = RobotStateMoveIt()
+            rs.joint_state.name = self.__joints_name
+            rs.joint_state.position = joints
+            response = moveit_fk(header, fk_link, rs)
+        except rospy.ServiceException as e:
+            rospy.logerr("Arm commander - Failed to get FK : " + str(e))
+            return RobotState()
+
+        quaternion = [response.pose_stamped[1].pose.orientation.x, response.pose_stamped[1].pose.orientation.y,
+                      response.pose_stamped[1].pose.orientation.z, response.pose_stamped[1].pose.orientation.w]
+
+        rpy = euler_from_quaternion(quaternion)
+        quaternion = (round(quaternion[0], 3), round(quaternion[1], 3), round(quaternion[2], 3),
+                      round(quaternion[3], 3))
+        point = (round(response.pose_stamped[1].pose.position.x, 3),
+                 round(response.pose_stamped[1].pose.position.y, 3),
+                 round(response.pose_stamped[1].pose.position.z, 3))
+
+        return RobotState(Point(*point), RPY(*rpy), Quaternion(*quaternion))
+
+    def get_inverse_kinematics(self, pose):
+        try:
+            rospy.wait_for_service('compute_ik', 2)
+        except (rospy.ServiceException, rospy.ROSException) as e:
+            rospy.logerr("Arm commander - Impossible to connect to IK service : " + str(e))
+            return False, []
+        try:
+            moveit_ik = rospy.ServiceProxy('compute_ik', GetPositionIK)
+            req = PositionIKRequest()
+            req.group_name = self.__arm.get_name()
+            req.ik_link_name = self.__end_effector_link
+
+            req.robot_state.joint_state.name = self.__joints_name
+            req.robot_state.joint_state.position = self.__joints
+            req.pose_stamped.pose = pose
+
+            response = moveit_ik(req)
+        except rospy.ServiceException as e:
+            rospy.logerr("Arm commander - Service call failed: {}".format(e))
+            return False, []
+        if response.error_code.val == MoveItErrorCodes.NO_IK_SOLUTION:
+            rospy.logerr("Arm commander - MoveIt didn't find an IK solution")
+            return False, []
+        elif response.error_code.val != MoveItErrorCodes.SUCCESS:
+            rospy.logerr("Arm commander - IK Failed : code error {}".format(response.error_code.val))
+            return False, []
+        return True, list(response.solution.joint_state.position[:6])
diff --git a/niryo_robot_commander/scripts/jog_controller.py b/niryo_robot_commander/scripts/jog_controller.py
new file mode 100755
index 000000000..c758401fc
--- /dev/null
+++ b/niryo_robot_commander/scripts/jog_controller.py
@@ -0,0 +1,327 @@
+#!/usr/bin/env python
+"""
+The Jog Controller allows to easily command the robot manually. It means that you can use
+mouse input, Leap Motion, Wii Controller or even Image processing to calculate determine
+where the robot should go
+This controller can be used :
+- directly by using ROS Topic | ROS Low Level (see the file client_jog_interface_mouse.py which shows how to use
+a mouse to control the robot)
+- with Python ROS Wrapper | "Medium" Level
+- through the TCP server | High Level
+"""
+
+import rospy
+import math
+from niryo_robot_commander.command_enums import ArmCommanderException
+
+# Command Status
+from niryo_robot_msgs.msg import CommandStatus
+
+# Messages
+from geometry_msgs.msg import Quaternion
+from sensor_msgs.msg import JointState
+from std_msgs.msg import Bool
+from trajectory_msgs.msg import JointTrajectory
+from trajectory_msgs.msg import JointTrajectoryPoint
+
+from niryo_robot_msgs.msg import HardwareStatus
+from niryo_robot_msgs.msg import RobotState
+
+# Services
+from niryo_robot_commander.srv import GetIK
+from niryo_robot_commander.srv import JogShift, JogShiftRequest
+from niryo_robot_msgs.srv import SetBool
+from niryo_robot_msgs.srv import GetBool
+
+
+class JogController:
+    def __init__(self, parameters_validator):
+        # - Publisher which publishes if JogController is enabled
+        self._enabled = False
+        self._jog_enabled_publisher = rospy.Publisher('/niryo_robot/jog_interface/is_enabled',
+                                                      Bool, queue_size=1)
+        rospy.Timer(rospy.Duration(1.0 / rospy.get_param("~jog_enable_publish_rate")),
+                    self._publish_jog_enabled)
+        self._check_disable_jog_timer = None
+        self._last_command_timer = rospy.get_time()
+
+        self._publish_jog_enabled()
+
+        # Service to enable Jog Controller
+        rospy.Service('/niryo_robot/jog_interface/enable',
+                      SetBool, self.__callback_enable_jog)
+
+        # - Direct publisher to joint controller
+        self._joint_trajectory_publisher = rospy.Publisher(
+            rospy.get_param("~joint_controller_name") + '/command', JointTrajectory,
+            queue_size=3)
+        # Publishing rate
+        self._timer_rate = rospy.get_param("~jog_timer_rate_sec")
+        self._publisher_joint_trajectory_timer = None
+
+        # - Subscribers
+        self._joint_states = None
+        rospy.Subscriber('/joint_states', JointState,
+                         self.__callback_joint_states)
+
+        self._robot_state = None
+        rospy.Subscriber('/niryo_robot/robot_state', RobotState,
+                         self.__callback_sub_robot_state)
+
+        self.__learning_mode_on = None
+        rospy.Subscriber('/niryo_robot/learning_mode/state', Bool,
+                         self.__callback_sub_learning_mode)
+
+        self.__hardware_status = None
+        rospy.Subscriber('/niryo_robot_hardware_interface/hardware_status', HardwareStatus,
+                         self.__callback_hardware_status)
+
+        # - Service
+        rospy.Service('/niryo_robot/jog_interface/jog_shift_commander', JogShift,
+                      self.__callback_jog_commander)
+
+        # - Kinematics
+        self._new_robot_state = RobotState()
+        self._last_robot_state_published = RobotState()
+        self._service_ik = rospy.ServiceProxy('/niryo_robot/kinematics/inverse', GetIK)
+
+        # - Values Init
+        self._shift_mode = None
+        self._last_target_values = [0.0 for _ in range(6)]
+        self._target_values = None
+
+        # Validation
+        self.__parameters_validator = parameters_validator
+        jog_limits = rospy.get_param("~jog_limits")
+        self.__pose_translation_max = jog_limits["translation"]
+        self.__pose_rotation_max = jog_limits["rotation"]
+        self.__joints_rotation_max = jog_limits["joints"]
+
+        # - Others param
+        self.__time_without_jog_limit = rospy.get_param("~time_without_jog_limit")
+
+    # - Callbacks
+
+    def __callback_sub_robot_state(self, robot_state):
+        self._robot_state = robot_state
+
+    def __callback_joint_states(self, joint_states_msg):
+        self._joint_states = joint_states_msg.position[:6]
+
+    def __callback_sub_learning_mode(self, learning_mode):
+        self.__learning_mode_on = learning_mode.data
+
+    def __callback_hardware_status(self, msg):
+        self.__hardware_status = msg
+
+    def __callback_enable_jog(self, req):
+        if req.value:
+            return self.enable()
+        else:
+            return self.disable()
+
+    def __callback_jog_commander(self, msg):
+        if self.__hardware_status.calibration_needed or self.__hardware_status.calibration_in_progress:
+            return CommandStatus.ABORTED, "Cannot send command cause Jog because calibration is not done"
+        if self.__learning_mode_on:
+            try:
+                rospy.wait_for_service('/niryo_robot/learning_mode/activate', 2)
+                service = rospy.ServiceProxy('/niryo_robot/learning_mode/activate', SetBool)
+                result = service(True)
+                if result.status != CommandStatus.SUCCESS:
+                    return CommandStatus.ABORTED, "Cannot send command cause Jog because learning mode is on and" \
+                                                  " cannot be disabled"
+                rospy.sleep(0.1)
+            except (rospy.ROSException, rospy.ServiceException):
+                return CommandStatus.ABORTED, "Error while trying to turn Off learning mode"
+
+        if not self._enabled:
+            ret, str_msg = self.enable()
+            if ret == CommandStatus.ABORTED:
+                return CommandStatus.ABORTED, "Cannot send command cause Jog is not activated and cannot be"
+        self._last_command_timer = rospy.get_time()
+
+        shift_mode = msg.cmd
+        if shift_mode != self._shift_mode:
+            self._reset_last_pub()
+            self._shift_mode = shift_mode
+
+        shift_command = list(msg.shift_values)
+        if shift_mode == JogShiftRequest.POSE_SHIFT:
+            shift_command[:3] = [min([v, math.copysign(self.__pose_translation_max, v)], key=abs) for v in
+                                 shift_command[:3]]
+            shift_command[3:] = [min([v, math.copysign(self.__pose_rotation_max, v)], key=abs) for v in
+                                 shift_command[3:]]
+            try:
+                success, potential_target_values = self._get_new_joints_w_ik(shift_command)
+            except ArmCommanderException as e:
+                return e.status, "Error while validating pose : {}".format(e.message)
+            if not success:
+                return CommandStatus.NO_PLAN_AVAILABLE, "Unable to find on invert kinematics for the target position"
+            else:
+                self._target_values = potential_target_values
+        else:
+            # Accumulate multiple commands if they come faster than the publish rate
+            shift_command = [min([v, math.copysign(self.__joints_rotation_max, v)], key=abs) for v in shift_command]
+            target_values = [actual + shift for actual, shift in
+                             zip(self._last_target_values, shift_command)]
+
+            target_values = self.__limit_params_joints(target_values)
+
+            try:
+                self.__validate_params_joints(target_values)
+            except ArmCommanderException as e:
+                return e.status, "Error while validating joints : {}".format(e.message)
+
+            self._target_values = target_values
+            self._new_robot_state = RobotState()
+        return CommandStatus.SUCCESS, "Command send"
+
+    # - Publishers
+
+    def _publish_jog_enabled(self, *_):
+        msg = Bool()
+        msg.data = self._enabled
+        try:
+            self._jog_enabled_publisher.publish(msg)
+        except rospy.ROSException:
+            return
+
+    def _publish_joint_trajectory(self, *_):
+        if not self._enabled:
+            return
+        if self._target_values is None:
+            return
+        msg = JointTrajectory()
+        msg.header.stamp = rospy.Time.now()
+        msg.joint_names = ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']
+
+        point = JointTrajectoryPoint()
+        point.positions = self._target_values
+        point.time_from_start = rospy.Duration(self._timer_rate)
+
+        msg.points = [point]
+
+        self._joint_trajectory_publisher.publish(msg)
+
+        # Reset Target
+        self._target_values = None
+
+        # Save state for next time
+        self._last_target_values = point.positions
+        self._last_robot_state_published = self._new_robot_state
+
+    # - Setters & Getters
+    @staticmethod
+    def can_be_enable():
+        """
+        Check if Jog Controller can be enabled
+        Basically, it checks if commander is running
+
+        :return: Bool indicating if Controller can be enabled
+        :rtype: bool
+        """
+        try:
+            rospy.wait_for_service('/niryo_robot_commander/is_active')
+            is_active_service = rospy.ServiceProxy('/niryo_robot_commander/is_active', GetBool)
+            response = is_active_service()
+            return not response.value
+        except rospy.ServiceException:
+            return False
+
+    def enable(self):
+        """
+        Enable jog controller if possible
+
+        :return: status, message
+        :rtype: (GoalStatus, str)
+        """
+        if self.can_be_enable():
+            rospy.wait_for_message('/niryo_robot/robot_state', RobotState, timeout=2)
+            rospy.wait_for_message('/joint_states', JointState, timeout=2)
+            self._enabled = True
+            self._reset_last_pub()
+            self._last_command_timer = rospy.get_time()
+            self._publisher_joint_trajectory_timer = rospy.Timer(rospy.Duration(self._timer_rate), self._publish_joint_trajectory)
+            self._check_disable_jog_timer = rospy.Timer(rospy.Duration(1.0 / rospy.get_param("~jog_enable_publish_rate")),
+                    self._check_for_disable)
+            msg_str = "Jog Controller - Enabled"
+            rospy.loginfo(msg_str)
+            return CommandStatus.SUCCESS, msg_str
+        else:
+            msg_str = "Jog Controller - Wait for the end of command to enable Jog Controller"
+            rospy.logwarn(msg_str)
+            return CommandStatus.ABORTED, msg_str
+
+    def disable(self):
+        """
+        Disable jog controller
+
+        :return: status, message
+        :rtype: (GoalStatus, str)
+        """
+        self._enabled = False
+        self._shift_mode = None
+        self._target_values = None
+        # Shutdown timer (Only launched when jog enabled)
+        self._publisher_joint_trajectory_timer.shutdown()
+        self._publisher_joint_trajectory_timer = None
+        self._check_disable_jog_timer.shutdown()
+        self._check_disable_jog_timer = None
+
+        msg_str = "Jog Controller - Disabled"
+        rospy.loginfo(msg_str)
+        return CommandStatus.SUCCESS, msg_str
+
+    def is_enabled(self):
+        """
+        Return the if Jog Controller is enable
+
+        :return: True if enable else False
+        :rtype: bool
+        """
+        return self._enabled
+
+    # - Useful Functions
+    def _check_for_disable(self, *_):
+        if not self.is_enabled():
+            return
+        delta_time = rospy.get_time() - self._last_command_timer
+        if delta_time > self.__time_without_jog_limit:
+            self.disable()
+
+    def _reset_last_pub(self):
+        self._last_target_values = self._joint_states
+        self._last_robot_state_published = self._robot_state
+
+    def _get_new_joints_w_ik(self, shift_command):
+        self._new_robot_state = RobotState()
+        self._new_robot_state.position.x = self._last_robot_state_published.position.x + shift_command[0]
+        self._new_robot_state.position.y = self._last_robot_state_published.position.y + shift_command[1]
+        self._new_robot_state.position.z = self._last_robot_state_published.position.z + shift_command[2]
+        self._new_robot_state.rpy.roll = self._last_robot_state_published.rpy.roll + shift_command[3]
+        self._new_robot_state.rpy.pitch = self._last_robot_state_published.rpy.pitch + shift_command[4]
+        self._new_robot_state.rpy.yaw = self._last_robot_state_published.rpy.yaw + shift_command[5]
+        self._new_robot_state.orientation = Quaternion()
+
+        self.__validate_params_pose(self._new_robot_state)
+
+        response = self._service_ik(self._new_robot_state)
+        return response.success, response.joints
+
+    def __validate_params_pose(self, new_robot_state):
+        self.__parameters_validator.validate_position(new_robot_state.position)
+        self.__parameters_validator.validate_orientation(new_robot_state.rpy)
+
+    def __validate_params_joints(self, joints):
+        self.__parameters_validator.validate_joints(joints)
+
+    def __limit_params_joints(self, joints):
+        joints_limits = self.__parameters_validator.get_joints_limits()
+        for j, joint_value in enumerate(joints):
+            joints[j] = max(joints_limits[j].lower, min(joints_limits[j].upper, joint_value))
+        return joints
+
+
+if __name__ == '__main__':
+    pass
diff --git a/niryo_robot_commander/scripts/motor_debug.py b/niryo_robot_commander/scripts/motor_debug.py
new file mode 100644
index 000000000..444681433
--- /dev/null
+++ b/niryo_robot_commander/scripts/motor_debug.py
@@ -0,0 +1,235 @@
+#!/usr/bin/env python
+
+from niryo_robot_python_ros_wrapper.ros_wrapper import *
+import rospy
+import actionlib
+import math
+
+# Services
+from roscpp.srv import SetLoggerLevel, SetLoggerLevelRequest, GetLoggers
+from niryo_robot_msgs.srv import Trigger, SetBool, SetInt
+from std_srvs.srv import Empty, EmptyResponse
+from niryo_robot_rpi.srv import LedBlinker, LedBlinkerRequest
+
+# Messages
+from control_msgs.msg import FollowJointTrajectoryAction
+from control_msgs.msg import FollowJointTrajectoryGoal
+from std_msgs.msg import Bool
+from trajectory_msgs.msg import JointTrajectoryPoint
+from niryo_robot_msgs.msg import CommandStatus
+
+CHECK_EQUAT_STATES_SENSIBILITY = 0.2
+
+
+class MotordebugException(Exception):
+    pass
+
+
+class MotorDebug:
+    def __init__(self):
+        # - Action serv
+        self.__action_server_name = rospy.get_param("~joint_controller_name") + "/follow_joint_trajectory"
+
+        self.__traj_client = actionlib.SimpleActionClient(self.__action_server_name, FollowJointTrajectoryAction)
+        self.__traj_client.wait_for_server()
+
+        # - Log services
+        self.__hardware_log_level_service_name = "/niryo_robot_hardware_interface/set_logger_level"
+        self.__hardware_log_level_service = rospy.ServiceProxy(self.__hardware_log_level_service_name, SetLoggerLevel)
+        self.__get_hardware_loggers_service_name = "/niryo_robot_hardware_interface/get_loggers"
+        self.__get_hardware_loggers_service = rospy.ServiceProxy(self.__get_hardware_loggers_service_name, GetLoggers)
+
+        self.__commander_log_level_service_name = "/niryo_robot_commander/set_logger_level"
+        self.__commander_log_level_service = rospy.ServiceProxy(self.__commander_log_level_service_name, SetLoggerLevel)
+
+        # - Services
+        self.__motor_debug_service_start = rospy.Service('~motor_debug_start', SetInt,
+                                                         self.__callback_motor_debug_start)
+        self.__motor_debug_service_stop = rospy.Service('~motor_debug_stop', Empty, self.__callback_motor_debug_stop)
+
+        self.__motor_report_service_name = "/niryo_robot_hardware_interface/launch_motors_report"
+        self.__motor_report_service = rospy.ServiceProxy(self.__motor_report_service_name, Trigger)
+        self.__stop_motor_report_service_name = "/niryo_robot_hardware_interface/stop_motors_report"
+        self.__stop_motor_report_service = rospy.ServiceProxy(self.__stop_motor_report_service_name, Trigger)
+
+        self.__set_led_state_service = rospy.ServiceProxy('/niryo_robot_rpi/set_led_custom_blinker',
+                                                          LedBlinker)
+
+        self.__reset_controller_service = rospy.ServiceProxy('/niryo_robot/joints_interface/steppers_reset_controller',
+                                                      Trigger)
+
+        # - Subscribers
+        self.__is_active_publisher = rospy.Subscriber('~is_active', Bool, self.__callback_commander_is_active)
+
+        # - Params
+        self._joint_limits = rospy.get_param("/niryo_robot/robot_command_validation/joint_limits")
+        self._joint_names = sorted(self._joint_limits.keys())
+
+        self.__is_running = False
+        self.__robot = NiryoRosWrapper()
+
+    def __callback_commander_is_active(self, msg):
+        # if commander is active, stop motor debug
+        if msg.data:
+            self.__is_running = False
+
+    def __callback_motor_debug_stop(self, _):
+        self.__is_running = False
+        self.__stop_motor_report_service()
+        self.__cancel()
+        #self._set_log_debug(False)
+        self.__robot.set_learning_mode(True)
+        self.__set_led_state_service(False, 0, 0, 0)
+        return EmptyResponse()
+
+    def __callback_motor_debug_start(self, req):
+        if not self.__is_running:
+            self.__run(req.value)
+            return CommandStatus.SUCCESS, "Success"
+        return CommandStatus.ABORTED, "Debug motor already started or commander is running"
+
+    def __check_state(self):
+        if not self.__is_running:
+            rospy.logwarn("Motor Debug - Cancelled")
+            self.__cancel()
+            raise MotordebugException("Cancelled")
+
+    def __cancel(self):
+        self.__reset_controller_service()
+        # very important delay to avoid unexpected issues from ros_control
+        rospy.sleep(0.05)
+
+    def __run(self, nb_loops):
+        try:
+            error_counter = 0
+            self.__is_running = True
+            self.__set_led_state_service(False, 0, 0, 0)
+            if nb_loops < 1:
+                #self._set_log_debug(True)
+                self._display_hardware_params()
+                status, message = self._scan_with_motor_report()
+                self.__check_state()
+                rospy.loginfo("Motor Debug - {}".format(message))
+
+                if status != CommandStatus.SUCCESS:
+                    error_counter += 1
+            else:
+                default_joint_pose = [0.0] * len(self._joint_names)
+                self.__robot.calibrate_auto()
+                self.__robot.set_learning_mode(False)
+                rospy.sleep(1)
+
+                rospy.loginfo("Motor Debug - Go to default pose")
+                error_counter += 0 if self._play_trajectory(self._create_goal(default_joint_pose)) else 1
+                for _ in range(nb_loops):
+                    for joint_index, joint_name in enumerate(self._joint_names):
+                        rospy.loginfo("Motor Debug - Test {} limits".format(joint_name))
+                        for limit_type in ["min", "max"]:
+                            if joint_index == 1 and limit_type == 'min':
+                                continue
+                            rospy.loginfo("Motor Debug - Go to {} limit of {}".format(limit_type, joint_name))
+                            test_limit_joints = default_joint_pose[:]
+                            test_limit_joints[joint_index] = self._joint_limits[joint_name][limit_type]
+                            test_limit_joints[joint_index] -= math.copysign(0.1, test_limit_joints[joint_index])
+                            error_counter += 0 if self._play_trajectory(self._create_goal(test_limit_joints)) else 1
+
+                            rospy.loginfo("Motor Debug - Return to default pose")
+                            error_counter += 0 if self._play_trajectory(self._create_goal(default_joint_pose)) else 1
+
+                            self.__set_led_state_service(error_counter > 0, 5, LedBlinkerRequest.LED_WHITE, 60)
+                    if error_counter > 0:
+                        break
+
+            rospy.sleep(1)
+            self.__robot.set_learning_mode(True)
+            #self._set_log_debug(False)
+            self.__is_running = False
+
+            self.__set_led_state_service(error_counter > 0, 5, LedBlinkerRequest.LED_WHITE, 360)
+
+        except:
+            self.__is_running = False
+            self.__robot.set_learning_mode(True)
+
+    def _scan_with_motor_report(self):
+        try:
+            rospy.wait_for_service(self.__motor_report_service_name, 2)
+        except rospy.ROSException:
+            rospy.logwarn("Motor Debug - Report motor service is not connected")
+            return CommandStatus.FAIL, "Report motor service is not connected"
+
+        response = self.__motor_report_service()
+        return response.status, response.message
+
+    def _play_trajectory(self, goal):
+        self.__check_state()
+        rospy.loginfo("Motor Debug - Waiting for the joint_trajectory_action server")
+        self.__traj_client.wait_for_server()
+        rospy.loginfo("joint_trajectory_action server is ready")
+
+        # When to start the trajectory: 0.1s from now
+        goal.trajectory.header.stamp = rospy.Time.now() + rospy.Duration(0.1)
+        rospy.loginfo("Send Goad")
+        self.__traj_client.send_goal(goal)
+
+        rospy.loginfo("Goal sent: is waiting for result")
+        self.__traj_client.wait_for_result(timeout=rospy.Duration(6))
+
+        result = self.__traj_client.get_result()
+        if not result:
+            rospy.loginfo("Trajectory command has reached timeout limit")
+            return False
+
+        rospy.loginfo("Trajectory finished")
+        rospy.sleep(2)
+        self.__check_state()
+        return self._check_if_goal_reached(goal)
+
+    def _check_if_goal_reached(self, goal):
+        current_joints = self.__robot.get_joints()
+        target_joints = goal.trajectory.points[-1].positions
+
+        rospy.loginfo("Target joints: {} \nCurrent joints: {}".format(target_joints, current_joints))
+        for joint_index in range(len(current_joints)):
+            if not (target_joints[joint_index] - CHECK_EQUAT_STATES_SENSIBILITY <= current_joints[joint_index] <=
+                    target_joints[
+                        joint_index] + CHECK_EQUAT_STATES_SENSIBILITY):
+                rospy.logerr("Motor Debug - The joint targets were not properly reached")
+                return False
+
+        return True
+
+    def _create_goal(self, joints_position, duration=2):
+        goal = FollowJointTrajectoryGoal()
+        goal.trajectory.joint_names = self._joint_names
+        goal.trajectory.points = [JointTrajectoryPoint()]
+        goal.trajectory.points[0].positions = joints_position
+        goal.trajectory.points[0].velocities = [0.0] * len(self._joint_names)
+        goal.trajectory.points[0].time_from_start = rospy.Duration(duration)
+        return goal
+
+    def _set_log_debug(self, debug_mode):
+        # loggers_list = self.__get_hardware_loggers_service()
+        for logger_name in ["ros.niryo_robot_hardware_interface", "ros.conveyor_interface", "ros.dynamixel_driver",
+                            "ros.stepper_driver", "ros.tools_interface", "rosout"]:
+            log_state = SetLoggerLevelRequest(logger=logger_name, level='DEBUG' if debug_mode else 'INFO')
+            self.__hardware_log_level_service(log_state)
+
+        for logger_name in ["rospy.rosout", "rosout"]:
+            log_state = SetLoggerLevelRequest(logger=logger_name, level='DEBUG' if debug_mode else 'INFO')
+            self.__commander_log_level_service(log_state)
+
+    def _display_hardware_params(self):
+        rospy.loginfo("Motor Debug - Hardware params" + '\n' + self._display_dict(
+            rospy.get_param("/niryo_robot_hardware_interface")))
+
+    def _display_dict(self, dict_to_display, prefix='  '):
+        string_to_display = ""
+        for key in sorted(dict_to_display.keys()):
+            if isinstance(dict_to_display[key], dict):
+                values_to_string = self._display_dict(dict_to_display[key], prefix=prefix + "  ")
+                string_to_display += prefix + key + ":\n" + values_to_string
+            else:
+                string_to_display += "{}{}: {}\n".format(prefix, key, dict_to_display[key])
+
+        return string_to_display
diff --git a/niryo_robot_commander/scripts/robot_commander_node.py b/niryo_robot_commander/scripts/robot_commander_node.py
new file mode 100755
index 000000000..90283fb57
--- /dev/null
+++ b/niryo_robot_commander/scripts/robot_commander_node.py
@@ -0,0 +1,497 @@
+#!/usr/bin/env python
+
+# Lib
+import rospy
+import actionlib
+import threading
+
+import sys
+
+# Commanders
+from arm_commander import ArmCommander
+from tool_commander import ToolCommander
+from tool_commander_simu import ToolCommanderSimu
+import moveit_commander
+from ArmParametersValidator import ArmParametersValidator
+from motor_debug import MotorDebug
+
+from jog_controller import JogController
+from niryo_robot_commander.command_enums import *
+
+# Command Status
+from niryo_robot_msgs.msg import CommandStatus
+
+# For State Publisher
+import tf
+from tf import LookupException, ConnectivityException, ExtrapolationException
+from tf.transformations import quaternion_from_euler
+from math import pi
+
+# Messages
+from actionlib_msgs.msg import GoalStatus
+from std_msgs.msg import Bool
+from geometry_msgs.msg import Quaternion
+from niryo_robot_commander.msg import RobotCommand
+from niryo_robot_msgs.msg import RobotState, HardwareStatus
+
+# Services
+from niryo_robot_msgs.srv import Trigger
+from niryo_robot_msgs.srv import SetBool
+from niryo_robot_msgs.srv import GetBool
+
+# Action msgs
+from niryo_robot_commander.msg import PausePlanExecution
+from niryo_robot_commander.msg import RobotMoveAction
+from niryo_robot_commander.msg import RobotMoveResult
+
+
+class RobotCommanderNode:
+    """
+    This class is in charge of the Robot Commander Node
+    It contains:
+    - The State Publisher
+    - Arm & Tools Commanders
+
+    Its main goal is to interpret command, and launch execution according to this command
+    """
+
+    def __init__(self):
+        rospy.logdebug("Robot Commander - Entering in Init")
+        # Initialize MoveIt!
+        moveit_commander.roscpp_initialize(sys.argv)
+        # - Load all the sub-commanders
+        # First, get Parameters Validator for Arm
+        arm_param_validator = ArmParametersValidator(rospy.get_param("/niryo_robot/robot_command_validation"))
+        # Initialize Arm
+        self.__arm_commander = ArmCommander(arm_param_validator)
+        # Initialize tool commander
+        if not rospy.get_param("~simu_gripper"):
+            self.__tool_commander = ToolCommander()
+        else:
+            self.__tool_commander = ToolCommanderSimu()
+
+        rospy.logdebug("Robot Commander - Sub Commanders are loaded")
+
+        # Initialize motor debug
+        self.__motor_debug = MotorDebug()
+
+        # Dict which link MoveCommand to arm functions
+        self.dict_interpreter_move_cmd = {
+            # Move to One Pose
+            MoveCommandType.JOINTS: self.__arm_commander.set_joint_target,
+            MoveCommandType.POSE: self.__arm_commander.set_pose_target_from_cmd,
+            MoveCommandType.POSITION: self.__arm_commander.set_position_target,
+            MoveCommandType.RPY: self.__arm_commander.set_rpy_target,
+            MoveCommandType.POSE_QUAT: self.__arm_commander.set_pose_quat_target,
+            MoveCommandType.LINEAR_POSE: self.__arm_commander.set_linear_trajectory,
+            MoveCommandType.SHIFT_POSE: self.__arm_commander.set_shift_pose_target,
+
+            # Trajectory
+            MoveCommandType.EXECUTE_TRAJ: self.__arm_commander.execute_trajectory,
+
+            # Add-Ons
+            MoveCommandType.DRAW_SPIRAL: self.__arm_commander.draw_spiral_trajectory,
+        }
+
+        # - Subscribers
+        self.__learning_mode_on = True
+        rospy.Subscriber('/niryo_robot/learning_mode/state', Bool,
+                         self.__callback_learning_mode)
+
+        self.__hardware_status = None
+        rospy.Subscriber('/niryo_robot_hardware_interface/hardware_status', HardwareStatus,
+                         self.__callback_hardware_status)
+
+        self.__pause_state = PausePlanExecution.STANDBY
+        rospy.Subscriber('/niryo_robot_rpi/pause_state', PausePlanExecution,
+                         self.__callback_pause_movement)
+
+        # Event which allows to timeout if pause take too long
+        self.__pause_finished_event = threading.Event()
+        self.__pause_finished_event.set()
+        self.__pause_timeout = rospy.get_param("~pause_timeout")
+
+        # - Services
+        rospy.Service('~stop_command', Trigger,
+                      self.__callback_stop_command)
+
+        rospy.Service('~is_active', GetBool,
+                      self.__callback_is_active)
+
+        # Robot Action Server
+        self.__current_goal_handle = actionlib.ServerGoalHandle()
+        self.__action_server = actionlib.ActionServer('~robot_action', RobotMoveAction,
+                                                      goal_cb=self.__callback_goal, cancel_cb=self.__callback_cancel,
+                                                      auto_start=False)
+        self.__action_server_thread = threading.Thread()
+        self.__action_server_lock = threading.Lock()
+        self.__command_still_active_max_tries = rospy.get_param("~command_still_active_max_tries")
+
+        # Starting Action server
+        self.__start_action_server()
+
+        rospy.logdebug("Robot Commander - Services & Actions server are created")
+
+        # - Publisher
+        self.__is_active_publisher = rospy.Publisher('~is_active',
+                                                     Bool, queue_size=5)
+        rospy.Timer(rospy.Duration(rospy.get_param("~active_publish_rate_sec")), self.__publish_is_active)
+
+        # Jog
+        self.__jog_controller = JogController(arm_param_validator)
+
+        # Publish robot state (position, orientation, tool)
+        self.__state_publisher = StatePublisher()
+
+        # Set a bool to mentioned this node is initialized
+        rospy.set_param('~initialized', True)
+
+        rospy.loginfo("Robot Commander - Started")
+
+    def __start_action_server(self):
+        self.__action_server.start()
+        rospy.logdebug("Robot Commander - Action Server started")
+
+    # -- CALLBACKS
+    # - Subscribers
+    def __publish_is_active(self, *_):
+        msg = Bool()
+        msg.data = self.__current_goal_is_active()
+        try:
+            self.__is_active_publisher.publish(msg)
+        except rospy.ROSException:
+            return
+
+    # - Subscribers
+    def __callback_learning_mode(self, msg):
+        activate = msg.data
+        if not self.__learning_mode_on and activate:
+            self.__arm_commander.stop_arm()
+        self.__learning_mode_on = activate
+
+    def __callback_hardware_status(self, msg):
+        self.__hardware_status = msg
+
+    # - Services
+    def __callback_stop_command(self, _):
+        self.__cancel_command()
+        return CommandStatus.SUCCESS, "Command stopped"
+
+    def __callback_is_active(self, _):
+        return self.__current_goal_is_active()
+
+    def __callback_pause_movement(self, msg):
+        self.__pause_state = msg.state
+        if msg.state == PausePlanExecution.PAUSE:
+            rospy.loginfo("Robot Commander - Receive Set Pause Mode from button")
+            self.__pause_finished_event.clear()
+            self.__cancel_command()
+        elif msg.state == PausePlanExecution.CANCEL:
+            self.__pause_finished_event.set()
+            self.__cancel_command()
+            rospy.loginfo("Robot Commander - Receive Cancel Command from button")
+        else:
+            self.__pause_finished_event.set()
+
+    # - Action Server
+    def __callback_goal(self, goal_handle):
+        """
+        This function verifies that all conditions are met in order to execute the request
+        :param goal_handle: object use to communicate with the action server
+        :return: None
+        """
+        rospy.loginfo("Commander Action Serv - Received goal. Check if can be executed")
+
+        # Check if hw status has been received at least once
+        if self.__hardware_status is None:
+            result = self.create_result(CommandStatus.HARDWARE_NOT_OK,
+                                        "Hardware Status still not received, please restart the robot")
+            goal_handle.set_rejected(result)
+            return
+
+        # Check if motor connection problem
+        if not self.__hardware_status.connection_up:
+            result = self.create_result(CommandStatus.HARDWARE_NOT_OK,
+                                        "Motor connection problem, you can't send a command now")
+            goal_handle.set_rejected(result)
+            return
+
+        # Check if calibration is needed
+        if self.__hardware_status.calibration_needed:
+            result = self.create_result(CommandStatus.CALIBRATION_NOT_DONE,
+                                        "You need to calibrate the robot before sending a command")
+            goal_handle.set_rejected(result)
+            return
+
+        # Check if calibration is in progress
+        if self.__hardware_status.calibration_in_progress:
+            result = self.create_result(CommandStatus.CALIBRATION_NOT_DONE,
+                                        "Calibration in progress, wait until it ends to send a command")
+            goal_handle.set_rejected(result)
+            return
+
+        # Check if jog controller enabled
+        if self.__jog_controller.is_enabled():
+            result = self.create_result(CommandStatus.JOG_CONTROLLER_ENABLED,
+                                        "You need to deactivate jog controller to execute a new command")
+            goal_handle.set_rejected(result)
+            return
+
+        # check if still have a goal
+        if self.__current_goal_is_active():
+            # If still have a goal, wait a bit to be sure it's not goal is still active
+            # due to concurrency issue
+            for i in range(self.__command_still_active_max_tries):
+                rospy.logwarn("Commander Action Serv - Current goal seems to be still active, "
+                              "will retry {} time(s)".format(self.__command_still_active_max_tries - i))
+                rospy.sleep(0.2)
+                if not self.__current_goal_is_active():
+                    break
+            else:
+                result = self.create_result(CommandStatus.GOAL_STILL_ACTIVE,
+                                            "Current command is still active")
+                goal_handle.set_rejected(result)
+                return
+
+        # Check if learning mode ON
+        if self.__learning_mode_on and self.goal_to_cmd_type(goal_handle) != RobotCommand.TOOL_ONLY:
+            if not self.__set_learning_mode(False):
+                result = self.create_result(CommandStatus.LEARNING_MODE_ON,
+                                            "Learning mode could not be deactivated")
+                goal_handle.set_rejected(result)
+                return
+        # set accepted
+        self.__current_goal_handle = goal_handle
+        self.__current_goal_handle.set_accepted()
+        rospy.loginfo("Commander Action Serv - Goal has been accepted")
+
+        # Launch compute + execution in a new thread
+        self.__action_server_thread = threading.Thread(target=self.__execute_goal_action,
+                                                       name="worker_execute_goal_action")
+        self.__action_server_thread.start()
+        rospy.logdebug("Commander Action Serv - Executing command in a new thread")
+
+    def __callback_cancel(self, goal_handle):
+        rospy.loginfo("Commander Action Serv - Received cancel command")
+
+        if goal_handle == self.__current_goal_handle:
+            self.__cancel_current_command()
+        else:
+            rospy.logdebug("Commander Action Serv - No current goal, nothing to do")
+
+    # -- EXECUTORS
+    def __reset_pause_play_state(self):
+        self.__pause_finished_event.set()
+        self.__pause_state = PausePlanExecution.STANDBY
+
+    def __current_goal_is_active(self):
+        if not self.__current_goal_handle.goal:
+            return False
+        return self.__current_goal_handle.get_goal_status().status in [GoalStatus.ACTIVE, GoalStatus.PENDING]
+
+    def __cancel_due_to_pause(self):
+        # Check if plan is paused
+        if not self.__pause_finished_event.wait(timeout=self.__pause_timeout):
+            self.__current_goal_handle.set_canceled()
+            rospy.logwarn("Commander Action Serv - Goal has been paused since too long, "
+                          "cancelling it")
+            return True
+
+        if self.__pause_state == PausePlanExecution.CANCEL:
+            self.__current_goal_handle.set_canceled()
+            rospy.loginfo("Commander Action Serv - Goal has been successfully canceled")
+            return True
+
+        return False
+
+    def __execute_goal_action(self):
+        """
+        Threaded function which interpret and execute the command
+        It waits until the action finished and set goal_handle according to the result
+        :return: None
+        """
+        if self.__cancel_due_to_pause():
+            self.__reset_pause_play_state()
+            return
+        try:
+            cmd = self.__current_goal_handle.goal.goal.cmd
+            (status, message) = self.__interpret_and_execute_command(cmd)
+            response = self.create_result(status, message)
+            result = response
+        except (RobotCommanderException, ArmCommanderException, ToolCommanderException) as e:
+            result = self.create_result(e.status, e.message)
+            response = None
+            rospy.loginfo("Commander Action Serv - An exception was "
+                          "thrown during command execution : {}".format(e.message))
+
+        # Check if plan is paused and should be restarted
+        if self.__pause_state == PausePlanExecution.PAUSE:
+            if self.__cancel_due_to_pause():
+                self.__reset_pause_play_state()
+            elif self.__pause_state == PausePlanExecution.RESUME:
+                rospy.loginfo("Commander Action Serv - Resuming goal action")
+                return self.__execute_goal_action()
+            else:
+                self.__current_goal_handle.set_aborted(result)
+                rospy.logwarn("Commander Action Serv - Unknown result, goal has been set as aborted")
+        # Check response
+        elif not response:
+            self.__current_goal_handle.set_aborted(result)
+            rospy.logwarn("Commander Action Serv - Execution has been aborted")
+        elif response.status == CommandStatus.SUCCESS:
+            self.__current_goal_handle.set_succeeded(result)
+            rospy.loginfo("Commander Action Serv - Goal has been set as succeeded")
+        elif response.status == CommandStatus.STOPPED:
+            self.__current_goal_handle.set_canceled(result)
+            rospy.loginfo("Commander Action Serv - Goal has been successfully canceled")
+        elif response.status == CommandStatus.CONTROLLER_PROBLEMS:
+            self.__current_goal_handle.set_aborted(result)
+            rospy.logwarn("Commander Action Serv - Controller failed during execution : " +
+                          "Goal has been aborted.\n" +
+                          "This is due to either a collision, or a motor unable to follow a given command" +
+                          " (overload, extreme positions, ...)")
+        else:
+            self.__current_goal_handle.set_aborted(result)
+            rospy.logwarn("Commander Action Serv - Unknown result, goal has been set as aborted")
+
+        self.__pause_finished_event.set()
+
+    def __interpret_and_execute_command(self, cmd):
+        """
+        Take a Robot command, give it to Arm or Tools commander, and return the result
+        :param cmd: RobotCommand (see niryo_robot_msgs)
+        :return: status, message
+        """
+        cmd_type = cmd.cmd_type
+
+        if cmd_type == RobotCommand.MOVE_ONLY:
+            arm_cmd = cmd.arm_cmd
+            arm_cmd_type = arm_cmd.cmd_type
+            # noinspection PyArgumentList
+            return self.dict_interpreter_move_cmd[arm_cmd_type](arm_cmd)
+
+        elif cmd_type == RobotCommand.TOOL_ONLY:
+            return self.__tool_commander.send_tool_command(cmd.tool_cmd)
+
+        else:
+            return CommandStatus.UNKNOWN_COMMAND, "Commander Action Serv - Unknown command"
+
+    def __cancel_command(self):
+        self.__arm_commander.stop_current_plan()  # Send a cancel signal to Moveit interface
+        self.__tool_commander.stop_tool_command()
+
+    @staticmethod
+    def __set_learning_mode(set_bool):
+        try:
+            rospy.wait_for_service('/niryo_robot/learning_mode/activate', timeout=1)
+            srv = rospy.ServiceProxy('/niryo_robot/learning_mode/activate', SetBool)
+            resp = srv(set_bool)
+            return resp.status == CommandStatus.SUCCESS
+        except (rospy.ServiceException, rospy.ROSException):
+            return False
+
+    @staticmethod
+    def create_result(status, message):
+        """
+        Create a RobotMoveResult object which can be send to the Action Server
+        :param status:
+        :param message:
+        :return: RobotMoveResult object
+        """
+        result = RobotMoveResult()
+        result.status = status
+        result.message = message
+        return result
+
+    def __cancel_current_command(self):
+        try:
+            self.__cancel_command()
+        except RobotCommanderException:
+            rospy.logwarn("Commander Action Serv - Could not cancel current command ")
+
+    @staticmethod
+    def goal_to_cmd_type(goal_handle):
+        return goal_handle.goal.goal.cmd.cmd_type
+
+
+# -- STATE PUBLISHER
+
+class StatePublisher:
+    """
+    This object read Transformation Publisher and Publish the RobotState
+     in the Topic '/niryo_robot/robot_state' at a certain rate
+    """
+
+    def __init__(self):
+
+        # Tf listener (position + rpy) of end effector tool
+        self.__position = [0, 0, 0]
+        self.__quaternion = [0, 0, 0, 0]
+        self.__rpy = [0, 0, 0]
+        self.__tf_listener = tf.TransformListener()
+
+        # State publisher
+        self.__robot_state_publisher = rospy.Publisher(
+            '/niryo_robot/robot_state', RobotState, queue_size=5)
+
+        # Get params from rosparams
+        rate_publish_state = rospy.get_param("/niryo_robot/robot_state/rate_publish_state")
+
+        rospy.Timer(rospy.Duration(1.0 / rate_publish_state), self.__publish_state)
+
+    def __update_ee_link_pose(self):
+        try:
+            (pos, rot) = self.__tf_listener.lookupTransform('base_link', 'tool_link', rospy.Time(0))
+            self.__position = pos
+            self.__quaternion = rot
+            self.__rpy = tf.transformations.euler_from_quaternion(rot)
+        except (LookupException, ConnectivityException, ExtrapolationException):
+            rospy.loginfo_throttle(1, "State Publisher - Failed to get TF base_link -> ee_link")
+
+    def __publish_state(self, _):
+        self.__update_ee_link_pose()
+        msg = RobotState()
+        msg.position.x = self.__position[0]
+        msg.position.y = self.__position[1]
+        msg.position.z = self.__position[2]
+        msg.rpy.roll = self.__rpy[0]
+        msg.rpy.pitch = self.__rpy[1]
+        msg.rpy.yaw = self.__rpy[2]
+        msg.orientation.x = self.__quaternion[0]
+        msg.orientation.y = self.__quaternion[1]
+        msg.orientation.z = self.__quaternion[2]
+        msg.orientation.w = self.__quaternion[3]
+        try:
+            self.__robot_state_publisher.publish(msg)
+        except rospy.ROSException:
+            return
+
+    @staticmethod
+    def get_orientation_from_angles(r, p, y):
+        quaternion = quaternion_from_euler(r, p, y)
+        orientation = Quaternion()
+        orientation.x = quaternion[0]
+        orientation.y = quaternion[1]
+        orientation.z = quaternion[2]
+        orientation.w = quaternion[3]
+        return orientation
+
+    @staticmethod
+    def get_rpy_from_quaternion(rot):
+        euler = tf.transformations.euler_from_quaternion(rot)
+        # Force angles in [-PI, PI]
+        for i, angle in enumerate(euler):
+            if angle > pi:
+                euler[i] = angle % (2 * pi) - 2 * pi
+            elif angle < -pi:
+                euler[i] = angle % (2 * pi)
+        return euler
+
+
+if __name__ == '__main__':
+    rospy.init_node('niryo_robot_commander', anonymous=False, log_level=rospy.INFO)
+    try:
+        node = RobotCommanderNode()
+        rospy.spin()
+    except rospy.ROSInterruptException:
+        pass
diff --git a/niryo_robot_commander/scripts/tool_commander.py b/niryo_robot_commander/scripts/tool_commander.py
new file mode 100644
index 000000000..5f31f93b0
--- /dev/null
+++ b/niryo_robot_commander/scripts/tool_commander.py
@@ -0,0 +1,90 @@
+#!/usr/bin/env python
+# Lib
+import rospy
+import actionlib
+
+# Messages
+from niryo_robot_tools.msg import ToolAction
+from niryo_robot_tools.msg import ToolGoal
+
+# Action msgs
+from actionlib_msgs.msg import GoalStatus
+
+# Command Status
+from niryo_robot_msgs.msg import CommandStatus
+
+# Exception
+from niryo_robot_commander.command_enums import ToolCommanderException
+
+
+class ToolCommander:
+    """
+    Class which allows interaction with Tool action server
+    """
+
+    def __init__(self):
+        self.__tool_timeout = rospy.get_param("~simu_gripper")
+
+        self.__action_client = actionlib.SimpleActionClient('/niryo_robot_tools/action_server', ToolAction)
+        rospy.logdebug("Tool Commander - Waiting for action server : niryo_robot_tools/action_server...")
+        self.__action_client.wait_for_server()
+        rospy.logdebug("Tool Commander - Found action server : niryo_robot_tools/action_server")
+        rospy.loginfo("Tool Commander - Started")
+
+    def send_tool_command(self, cmd):
+        """
+        Send tool command and wait for goal transition to Done
+        Finally, check if the command finished well
+        :param cmd:
+        :type cmd: ToolCommand
+        :return: status, message
+        """
+        goal = self.create_goal(cmd)
+        self.__action_client.send_goal(goal)
+        rospy.loginfo("Tool Commander - Command sent")
+
+        # Wait for goal transition to DONE
+        bool_done = self.__action_client.wait_for_result(timeout=rospy.Duration(self.__tool_timeout))
+
+        result = self.__action_client.get_result()
+        if not result:
+            rospy.loginfo("Tool Commander - Action Server's result is None")
+            return CommandStatus.TOOL_FAILURE, "Tool command has reached timeout limit"
+
+        message = "Tool Commander - " + result.message
+        # If goal has been rejected/aborted, stop tracking it and return error
+        if self.has_problem():
+            self.__action_client.stop_tracking_goal()
+            raise ToolCommanderException(CommandStatus.TOOL_FAILURE, message)
+
+        if bool_done:
+            rospy.loginfo(message)
+            return CommandStatus.SUCCESS, "Tool command has been successfully processed"
+        else:
+            rospy.logwarn(message)
+            return CommandStatus.TOOL_FAILURE, "Tool command has reached timeout limit"
+
+    def stop_tool_command(self):
+        self.__action_client.stop_tracking_goal()
+
+    def get_command_status(self):
+        """
+        Returns LOST if this SimpleActionClient isn't tracking a goal. See documentation :
+        http://docs.ros.org/melodic/api/actionlib/html/classactionlib_1_1simple__action__client_1_1SimpleActionClient.html
+        """
+        return self.__action_client.get_state()
+
+    def has_problem(self):
+        return self.get_command_status() != GoalStatus.SUCCEEDED
+
+    @staticmethod
+    def create_goal(cmd):
+        """
+        Create ToolGoal
+        :param cmd: ToolCommand
+        :type cmd: ToolCommand
+        :return: ToolGoal
+        """
+        goal = ToolGoal()
+        goal.cmd = cmd
+        return goal
diff --git a/niryo_robot_commander/scripts/tool_commander_simu.py b/niryo_robot_commander/scripts/tool_commander_simu.py
new file mode 100644
index 000000000..2c6a8d5da
--- /dev/null
+++ b/niryo_robot_commander/scripts/tool_commander_simu.py
@@ -0,0 +1,70 @@
+#!/usr/bin/env python
+
+# Lib
+import rospy
+import moveit_commander
+
+# Command Status
+from niryo_robot_msgs.msg import CommandStatus
+
+# Messages
+from actionlib_msgs.msg import GoalStatus
+
+# Services
+from niryo_robot_msgs.srv import Trigger
+
+
+class ToolCommanderSimu:
+    """
+    Object which command the Tool via MoveIt
+    """
+
+    def __init__(self):
+        self.__reference_frame = rospy.get_param("~reference_frame")
+
+        # Get Tool MoveGroupCommander
+        self.__tool = moveit_commander.MoveGroupCommander("tool")
+
+        # Set pose reference frame
+        self.__tool.set_pose_reference_frame(self.__reference_frame)
+
+        self.__set_gripper()
+
+        list_commands_all_tools = rospy.get_param("/niryo_robot_tools/command_list")
+
+        self.__open_gripper_cmd_id = list_commands_all_tools["open_gripper"]
+        self.__close_gripper_cmd_id = list_commands_all_tools["close_gripper"]
+
+    @staticmethod
+    def __set_gripper():
+        rospy.wait_for_service('/niryo_robot_tools/update_tool', 3)
+        service = rospy.ServiceProxy('/niryo_robot_tools/update_tool', Trigger)
+        result = service()
+        if result.status != CommandStatus.SUCCESS:
+            raise Exception(result.message)
+
+    def send_tool_command(self, req):
+        """
+        Check niryo_robot_tools/config/end_effectors.yaml for cmd_signification
+        """
+        cmd = req.cmd_type
+        if cmd == self.__open_gripper_cmd_id:
+            rospy.loginfo("Tool Commander - Setting tool move group to open position")
+
+            self.__tool.set_named_target("open")
+            self.__tool.go()
+        elif cmd == self.__close_gripper_cmd_id:
+            rospy.loginfo("Tool Commander - Setting tool move group to close position")
+
+            self.__tool.set_named_target("close")
+            self.__tool.go()
+        return CommandStatus.SUCCESS, "Tool Commander - Command has been successfully processed"
+
+    def stop_tool_command(self):
+        pass
+
+    def get_command_status(self):
+        pass
+
+    def has_problem(self):
+        return self.get_command_status() in [GoalStatus.ABORTED, GoalStatus.REJECTED]
diff --git a/niryo_robot_commander/setup.py b/niryo_robot_commander/setup.py
new file mode 100644
index 000000000..bf0ce62c0
--- /dev/null
+++ b/niryo_robot_commander/setup.py
@@ -0,0 +1,10 @@
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    packages=['niryo_robot_commander'],
+    # scripts=['bin/myscript'],
+    package_dir={'': 'src'}
+)
+
+setup(**d)
diff --git a/niryo_robot_commander/src/__init__.py b/niryo_robot_commander/src/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/niryo_robot_commander/src/niryo_robot_commander/__init__.py b/niryo_robot_commander/src/niryo_robot_commander/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/niryo_robot_commander/src/niryo_robot_commander/command_enums.py b/niryo_robot_commander/src/niryo_robot_commander/command_enums.py
new file mode 100644
index 000000000..1263c8af8
--- /dev/null
+++ b/niryo_robot_commander/src/niryo_robot_commander/command_enums.py
@@ -0,0 +1,58 @@
+#!/usr/bin/env python
+
+
+class MoveCommandType(object):
+    # From fixed params
+    JOINTS = 11
+    POSE = 12
+    POSITION = 13
+    RPY = 14
+    POSE_QUAT = 15
+    LINEAR_POSE = 16
+
+    # From actual pose
+    SHIFT_POSE = 21
+
+    # Trajectory
+    EXECUTE_TRAJ = 31
+
+    # Tools
+    TOOL = 51
+
+    # ADD-ONS
+    DRAW_SPIRAL = 90
+
+
+class ToolsCommand(object):
+    DO_STUFF = 1
+
+
+class MovingStyle(object):
+    CLASSIC = 1
+    LINEAR = 2
+
+
+# - Exceptions
+
+class RobotCommanderException(Exception):
+    def __init__(self, status, message):
+        self.status = status
+        self.message = message
+
+
+class ArmCommanderException(Exception):
+    def __init__(self, status, message):
+        self.status = status
+        self.message = message
+
+
+class ToolCommanderException(Exception):
+    def __init__(self, status, message):
+        self.status = status
+        self.message = message
+
+
+class JogControllerException(Exception):
+    def __init__(self, status, message):
+        self.status = status
+        self.message = message
diff --git a/niryo_robot_commander/srv/GetFK.srv b/niryo_robot_commander/srv/GetFK.srv
new file mode 100644
index 000000000..c15c13d75
--- /dev/null
+++ b/niryo_robot_commander/srv/GetFK.srv
@@ -0,0 +1,3 @@
+float32[] joints
+---
+niryo_robot_msgs/RobotState pose
diff --git a/niryo_robot_commander/srv/GetIK.srv b/niryo_robot_commander/srv/GetIK.srv
new file mode 100644
index 000000000..587cf0153
--- /dev/null
+++ b/niryo_robot_commander/srv/GetIK.srv
@@ -0,0 +1,4 @@
+niryo_robot_msgs/RobotState pose
+---
+bool success
+float32[] joints
diff --git a/niryo_robot_commander/srv/JogShift.srv b/niryo_robot_commander/srv/JogShift.srv
new file mode 100644
index 000000000..59a909247
--- /dev/null
+++ b/niryo_robot_commander/srv/JogShift.srv
@@ -0,0 +1,10 @@
+int32 JOINTS_SHIFT = 1
+int32 POSE_SHIFT = 2
+
+int32 cmd
+
+float32[] shift_values
+
+---
+int32 status
+string message
diff --git a/niryo_robot_description/CMakeLists.txt b/niryo_robot_description/CMakeLists.txt
new file mode 100644
index 000000000..1401b1fc0
--- /dev/null
+++ b/niryo_robot_description/CMakeLists.txt
@@ -0,0 +1,6 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(niryo_robot_description)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
diff --git a/niryo_robot_description/config/default_config.rviz b/niryo_robot_description/config/default_config.rviz
new file mode 100644
index 000000000..70128d19b
--- /dev/null
+++ b/niryo_robot_description/config/default_config.rviz
@@ -0,0 +1,220 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /TF1
+        - /TF1/Frames1
+      Splitter Ratio: 0.5
+    Tree Height: 617
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        arm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        elbow_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        forearm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        hand_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        shoulder_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        tool_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        world:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        wrist_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        arm_link:
+          Value: false
+        base_link:
+          Value: false
+        elbow_link:
+          Value: false
+        forearm_link:
+          Value: false
+        hand_link:
+          Value: false
+        shoulder_link:
+          Value: false
+        tool_link:
+          Value: false
+        world:
+          Value: false
+        wrist_link:
+          Value: false
+      Marker Scale: 0.6000000238418579
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        world:
+          base_link:
+            shoulder_link:
+              arm_link:
+                elbow_link:
+                  forearm_link:
+                    wrist_link:
+                      hand_link:
+                        tool_link:
+                          {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: world
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 1.0546685457229614
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.008815915323793888
+        Y: 0.08343396335840225
+        Z: 0.1888124644756317
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.2953985631465912
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 5.348588943481445
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002f4fc0200000008fb0000001200530065006c0065006300740069006f006e000000003d0000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002f4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005990000003efc0100000002fb0000000800540069006d0065000000000000000599000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000043d000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1433
+  X: 104
+  Y: 0
diff --git a/niryo_robot_description/launch/display.launch b/niryo_robot_description/launch/display.launch
new file mode 100644
index 000000000..a58e3ce6b
--- /dev/null
+++ b/niryo_robot_description/launch/display.launch
@@ -0,0 +1,14 @@
+<launch>
+    <arg name="hardware_version" value="ned"/>
+    <arg name="joints_gui" default="true"/>
+
+    <arg name="urdf_path"
+         value="$(find niryo_robot_description)/urdf/$(arg hardware_version)/niryo_$(arg hardware_version).urdf.xacro"/>
+
+    <param name="robot_description" command="$(find xacro)/xacro $(arg urdf_path)"/>
+    <param name="use_gui" value="$(arg joints_gui)"/>
+
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find niryo_robot_description)/config/default_config.rviz"/>
+</launch>
diff --git a/niryo_robot_description/launch/without_mesh_display.launch b/niryo_robot_description/launch/without_mesh_display.launch
new file mode 100644
index 000000000..177ce533c
--- /dev/null
+++ b/niryo_robot_description/launch/without_mesh_display.launch
@@ -0,0 +1,14 @@
+<launch>
+    <arg name="hardware_version" value="ned"/>
+    <arg name="joints_gui" default="true"/>
+
+    <arg name="urdf_path"
+         value="$(find niryo_robot_description)/urdf/$(arg hardware_version)/without_mesh_niryo_$(arg hardware_version).urdf.xacro"/>
+
+    <param name="robot_description" command="$(find xacro)/xacro $(arg urdf_path)"/>
+    <param name="use_gui" value="$(arg joints_gui)"/>
+
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find niryo_robot_description)/config/default_config.rviz"/>
+</launch>
diff --git a/niryo_robot_description/meshes/gripper_1/base_gripper_1.STL b/niryo_robot_description/meshes/gripper_1/base_gripper_1.STL
new file mode 100644
index 000000000..ee464c0c6
Binary files /dev/null and b/niryo_robot_description/meshes/gripper_1/base_gripper_1.STL differ
diff --git a/niryo_robot_description/meshes/gripper_1/mors_1.STL b/niryo_robot_description/meshes/gripper_1/mors_1.STL
new file mode 100644
index 000000000..fcf0ca1d9
Binary files /dev/null and b/niryo_robot_description/meshes/gripper_1/mors_1.STL differ
diff --git a/niryo_robot_description/meshes/gripper_1/mors_2.STL b/niryo_robot_description/meshes/gripper_1/mors_2.STL
new file mode 100644
index 000000000..738de15c6
Binary files /dev/null and b/niryo_robot_description/meshes/gripper_1/mors_2.STL differ
diff --git a/niryo_robot_description/meshes/ned/collada/arm_link.dae b/niryo_robot_description/meshes/ned/collada/arm_link.dae
new file mode 100644
index 000000000..56a60feb0
--- /dev/null
+++ b/niryo_robot_description/meshes/ned/collada/arm_link.dae
@@ -0,0 +1,3768 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA version="1.4.0" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+	<asset>
+		<contributor>
+			<author> SimLab Soft http://www.simLab-soft.com </author>
+			<authoring_tool>SimLab Collada Exporter for SolidWorks</authoring_tool>
+		</contributor>
+		<created>2020-12-08T17:47:04</created>
+		<modified>2020-12-08T17:47:04</modified>
+		<unit meter="1.000000000000000" name="Meter"/>
+		<up_axis>Z_UP</up_axis>
+	</asset>
+	<library_visual_scenes>
+		<visual_scene id="Scene" name="Scene">
+			<node>
+				<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+				<node  id="ID0" name="Camera-1">
+					<matrix> 1 0 0 0.108939 0 0 -1 -1.25274 0 1 0 -0.01585 0 0 0 1 </matrix>
+					<instance_camera url="#ID1" />
+				</node>
+				<node  id="ID2" name="Body_1">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<node  id="ID3" name="_3DGeom-85">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID4">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl1" target="#ID5">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+					<node  id="ID6" name="_3DGeom-86">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID7">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl" target="#ID8">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+				</node>
+				<node  id="ID9" name="Body_2">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<node  id="ID10" name="_3DGeom-211">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID11">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl1" target="#ID5">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+					<node  id="ID12" name="_3DGeom-212">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID13">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl" target="#ID8">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+				</node>
+				<node  id="ID14" name="Body_3">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<node  id="ID15" name="_3DGeom-301">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID16">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl2" target="#ID17">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+					<node  id="ID18" name="_3DGeom-302">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID19">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl" target="#ID8">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+				</node>
+				<node  id="ID20" name="Body_4">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<node  id="ID21" name="_3DGeom-335">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID22">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl3" target="#ID23">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+					<node  id="ID24" name="_3DGeom-336">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID25">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl" target="#ID8">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+				</node>
+				<node  id="ID26" name="Body_5">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<node  id="ID27" name="_3DGeom-433">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID28">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl" target="#ID8">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+					<node  id="ID29" name="_3DGeom-434">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID30">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl4" target="#ID31">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+				</node>
+				<node  id="ID32" name="Body_6">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<node  id="ID33" name="_3DGeom-498">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID34">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl5" target="#ID35">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+					<node  id="ID36" name="_3DGeom-499">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID37">
+							<bind_material>
+								<technique_common>
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512 512 314 314 318 318 327 327 436 436 440 440 472 472 320 320 322 322 334 334 361 361 370 370 374 374 418 418 422 422 362 362 422 422 424 424 362 362 387 387 406 406 391 391 406 406 407 407 391 391 334 334 330 330 320 320 330 330 326 326 320 320 320 320 326 326 318 318 326 326 324 324 318 318 318 318 324 324 327 327 327 327 331 331 314 314 331 331 335 335 314 314 314 314 335 335 315 315 335 335 339 339 315 315 374 374 378 378 361 361 378 378 384 384 361 361 361 361 384 384 407 407 384 384 388 388 407 407 407 407 388 388 391 391 407 407 410 410 361 361 410 410 412 412 361 361 361 361 412 412 362 362 412 412 416 416 362 362 362 362 416 416 418 418 430 430 363 363 432 432 363 363 362 362 432 432 432 432 362 362 472 472 362 362 424 424 472 472 472 472 424 424 436 436 440 440 442 442 472 472 442 442 444 444 472 472 472 472 444 444 448 448 358 358 377 377 356 356 377 377 373 373 356 356 356 356 373 373 354 354 339 339 345 345 315 315 345 345 349 349 315 315 315 315 349 349 361 361 349 349 366 366 361 361 361 361 366 366 370 370 448 448 450 450 472 472 450 450 453 453 472 472 472 472 453 453 471 471 453 453 452 452 471 471 471 471 452 452 469 469 358 358 360 360 377 377 360 360 381 381 377 377 377 377 381 381 393 393 393 393 395 395 377 377 395 395 397 397 377 377 377 377 397 397 400 400 387 387 383 383 406 406 383 383 377 377 406 406 406 406 377 377 404 404 377 377 400 400 404 404 373 373 369 369 354 354 369 369 365 365 354 354 354 354 365 365 352 352 365 365 348 348 352 352 352 352 348 348 342 342 348 348 344 344 342 342 342 342 344 344 322 322 344 344 338 338 322 322 322 322 338 338 334 334 452 452 456 456 469 469 456 456 458 458 469 469 469 469 458 458 466 466 458 458 462 462 466 466 548 548 549 549 550 550 549 549 551 551 550 550 550 550 551 551 552 552 551 551 553 553 552 552 1348 1348 1349 1349 554 554 1350 1350 555 555 554 554 554 554 555 555 556 556 555 555 557 557 556 556 556 556 557 557 558 558 557 557 559 559 558 558 558 558 559 559 560 560 559 559 561 561 560 560 560 560 561 561 562 562 561 561 563 563 562 562 562 562 563 563 564 564 563 563 565 565 564 564 564 564 565 565 566 566 565 565 567 567 566 566 566 566 567 567 1351 1351 567 567 1352 1352 1353 1353 568 568 569 569 570 570 569 569 571 571 570 570 570 570 571 571 572 572 571 571 573 573 572 572 574 574 575 575 576 576 575 575 577 577 576 576 578 578 579 579 580 580 579 579 581 581 580 580 580 580 581 581 582 582 581 581 583 583 582 582 1354 1354 1355 1355 584 584 1356 1356 585 585 584 584 584 584 585 585 586 586 585 585 587 587 586 586 586 586 587 587 588 588 587 587 589 589 588 588 588 588 589 589 590 590 589 589 591 591 590 590 590 590 591 591 592 592 591 591 593 593 592 592 592 592 593 593 594 594 593 593 595 595 594 594 594 594 595 595 596 596 595 595 597 597 596 596 596 596 597 597 1357 1357 597 597 1358 1358 1359 1359 598 598 599 599 600 600 599 599 601 601 600 600 600 600 601 601 602 602 601 601 603 603 602 602 604 604 605 605 606 606 605 605 607 607 606 606 608 608 609 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655 655 654 654 654 654 655 655 656 656 655 655 657 657 656 656 656 656 657 657 1369 1369 657 657 1370 1370 1371 1371 658 658 659 659 660 660 659 659 661 661 660 660 660 660 661 661 662 662 661 661 663 663 662 662 664 664 665 665 666 666 665 665 667 667 666 666 668 668 669 669 670 670 669 669 671 671 670 670 670 670 671 671 672 672 671 671 673 673 672 672 1372 1372 1373 1373 674 674 1374 1374 675 675 674 674 674 674 675 675 676 676 675 675 677 677 676 676 676 676 677 677 678 678 677 677 679 679 678 678 678 678 679 679 680 680 679 679 681 681 680 680 680 680 681 681 682 682 681 681 683 683 682 682 682 682 683 683 684 684 683 683 685 685 684 684 684 684 685 685 686 686 685 685 687 687 686 686 686 686 687 687 1375 1375 687 687 1376 1376 1377 1377 688 688 689 689 690 690 689 689 691 691 690 690 690 690 691 691 692 692 691 691 693 693 692 692 694 694 695 695 696 696 695 695 697 697 696 696 698 698 699 699 700 700 699 699 701 701 700 700 700 700 701 701 702 702 701 701 703 703 702 702 1378 1378 1379 1379 704 704 1380 1380 705 705 704 704 704 704 705 705 706 706 705 705 707 707 706 706 706 706 707 707 708 708 707 707 709 709 708 708 708 708 709 709 710 710 709 709 711 711 710 710 710 710 711 711 712 712 711 711 713 713 712 712 712 712 713 713 714 714 713 713 715 715 714 714 714 714 715 715 716 716 715 715 717 717 716 716 716 716 717 717 1381 1381 717 717 1382 1382 1383 1383 718 718 719 719 720 720 719 719 721 721 720 720 720 720 721 721 722 722 721 721 723 723 722 722 724 724 725 725 726 726 725 725 727 727 726 726 1384 1384 754 754 757 757 729 729 728 728 734 734 728 728 736 736 734 734 734 734 736 736 737 737 737 737 736 736 742 742 736 736 745 745 742 742 742 742 745 745 746 746 746 746 745 745 750 750 1385 1385 755 755 1386 1386 1387 1387 755 755 1388 1388 764 764 762 762 769 769 762 762 760 760 769 769 769 769 760 760 755 755 760 760 756 756 755 755 755 755 756 756 1389 1389 778 778 776 776 779 779 771 771 768 768 780 780 768 768 775 775 780 780 780 780 775 775 777 777 776 776 774 774 779 779 774 774 770 770 779 779 779 779 770 770 769 769 770 770 766 766 769 769 769 769 766 766 764 764 757 757 754 754 771 771 754 754 761 761 771 771 771 771 761 761 763 763 763 763 765 765 771 771 765 765 767 767 771 771 771 771 767 767 768 768 1390 1390 1391 1391 757 757 1392 1392 1393 1393 757 757 757 757 1394 1394 1395 1395 739 739 731 731 730 730 730 730 735 735 739 739 735 735 738 738 739 739 739 739 738 738 747 747 738 738 743 743 747 747 747 747 743 743 744 744 732 732 733 733 740 740 733 733 741 741 740 740 740 740 741 741 748 748 741 741 749 749 748 748 1396 1396 1397 1397 758 758 1398 1398 759 759 758 758 758 758 759 759 772 772 759 759 773 773 772 772 772 772 773 773 781 781 773 773 782 782 781 781 781 781 782 782 783 783 782 782 784 784 783 783 783 783 784 784 779 779 784 784 780 780 779 779 779 779 780 780 778 778 780 780 777 777 778 778 785 785 786 786 787 787 786 786 788 788 787 787 789 789 790 790 791 791 790 790 792 792 791 791 791 791 792 792 793 793 792 792 794 794 793 793 1399 1399 1400 1400 795 795 1401 1401 796 796 795 795 795 795 796 796 797 797 796 796 798 798 797 797 797 797 798 798 799 799 798 798 800 800 799 799 799 799 800 800 801 801 800 800 802 802 801 801 801 801 802 802 803 803 802 802 804 804 803 803 803 803 804 804 805 805 804 804 806 806 805 805 805 805 806 806 807 807 806 806 808 808 807 807 807 807 808 808 1402 1402 808 808 1403 1403 1404 1404 809 809 810 810 811 811 810 810 812 812 811 811 811 811 812 812 813 813 812 812 814 814 813 813 815 815 828 828 826 826 828 828 829 829 826 826 821 821 823 823 816 816 830 830 831 831 827 827 831 831 816 816 827 827 827 827 816 816 825 825 816 816 823 823 825 825 826 826 824 824 815 815 824 824 822 822 815 815 815 815 822 822 820 820 820 820 818 818 815 815 818 818 817 817 815 815 815 815 817 817 816 816 817 817 819 819 816 816 816 816 819 819 821 821 1405 1405 858 858 861 861 836 836 837 837 838 838 837 837 845 845 838 838 838 838 845 845 844 844 844 844 845 845 846 846 845 845 853 853 846 846 846 846 853 853 852 852 852 852 853 853 854 854 1406 1406 863 863 1407 1407 1408 1408 863 863 1409 1409 869 869 866 866 877 877 866 866 864 864 877 877 877 877 864 864 863 863 864 864 862 862 863 863 863 863 862 862 1410 1410 882 882 880 880 886 886 875 875 872 872 885 885 872 872 879 879 885 885 885 885 879 879 881 881 880 880 878 878 886 886 878 878 876 876 886 886 886 886 876 876 877 877 876 876 870 870 877 877 877 877 870 870 869 869 861 861 858 858 875 875 858 858 865 865 875 875 875 875 865 865 867 867 867 867 868 868 875 875 868 868 871 871 875 875 875 875 871 871 872 872 1411 1411 1412 1412 861 861 1413 1413 1414 1414 861 861 861 861 1415 1415 1416 1416 842 842 834 834 835 835 835 835 839 839 842 842 839 839 843 843 842 842 842 842 843 843 851 851 843 843 847 847 851 851 851 851 847 847 848 848 881 881 882 882 885 885 882 882 886 886 885 885 885 885 886 886 887 887 886 886 888 888 887 887 887 887 888 888 883 883 888 888 884 884 883 883 883 883 884 884 873 873 884 884 874 874 873 873 873 873 874 874 859 859 874 874 860 860 859 859 859 859 860 860 1417 1417 860 860 1418 1418 1419 1419 849 849 850 850 840 840 850 850 841 841 840 840 840 840 841 841 832 832 841 841 833 833 832 832 890 890 905 905 901 901 905 905 904 904 901 901 894 894 896 896 889 889 903 903 902 902 900 900 902 902 889 889 900 900 900 900 889 889 898 898 889 889 896 896 898 898 901 901 899 899 890 890 899 899 897 897 890 890 890 890 897 897 895 895 895 895 893 893 890 890 893 893 891 891 890 890 890 890 891 891 889 889 891 891 892 892 889 889 889 889 892 892 894 894 906 906 907 907 908 908 907 907 909 909 908 908 908 908 909 909 910 910 909 909 911 911 910 910 910 910 911 911 912 912 911 911 913 913 912 912 1420 1420 1421 1421 914 914 1422 1422 915 915 914 914 914 914 915 915 916 916 915 915 917 917 916 916 916 916 917 917 918 918 917 917 919 919 918 918 918 918 919 919 920 920 919 919 921 921 920 920 920 920 921 921 922 922 921 921 923 923 922 922 922 922 923 923 924 924 923 923 925 925 924 924 924 924 925 925 1423 1423 925 925 1424 1424 1425 1425 926 926 927 927 928 928 927 927 929 929 928 928 928 928 929 929 930 930 929 929 931 931 930 930 930 930 931 931 932 932 931 931 933 933 932 932 934 934 935 935 936 936 935 935 937 937 936 936 955 955 981 981 979 979 983 983 981 981 953 953 961 961 975 975 973 973 977 977 975 975 959 959 979 979 977 977 957 957 958 958 974 974 976 976 972 972 974 974 960 960 973 973 972 972 962 962 952 952 980 980 982 982 978 978 980 980 954 954 976 976 978 978 956 956 948 948 984 984 986 986 985 985 983 983 951 951 967 967 941 941 969 969 963 963 938 938 965 965 940 940 963 963 964 964 967 967 965 965 939 939 968 968 944 944 966 966 945 945 968 968 970 970 964 964 966 966 942 942 987 987 985 985 949 949 970 970 987 987 947 947 988 988 971 971 986 986 971 971 946 946 986 986 969 969 943 943 971 971 982 982 984 984 950 950 1003 1003 1027 1027 1025 1025 996 996 1030 1030 1032 1032 1028 1028 1030 1030 998 998 1026 1026 1028 1028 1000 1000 990 990 1036 1036 1038 1038 1034 1034 1036 1036 992 992 1032 1032 1034 1034 994 994 993 993 1037 1037 1035 1035 1039 1039 1037 1037 991 991 1038 1038 1039 1039 989 989 999 999 1031 1031 1029 1029 1033 1033 1031 1031 997 997 1035 1035 1033 1033 995 995 1017 1017 1010 1010 1019 1019 1014 1014 1013 1013 1015 1015 1011 1011 1014 1014 1016 1016 1017 1017 1015 1015 1012 1012 1020 1020 1007 1007 1018 1018 1006 1006 1020 1020 1022 1022 1016 1016 1018 1018 1009 1009 1024 1024 1026 1026 1002 1002 1022 1022 1024 1024 1004 1004 1023 1023 1021 1021 1025 1025 1021 1021 1005 1005 1025 1025 1019 1019 1008 1008 1021 1021 1029 1029 1027 1027 1001 1001 1041 1041 1040 1040 1042 1042 1041 1041 1042 1042 1043 1043 1042 1042 1044 1044 1043 1043 1043 1043 1044 1044 1045 1045 1044 1044 1046 1046 1045 1045 1045 1045 1046 1046 1047 1047 1046 1046 1048 1048 1047 1047 1047 1047 1048 1048 1049 1049 1048 1048 1426 1426 1049 1049 1049 1049 1427 1427 1428 1428 1050 1050 1052 1052 1051 1051 1051 1051 1052 1052 1053 1053 1052 1052 1054 1054 1053 1053 1053 1053 1054 1054 1055 1055 1054 1054 1056 1056 1055 1055 1055 1055 1056 1056 1057 1057 1056 1056 1058 1058 1057 1057 1057 1057 1058 1058 1059 1059 1079 1079 1078 1078 1076 1076 1079 1079 1076 1076 1077 1077 1076 1076 1074 1074 1077 1077 1077 1077 1074 1074 1075 1075 1074 1074 1072 1072 1075 1075 1075 1075 1072 1072 1073 1073 1072 1072 1070 1070 1073 1073 1073 1073 1070 1070 1071 1071 1429 1429 1068 1068 1430 1430 1431 1431 1068 1068 1069 1069 1068 1068 1066 1066 1069 1069 1069 1069 1066 1066 1067 1067 1066 1066 1064 1064 1067 1067 1067 1067 1064 1064 1065 1065 1064 1064 1062 1062 1065 1065 1065 1065 1062 1062 1063 1063 1062 1062 1060 1060 1063 1063 1063 1063 1060 1060 1061 1061 1080 1080 1081 1081 1082 1082 1081 1081 1083 1083 1082 1082 1084 1084 1085 1085 1086 1086 1085 1085 1087 1087 1086 1086 1095 1095 1093 1093 1088 1088 1093 1093 1092 1092 1088 1088 1088 1088 1092 1092 1089 1089 1092 1092 1094 1094 1089 1089 1103 1103 1101 1101 1090 1090 1101 1101 1099 1099 1090 1090 1090 1090 1099 1099 1088 1088 1099 1099 1097 1097 1088 1088 1088 1088 1097 1097 1095 1095 1094 1094 1096 1096 1089 1089 1096 1096 1098 1098 1089 1089 1089 1089 1098 1098 1091 1091 1098 1098 1100 1100 1091 1091 1103 1103 1090 1090 1105 1105 1090 1090 1116 1116 1105 1105 1105 1105 1116 1116 1107 1107 1108 1108 1110 1110 1117 1117 1113 1113 1111 1111 1116 1116 1111 1111 1109 1109 1116 1116 1116 1116 1109 1109 1107 1107 1100 1100 1102 1102 1091 1091 1102 1102 1104 1104 1091 1091 1091 1091 1104 1104 1117 1117 1104 1104 1106 1106 1117 1117 1117 1117 1106 1106 1108 1108 1110 1110 1112 1112 1117 1117 1112 1112 1114 1114 1117 1117 1117 1117 1114 1114 1116 1116 1114 1114 1115 1115 1116 1116 1116 1116 1115 1115 1113 1113 1157 1157 1128 1128 1126 1126 1130 1130 1128 1128 1155 1155 1163 1163 1122 1122 1120 1120 1124 1124 1122 1122 1161 1161 1126 1126 1124 1124 1159 1159 1162 1162 1119 1119 1121 1121 1118 1118 1119 1119 1164 1164 1120 1120 1118 1118 1165 1165 1156 1156 1125 1125 1127 1127 1123 1123 1125 1125 1158 1158 1121 1121 1123 1123 1160 1160 1150 1150 1131 1131 1133 1133 1129 1129 1131 1131 1152 1152 1127 1127 1129 1129 1153 1153 1144 1144 1137 1137 1139 1139 1135 1135 1137 1137 1146 1146 1133 1133 1135 1135 1148 1148 1145 1145 1140 1140 1138 1138 1141 1141 1140 1140 1143 1143 1139 1139 1141 1141 1142 1142 1151 1151 1134 1134 1132 1132 1136 1136 1134 1134 1149 1149 1138 1138 1136 1136 1147 1147 1132 1132 1130 1130 1154 1154 1166 1166 1167 1167 1168 1168 1167 1167 1169 1169 1168 1168 1170 1170 1171 1171 1172 1172 1171 1171 1173 1173 1172 1172 1174 1174 1175 1175 1176 1176 1175 1175 1177 1177 1176 1176 1178 1178 1179 1179 1180 1180 1179 1179 1181 1181 1180 1180 1182 1182 1183 1183 1184 1184 1183 1183 1185 1185 1184 1184 1184 1184 1185 1185 1186 1186 1185 1185 1187 1187 1186 1186 1188 1188 1189 1189 1190 1190 1189 1189 1191 1191 1190 1190 1192 1192 1193 1193 1194 1194 1193 1193 1195 1195 1194 1194 1196 1196 1197 1197 1198 1198 1197 1197 1199 1199 1198 1198 1200 1200 1201 1201 1202 1202 1201 1201 1203 1203 1202 1202 1204 1204 1205 1205 1206 1206 1205 1205 1207 1207 1206 1206 1206 1206 1207 1207 1208 1208 1207 1207 1209 1209 1208 1208 1432 1432 1433 1433 1210 1210 1434 1434 1211 1211 1210 1210 1210 1210 1211 1211 1212 1212 1211 1211 1213 1213 1212 1212 1212 1212 1213 1213 1214 1214 1213 1213 1215 1215 1214 1214 1214 1214 1215 1215 1216 1216 1215 1215 1217 1217 1216 1216 1218 1218 1219 1219 1220 1220 1219 1219 1221 1221 1220 1220 1220 1220 1221 1221 1222 1222 1221 1221 1223 1223 1222 1222 1222 1222 1223 1223 1224 1224 1223 1223 1225 1225 1224 1224 1224 1224 1225 1225 1435 1435 1225 1225 1436 1436 1437 1437 1226 1226 1227 1227 1228 1228 1227 1227 1229 1229 1228 1228 1228 1228 1229 1229 1230 1230 1229 1229 1231 1231 1230 1230 1233 1233 1232 1232 1234 1234 1233 1233 1234 1234 1235 1235 1234 1234 1236 1236 1235 1235 1235 1235 1236 1236 1237 1237 1438 1438 1238 1238 1439 1439 1440 1440 1238 1238 1239 1239 1238 1238 1240 1240 1239 1239 1239 1239 1240 1240 1241 1241 1240 1240 1242 1242 1241 1241 1241 1241 1242 1242 1243 1243 1242 1242 1244 1244 1243 1243 1243 1243 1244 1244 1245 1245 1246 1246 1247 1247 1248 1248 1247 1247 1249 1249 1248 1248 1248 1248 1249 1249 1250 1250 1249 1249 1251 1251 1250 1250 1441 1441 1442 1442 1252 1252 1443 1443 1253 1253 1252 1252 1252 1252 1253 1253 1254 1254 1253 1253 1255 1255 1254 1254 1254 1254 1255 1255 1256 1256 1255 1255 1257 1257 1256 1256 1256 1256 1257 1257 1258 1258 1257 1257 1259 1259 1258 1258 1260 1260 1261 1261 1262 1262 1261 1261 1263 1263 1262 1262 1262 1262 1263 1263 1264 1264 1263 1263 1265 1265 1264 1264 1264 1264 1265 1265 1266 1266 1265 1265 1267 1267 1266 1266 1266 1266 1267 1267 1444 1444 1267 1267 1445 1445 1446 1446 1268 1268 1269 1269 1270 1270 1269 1269 1271 1271 1270 1270 1270 1270 1271 1271 1272 1272 1271 1271 1273 1273 1272 1272 1284 1284 1283 1283 1282 1282 1447 1447 1281 1281 1448 1448 1449 1449 1281 1281 1280 1280 1281 1281 1279 1279 1280 1280 1280 1280 1279 1279 1278 1278 1279 1279 1277 1277 1278 1278 1278 1278 1277 1277 1276 1276 1277 1277 1275 1275 1276 1276 1276 1276 1275 1275 1274 1274 1288 1288 1289 1289 1286 1286 1289 1289 1287 1287 1286 1286 1286 1286 1287 1287 1284 1284 1287 1287 1285 1285 1284 1284 1284 1284 1285 1285 1283 1283 1305 1305 1304 1304 1303 1303 1304 1304 1302 1302 1303 1303 1303 1303 1302 1302 1301 1301 1302 1302 1300 1300 1301 1301 1300 1300 1298 1298 1301 1301 1301 1301 1298 1298 1299 1299 1450 1450 1296 1296 1451 1451 1452 1452 1296 1296 1297 1297 1296 1296 1294 1294 1297 1297 1297 1297 1294 1294 1295 1295 1294 1294 1292 1292 1295 1295 1295 1295 1292 1292 1293 1293 1292 1292 1290 1290 1293 1293 1293 1293 1290 1290 1291 1291 1306 1306 1307 1307 1308 1308 1307 1307 1309 1309 1308 1308 1308 1308 1309 1309 1310 1310 1309 1309 1311 1311 1310 1310 1453 1453 1454 1454 1312 1312 1455 1455 1313 1313 1312 1312 1312 1312 1313 1313 1314 1314 1313 1313 1315 1315 1314 1314 1314 1314 1315 1315 1316 1316 1315 1315 1317 1317 1316 1316 1316 1316 1317 1317 1318 1318 1317 1317 1319 1319 1318 1318 1320 1320 1321 1321 1322 1322 1321 1321 1323 1323 1322 1322 1322 1322 1323 1323 1324 1324 1323 1323 1325 1325 1324 1324 1324 1324 1325 1325 1326 1326 1325 1325 1327 1327 1326 1326 1326 1326 1327 1327 1456 1456 1327 1327 1457 1457 1458 1458 1328 1328 1329 1329 1330 1330 1329 1329 1331 1331 1330 1330 1330 1330 1331 1331 1332 1332 1331 1331 1333 1333 1332 1332 1347 1347 1346 1346 1344 1344 1347 1347 1344 1344 1345 1345 1344 1344 1342 1342 1345 1345 1345 1345 1342 1342 1343 1343 1342 1342 1340 1340 1343 1343 1343 1343 1340 1340 1341 1341 1340 1340 1459 1459 1341 1341 1341 1341 1460 1460 1461 1461 1338 1338 1336 1336 1339 1339 1339 1339 1336 1336 1337 1337 1336 1336 1334 1334 1337 1337 1337 1337 1334 1334 1335 1335 </p>
+				</triangles>
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+					<technique_common>
+						<accessor count="4782" source="#geo_6-Position-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
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+				<triangles count="2264" material="Mtla">
+					<input offset="0" semantic="VERTEX" source="#geo_9-Vertex"/>
+					<input offset="1" semantic="NORMAL"  source="#geo_9-Normals"/>
+					<p>0 0 1 1 2 2 1 1 3 3 2 2 4 4 5 5 6 6 5 5 7 7 6 6 8 8 9 9 10 10 9 9 11 11 10 10 27 27 26 26 31 31 26 26 25 25 31 31 31 31 25 25 24 24 20 20 19 19 13 13 19 19 18 18 13 13 13 13 18 18 17 17 30 30 28 28 31 31 28 28 29 29 31 31 31 31 29 29 27 27 14 14 12 12 15 15 12 12 13 13 15 15 15 15 13 13 16 16 13 13 17 17 16 16 24 24 23 23 31 31 23 23 22 22 31 31 31 31 22 22 13 13 22 22 21 21 13 13 13 13 21 21 20 20 49 49 48 48 53 53 48 48 52 52 53 53 53 53 52 52 58 58 52 52 57 57 58 58 58 58 57 57 56 56 56 56 57 57 55 55 57 57 54 54 55 55 55 55 54 54 51 51 54 54 50 50 51 51 51 51 50 50 47 47 50 50 46 46 47 47 47 47 46 46 45 45 46 46 44 44 45 45 45 45 44 44 43 43 44 44 41 41 43 43 43 43 41 41 42 42 42 42 41 41 40 40 41 41 39 39 40 40 40 40 39 39 2473 2473 39 39 2474 2474 2475 2475 38 38 37 37 36 36 37 37 35 35 36 36 36 36 35 35 34 34 35 35 32 32 34 34 34 34 32 32 33 33 65 65 68 68 64 64 68 68 67 67 64 64 64 64 67 67 63 63 59 59 60 60 64 64 60 60 61 61 64 64 64 64 61 61 65 65 61 61 62 62 65 65 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+					<technique_common>
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+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="geo_11-Vertex">
+					<input semantic="POSITION" source="#geo_11-Position"/>
+				</vertices>
+				<triangles count="5482" material="Mtl7">
+					<input offset="0" semantic="VERTEX" source="#geo_11-Vertex"/>
+					<input offset="1" semantic="NORMAL"  source="#geo_11-Normals"/>
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+					<technique_common>
+						<accessor count="4821" source="#geo_13-Normals-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="geo_13-Vertex">
+					<input semantic="POSITION" source="#geo_13-Position"/>
+				</vertices>
+				<triangles count="4506" material="Mtlb">
+					<input offset="0" semantic="VERTEX" source="#geo_13-Vertex"/>
+					<input offset="1" semantic="NORMAL"  source="#geo_13-Normals"/>
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+					<technique_common>
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+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
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+					<technique_common>
+						<accessor count="1575" source="#geo_19-Normals-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="geo_19-Vertex">
+					<input semantic="POSITION" source="#geo_19-Position"/>
+				</vertices>
+				<triangles count="1730" material="Mtl">
+					<input offset="0" semantic="VERTEX" source="#geo_19-Vertex"/>
+					<input offset="1" semantic="NORMAL"  source="#geo_19-Normals"/>
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+					<technique_common>
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+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
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+					<technique_common>
+						<accessor count="1625" source="#geo_24-Normals-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="geo_24-Vertex">
+					<input semantic="POSITION" source="#geo_24-Position"/>
+				</vertices>
+				<triangles count="1832" material="Mtl">
+					<input offset="0" semantic="VERTEX" source="#geo_24-Vertex"/>
+					<input offset="1" semantic="NORMAL"  source="#geo_24-Normals"/>
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+					</technique_common>
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+				</triangles>
+			</mesh>
+		</geometry>
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+			<mesh>
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+					<technique_common>
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+							<param name="Z" type="float"/>
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+					</technique_common>
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+				</triangles>
+			</mesh>
+		</geometry>
+		<geometry id="ID136" name="geo_40">
+			<mesh>
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+				</triangles>
+			</mesh>
+		</geometry>
+		<geometry id="ID138" name="geo_41">
+			<mesh>
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+				</triangles>
+			</mesh>
+		</geometry>
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+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="geo_42-Vertex">
+					<input semantic="POSITION" source="#geo_42-Position"/>
+				</vertices>
+				<triangles count="1848" material="Mtl">
+					<input offset="0" semantic="VERTEX" source="#geo_42-Vertex"/>
+					<input offset="1" semantic="NORMAL"  source="#geo_42-Normals"/>
+					<p>2 2 0 0 16 16 41 41 43 43 34 34 46 46 44 44 33 33 44 44 42 42 33 33 33 33 42 42 39 39 20 20 24 24 23 23 39 39 37 37 33 33 37 37 35 35 33 33 33 33 35 35 31 31 40 40 51 51 53 53 31 31 29 29 33 33 29 29 27 27 33 33 33 33 27 27 22 22 27 27 25 25 22 22 25 25 21 21 22 22 22 22 21 21 19 19 53 53 55 55 40 40 55 55 56 56 40 40 40 40 56 56 54 54 32 32 36 36 34 34 36 36 38 38 34 34 34 34 38 38 41 41 13 13 15 15 23 23 15 15 18 18 23 23 23 23 18 18 20 20 2 2 16 16 4 4 54 54 52 52 40 40 52 52 50 50 40 40 40 40 50 50 33 33 50 50 48 48 33 33 33 33 48 48 46 46 43 43 45 45 34 34 45 45 47 47 34 34 34 34 47 47 40 40 47 47 49 49 40 40 40 40 49 49 51 51 0 0 1 1 16 16 1 1 3 3 16 16 16 16 3 3 5 5 19 19 17 17 22 22 17 17 14 14 22 22 22 22 14 14 12 12 24 24 26 26 23 23 26 26 28 28 23 23 23 23 28 28 34 34 28 28 30 30 34 34 34 34 30 30 32 32 5 5 7 7 16 16 7 7 9 9 16 16 16 16 9 9 23 23 9 9 11 11 23 23 23 23 11 11 13 13 12 12 10 10 22 22 10 10 8 8 22 22 22 22 8 8 16 16 8 8 6 6 16 16 16 16 6 6 4 4 117 117 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+							<param name="Z" type="float"/>
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+					</technique_common>
+				</source>
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+					<input offset="1" semantic="NORMAL"  source="#geo_43-Normals"/>
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+				</triangles>
+			</mesh>
+		</geometry>
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+					<technique_common>
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+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
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+					<technique_common>
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+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="geo_47-Vertex">
+					<input semantic="POSITION" source="#geo_47-Position"/>
+				</vertices>
+				<triangles count="2112" material="Mtl16">
+					<input offset="0" semantic="VERTEX" source="#geo_47-Vertex"/>
+					<input offset="1" semantic="NORMAL"  source="#geo_47-Normals"/>
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1006 1006 1024 1024 1007 1007 1006 1006 1006 1006 1007 1007 987 987 1007 1007 986 986 987 987 987 987 986 986 970 970 986 986 967 967 970 970 970 970 967 967 951 951 967 967 948 948 951 951 951 951 948 948 932 932 948 948 930 930 932 932 932 932 930 930 914 914 930 930 912 912 914 914 914 914 912 912 896 896 912 912 894 894 896 896 896 896 894 894 879 879 894 894 877 877 879 879 879 879 877 877 862 862 877 877 854 854 862 862 862 862 854 854 843 843 854 854 829 829 843 843 843 843 829 829 821 821 829 829 814 814 821 821 821 821 814 814 813 813 814 814 807 807 813 813 813 813 807 807 810 810 807 807 803 803 810 810 810 810 803 803 812 812 803 803 805 805 812 812 812 812 805 805 819 819 805 805 811 811 819 819 819 819 811 811 840 840 811 811 824 824 840 840 824 824 815 815 851 851 815 815 842 842 851 851 851 851 842 842 873 873 842 842 866 866 873 873 873 873 866 866 893 893 866 866 888 888 893 893 893 893 888 888 910 910 888 888 908 908 910 910 910 910 908 908 927 927 908 908 925 925 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1179 1179 1194 1194 1186 1186 1179 1179 1179 1179 1186 1186 1153 1153 1186 1186 1170 1170 1153 1153 1153 1153 1170 1170 1133 1133 1170 1170 1138 1138 1133 1133 1133 1133 1138 1138 1110 1110 1138 1138 1117 1117 1110 1110 1110 1110 1117 1117 1092 1092 1117 1117 1095 1095 1092 1092 1092 1092 1095 1095 1075 1075 1095 1095 1077 1077 1075 1075 1075 1075 1077 1077 1058 1058 1077 1077 1060 1060 1058 1058 1058 1058 1060 1060 1041 1041 1060 1060 1043 1043 1041 1041 1041 1041 1043 1043 1024 1024 1043 1043 1026 1026 1024 1024 1024 1024 1026 1026 1007 1007 1026 1026 1008 1008 1007 1007 1007 1007 1008 1008 986 986 1008 1008 985 985 986 986 986 986 985 985 967 967 985 985 964 964 967 967 967 967 964 964 948 948 964 964 946 946 948 948 948 948 946 946 930 930 946 946 928 928 930 930 930 930 928 928 912 912 928 928 909 909 912 912 912 912 909 909 894 894 909 909 892 892 894 894 894 894 892 892 877 877 892 892 869 869 877 877 877 877 869 869 854 854 869 869 847 847 854 854 854 854 847 847 829 829 847 847 817 817 829 829 829 829 817 817 814 814 817 817 806 806 814 814 814 814 806 806 807 807 806 806 802 802 807 807 807 807 802 802 803 803 802 802 798 798 803 803 803 803 798 798 805 805 798 798 801 801 805 805 805 805 801 801 811 811 801 801 804 804 811 811 811 811 804 804 824 824 804 804 815 815 824 824 815 815 808 808 842 842 808 808 827 827 842 842 842 842 827 827 866 866 827 827 861 861 866 866 866 866 861 861 888 888 861 861 881 881 888 888 888 888 881 881 908 908 881 881 904 904 908 908 908 908 904 904 925 925 904 904 924 924 925 925 925 925 924 924 942 942 924 924 941 941 942 942 942 942 941 941 960 960 941 941 959 959 960 960 960 960 959 959 977 977 959 959 976 976 977 977 977 977 976 976 1000 1000 976 976 1001 1001 1000 1000 1000 1000 1001 1001 1019 1019 1001 1001 1022 1022 1019 1019 1019 1019 1022 1022 1040 1040 1022 1022 1042 1042 1040 1040 1040 1040 1042 1042 1057 1057 1042 1042 1059 1059 1057 1057 1057 1057 1059 1059 1076 1076 1059 1059 1078 1078 1076 1076 1076 1076 1078 1078 1093 1093 1078 1078 1098 1098 1093 1093 1093 1093 1098 1098 1113 1113 1098 1098 1121 1121 1113 1113 1113 1113 1121 1121 1136 1136 1121 1121 1145 1145 1136 1136 1136 1136 1145 1145 1166 1166 1145 1145 1176 1176 1166 1166 1166 1166 1176 1176 1185 1185 1176 1176 1191 1191 1185 1185 1185 1185 1191 1191 1193 1193 1191 1191 1197 1197 1193 1193 1193 1193 1197 1197 1195 1195 1197 1197 1199 1199 1195 1195 1195 1195 1199 1199 1196 1196 1199 1199 1200 1200 1196 1196 1196 1196 1200 1200 1194 1194 1200 1200 1198 1198 1194 1194 1194 1194 1198 1198 1186 1186 1198 1198 1192 1192 1186 1186 1186 1186 1192 1192 1170 1170 1192 1192 1181 1181 1170 1170 1170 1170 1181 1181 1138 1138 1181 1181 1148 1148 1138 1138 1138 1138 1148 1148 1117 1117 1148 1148 1123 1123 1117 1117 1117 1117 1123 1123 1095 1095 1123 1123 1102 1102 1095 1095 1095 1095 1102 1102 1077 1077 1102 1102 1079 1079 1077 1077 1077 1077 1079 1079 1060 1060 1079 1079 1062 1062 1060 1060 1060 1060 1062 1062 1043 1043 1062 1062 1044 1044 1043 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1290 1290 1286 1286 1290 1290 1287 1287 1286 1286 1286 1286 1287 1287 1282 1282 1287 1287 1285 1285 1282 1282 1282 1282 1285 1285 1278 1278 1285 1285 1279 1279 1278 1278 1278 1278 1279 1279 1273 1273 1279 1279 1277 1277 1273 1273 1273 1273 1277 1277 1272 1272 1314 1314 1313 1313 1309 1309 1313 1313 1308 1308 1309 1309 1309 1309 1308 1308 1304 1304 1308 1308 1305 1305 1304 1304 1878 1878 1879 1879 1300 1300 1880 1880 1302 1302 1300 1300 1300 1300 1302 1302 1296 1296 1302 1302 1297 1297 1296 1296 1296 1296 1297 1297 1295 1295 1332 1332 1331 1331 1328 1328 1331 1331 1326 1326 1328 1328 1328 1328 1326 1326 1322 1322 1326 1326 1323 1323 1322 1322 1322 1322 1323 1323 1319 1319 1323 1323 1320 1320 1319 1319 1319 1319 1320 1320 1314 1314 1320 1320 1315 1315 1314 1314 1314 1314 1315 1315 1313 1313 1327 1327 1330 1330 1334 1334 1330 1330 1336 1336 1334 1334 1334 1334 1336 1336 1335 1335 1336 1336 1337 1337 1335 1335 1335 1335 1337 1337 1339 1339 1337 1337 1338 1338 1339 1339 1339 1339 1338 1338 1332 1332 1338 1338 1333 1333 1332 1332 1332 1332 1333 1333 1331 1331 1316 1316 1317 1317 1318 1318 1317 1317 1321 1321 1318 1318 1318 1318 1321 1321 1324 1324 1321 1321 1325 1325 1324 1324 1324 1324 1325 1325 1327 1327 1325 1325 1329 1329 1327 1327 1327 1327 1329 1329 1330 1330 1298 1298 1299 1299 1301 1301 1299 1299 1303 1303 1301 1301 1301 1301 1303 1303 1881 1881 1303 1303 1882 1882 1883 1883 1306 1306 1307 1307 1310 1310 1307 1307 1311 1311 1310 1310 1310 1310 1311 1311 1316 1316 1311 1311 1312 1312 1316 1316 1316 1316 1312 1312 1317 1317 1280 1280 1281 1281 1283 1283 1281 1281 1284 1284 1283 1283 1283 1283 1284 1284 1288 1288 1284 1284 1289 1289 1288 1288 1288 1288 1289 1289 1292 1292 1289 1289 1293 1293 1292 1292 1292 1292 1293 1293 1298 1298 1293 1293 1294 1294 1298 1298 1298 1298 1294 1294 1299 1299 1262 1262 1263 1263 1266 1266 1263 1263 1265 1265 1266 1266 1266 1266 1265 1265 1270 1270 1265 1265 1271 1271 1270 1270 1270 1270 1271 1271 1274 1274 1271 1271 1275 1275 1274 1274 1274 1274 1275 1275 1280 1280 1275 1275 1276 1276 1280 1280 1280 1280 1276 1276 1281 1281 1244 1244 1246 1246 1248 1248 1246 1246 1247 1247 1248 1248 1248 1248 1247 1247 1252 1252 1247 1247 1253 1253 1252 1252 1252 1252 1253 1253 1257 1257 1253 1253 1256 1256 1257 1257 1257 1257 1256 1256 1262 1262 1256 1256 1258 1258 1262 1262 1262 1262 1258 1258 1263 1263 1226 1226 1228 1228 1230 1230 1228 1228 1229 1229 1230 1230 1230 1230 1229 1229 1234 1234 1884 1884 1235 1235 1885 1885 1886 1886 1235 1235 1239 1239 1235 1235 1238 1238 1239 1239 1239 1239 1238 1238 1244 1244 1238 1238 1240 1240 1244 1244 1244 1244 1240 1240 1246 1246 1206 1206 1201 1201 1204 1204 1201 1201 1203 1203 1204 1204 1204 1204 1203 1203 1208 1208 1203 1203 1205 1205 1208 1208 1208 1208 1205 1205 1211 1211 1205 1205 1212 1212 1211 1211 1211 1211 1212 1212 1215 1215 1212 1212 1217 1217 1215 1215 1215 1215 1217 1217 1221 1221 1217 1217 1220 1220 1221 1221 1221 1221 1220 1220 1226 1226 1220 1220 1222 1222 1226 1226 1226 1226 1222 1222 1228 1228 1426 1426 1411 1411 1415 1415 1426 1426 1425 1425 1411 1411 1425 1425 1422 1422 1411 1411 1411 1411 1422 1422 1407 1407 1422 1422 1420 1420 1407 1407 1420 1420 1418 1418 1407 1407 1407 1407 1418 1418 1403 1403 1418 1418 1413 1413 1403 1403 1413 1413 1408 1408 1403 1403 1403 1403 1408 1408 1399 1399 1408 1408 1404 1404 1399 1399 1404 1404 1400 1400 1399 1399 1399 1399 1400 1400 1394 1394 1400 1400 1397 1397 1394 1394 1397 1397 1393 1393 1394 1394 1394 1394 1393 1393 1389 1389 1393 1393 1390 1390 1389 1389 1390 1390 1386 1386 1389 1389 1389 1389 1386 1386 1385 1385 1386 1386 1383 1383 1385 1385 1383 1383 1380 1380 1385 1385 1385 1385 1380 1380 1379 1379 1380 1380 1376 1376 1379 1379 1376 1376 1372 1372 1379 1379 1379 1379 1372 1372 1375 1375 1372 1372 1369 1369 1375 1375 1369 1369 1365 1365 1375 1375 1375 1375 1365 1365 1371 1371 1365 1365 1360 1360 1371 1371 1360 1360 1354 1354 1371 1371 1371 1371 1354 1354 1367 1367 1354 1354 1352 1352 1367 1367 1352 1352 1350 1350 1367 1367 1367 1367 1350 1350 1363 1363 1350 1350 1348 1348 1363 1363 1348 1348 1347 1347 1363 1363 1363 1363 1347 1347 1358 1358 1347 1347 1344 1344 1358 1358 1344 1344 1343 1343 1358 1358 1358 1358 1343 1343 1356 1356 1343 1343 1340 1340 1356 1356 1340 1340 1341 1341 1356 1356 1356 1356 1341 1341 1357 1357 1341 1341 1342 1342 1357 1357 1357 1357 1342 1342 1359 1359 1342 1342 1345 1345 1359 1359 1359 1359 1345 1345 1362 1362 1345 1345 1346 1346 1362 1362 1346 1346 1349 1349 1362 1362 1362 1362 1349 1349 1364 1364 1349 1349 1351 1351 1364 1364 1351 1351 1353 1353 1364 1364 1364 1364 1353 1353 1368 1368 1353 1353 1355 1355 1368 1368 1355 1355 1361 1361 1368 1368 1368 1368 1361 1361 1374 1374 1361 1361 1366 1366 1374 1374 1366 1366 1370 1370 1374 1374 1374 1374 1370 1370 1378 1378 1370 1370 1373 1373 1378 1378 1373 1373 1377 1377 1378 1378 1378 1378 1377 1377 1382 1382 1377 1377 1381 1381 1382 1382 1381 1381 1384 1384 1382 1382 1382 1382 1384 1384 1387 1387 1384 1384 1388 1388 1387 1387 1388 1388 1391 1391 1387 1387 1387 1387 1391 1391 1392 1392 1391 1391 1395 1395 1392 1392 1395 1395 1398 1398 1392 1392 1392 1392 1398 1398 1396 1396 1398 1398 1402 1402 1396 1396 1402 1402 1405 1405 1396 1396 1396 1396 1405 1405 1401 1401 1405 1405 1409 1409 1401 1401 1409 1409 1414 1414 1401 1401 1401 1401 1414 1414 1406 1406 1414 1414 1419 1419 1406 1406 1419 1419 1421 1421 1406 1406 1406 1406 1421 1421 1410 1410 1421 1421 1423 1423 1410 1410 1423 1423 1424 1424 1410 1410 1410 1410 1424 1424 1412 1412 1424 1424 1427 1427 1412 1412 1427 1427 1428 1428 1412 1412 1412 1412 1428 1428 1416 1416 1428 1428 1431 1431 1416 1416 1431 1431 1432 1432 1416 1416 1416 1416 1432 1432 1417 1417 1432 1432 1433 1433 1417 1417 1433 1433 1430 1430 1417 1417 1417 1417 1430 1430 1415 1415 1430 1430 1429 1429 1415 1415 1415 1415 1429 1429 1426 1426 1437 1437 1438 1438 1450 1450 1437 1437 1450 1450 1435 1435 1439 1439 1436 1436 1450 1450 1436 1436 1434 1434 1450 1450 1450 1450 1434 1434 1435 1435 1445 1445 1443 1443 1450 1450 1443 1443 1441 1441 1450 1450 1450 1450 1441 1441 1439 1439 1452 1452 1449 1449 1450 1450 1449 1449 1447 1447 1450 1450 1450 1450 1447 1447 1445 1445 1458 1458 1456 1456 1450 1450 1456 1456 1454 1454 1450 1450 1450 1450 1454 1454 1452 1452 1464 1464 1462 1462 1450 1450 1462 1462 1460 1460 1450 1450 1450 1450 1460 1460 1458 1458 1463 1463 1465 1465 1450 1450 1465 1465 1466 1466 1450 1450 1450 1450 1466 1466 1464 1464 1457 1457 1459 1459 1450 1450 1459 1459 1461 1461 1450 1450 1450 1450 1461 1461 1463 1463 1451 1451 1453 1453 1450 1450 1453 1453 1455 1455 1450 1450 1450 1450 1455 1455 1457 1457 1444 1444 1446 1446 1450 1450 1446 1446 1448 1448 1450 1450 1450 1450 1448 1448 1451 1451 1438 1438 1440 1440 1450 1450 1440 1440 1442 1442 1450 1450 1450 1450 1442 1442 1444 1444 1467 1467 1468 1468 1469 1469 1468 1468 1470 1470 1469 1469 1471 1471 1472 1472 1473 1473 1472 1472 1474 1474 1473 1473 1475 1475 1476 1476 1477 1477 1476 1476 1478 1478 1477 1477 1479 1479 1480 1480 1481 1481 1480 1480 1482 1482 1481 1481 1483 1483 1484 1484 1485 1485 1484 1484 1486 1486 1485 1485 1487 1487 1488 1488 1489 1489 1488 1488 1490 1490 1489 1489 1491 1491 1492 1492 1493 1493 1492 1492 1494 1494 1493 1493 1493 1493 1494 1494 1495 1495 1494 1494 1496 1496 1495 1495 </p>
+				</triangles>
+			</mesh>
+		</geometry>
+		<geometry id="ID153" name="geo_48">
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+					</technique_common>
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+					<technique_common>
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+						</accessor>
+					</technique_common>
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+				</triangles>
+			</mesh>
+		</geometry>
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0.0043 0.109955 0.0230177 0.0043 </float_array>
+					<technique_common>
+						<accessor count="1594" source="#geo_59-Position-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
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+				</triangles>
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+					<technique_common>
+						<accessor count="1594" source="#geo_60-Normals-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="geo_60-Vertex">
+					<input semantic="POSITION" source="#geo_60-Position"/>
+				</vertices>
+				<triangles count="1746" material="Mtl">
+					<input offset="0" semantic="VERTEX" source="#geo_60-Vertex"/>
+					<input offset="1" semantic="NORMAL"  source="#geo_60-Normals"/>
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+					<technique_common>
+						<accessor count="3816" source="#geo_61-Position-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<source id="geo_61-Normals">
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+					<technique_common>
+						<accessor count="3816" source="#geo_62-Position-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
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+				</triangles>
+			</mesh>
+		</geometry>
+		<geometry id="ID11" name="geo_64">
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+				</triangles>
+			</mesh>
+		</geometry>
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+			<mesh>
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+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
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+					</technique_common>
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+				</technique>
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+		</effect>
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+				<technique sid="standard">
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+		</effect>
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+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID207">
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+				<technique sid="standard">
+					<phong>
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+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.898039 0.917647 0.929412 1</color>
+						</diffuse>
+						<specular><color>0.44902 0.458824 0.464706 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+	</library_effects>
+	<scene>
+		<instance_visual_scene url="#Scene"/>
+	</scene>
+</COLLADA>
diff --git a/niryo_robot_description/meshes/ned/collada/base_link.dae b/niryo_robot_description/meshes/ned/collada/base_link.dae
new file mode 100644
index 000000000..491c2364b
--- /dev/null
+++ b/niryo_robot_description/meshes/ned/collada/base_link.dae
@@ -0,0 +1,5805 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA version="1.4.0" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+	<asset>
+		<contributor>
+			<author> SimLab Soft http://www.simLab-soft.com </author>
+			<authoring_tool>SimLab Collada Exporter for SolidWorks</authoring_tool>
+		</contributor>
+		<created>2020-12-08T17:39:56</created>
+		<modified>2020-12-08T17:39:56</modified>
+		<unit meter="1.000000000000000" name="Meter"/>
+		<up_axis>Z_UP</up_axis>
+	</asset>
+	<library_visual_scenes>
+		<visual_scene id="Scene" name="Scene">
+			<node>
+				<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+				<node  id="ID0" name="Camera-1">
+					<matrix> 1 0 0 0 0 0 -1 -0.879996 0 1 0 0.0525 0 0 0 1 </matrix>
+					<instance_camera url="#ID1" />
+				</node>
+				<node  id="ID2" name="Body_1">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<node  id="ID3" name="_3DGeom-87">
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+						<instance_geometry url="#ID4">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl3" target="#ID5">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+					<node  id="ID6" name="_3DGeom-88">
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+							<bind_material>
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+									<instance_material symbol="Mtl2" target="#ID8">
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+								</technique_common>
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+					</node>
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+									<instance_material symbol="Mtl" target="#ID11">
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+								</technique_common>
+							</bind_material>
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+					</node>
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+									<instance_material symbol="Mtl1" target="#ID14">
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+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+				</node>
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+					<node  id="ID16" name="_3DGeom-138">
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+									<instance_material symbol="Mtl" target="#ID11">
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+					</node>
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+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+				</node>
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+				</triangles>
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+				</triangles>
+			</mesh>
+		</geometry>
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+			<mesh>
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+					<technique_common>
+						<accessor count="2396" source="#geo_18-Normals-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="geo_18-Vertex">
+					<input semantic="POSITION" source="#geo_18-Position"/>
+				</vertices>
+				<triangles count="2371" material="Mtl1">
+					<input offset="0" semantic="VERTEX" source="#geo_18-Vertex"/>
+					<input offset="1" semantic="NORMAL"  source="#geo_18-Normals"/>
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1606 1606 1521 1521 1520 1520 1606 1606 1606 1606 1520 1520 1607 1607 1520 1520 1519 1519 1607 1607 1607 1607 1519 1519 1611 1611 1519 1519 1516 1516 1611 1611 1611 1611 1516 1516 1612 1612 1516 1516 1610 1610 1612 1612 1581 1581 1528 1528 1580 1580 1528 1528 1530 1530 1580 1580 1580 1580 1530 1530 1533 1533 1524 1524 1605 1605 1522 1522 1605 1605 1608 1608 1522 1522 1517 1517 1518 1518 1610 1610 1518 1518 1522 1522 1610 1610 1610 1610 1522 1522 1609 1609 1522 1522 1608 1608 1609 1609 1538 1538 1603 1603 1541 1541 1537 1537 1535 1535 1603 1603 1535 1535 1532 1532 1603 1603 1603 1603 1532 1532 1531 1531 1534 1534 1536 1536 1580 1580 1536 1536 1539 1539 1580 1580 1580 1580 1539 1539 1540 1540 1578 1578 1543 1543 1576 1576 1543 1543 1544 1544 1576 1576 1576 1576 1544 1544 1547 1547 1595 1595 1597 1597 1528 1528 1597 1597 1600 1600 1528 1528 1528 1528 1600 1600 1525 1525 1600 1600 1601 1601 1525 1525 1601 1601 1602 1602 1525 1525 1525 1525 1602 1602 1524 1524 1602 1602 1604 1604 1524 1524 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1849 1849 1852 1852 1846 1846 1846 1846 1852 1852 1844 1844 1852 1852 1853 1853 1844 1844 1841 1841 1838 1838 1854 1854 1838 1838 1837 1837 1854 1854 1854 1854 1837 1837 1857 1857 1837 1837 1858 1858 1857 1857 1850 1850 1848 1848 1851 1851 1848 1848 1845 1845 1851 1851 1851 1851 1845 1845 1854 1854 1845 1845 1842 1842 1854 1854 1854 1854 1842 1842 1841 1841 1831 1831 1834 1834 1853 1853 1834 1834 1836 1836 1853 1853 1853 1853 1836 1836 1839 1839 1839 1839 1840 1840 1853 1853 1840 1840 1843 1843 1853 1853 1853 1853 1843 1843 1844 1844 1975 1975 1973 1973 1917 1917 1917 1917 1919 1919 1975 1975 1919 1919 1921 1921 1975 1975 1975 1975 1921 1921 1977 1977 1921 1921 1923 1923 1977 1977 1923 1923 1925 1925 1977 1977 1977 1977 1925 1925 1979 1979 1925 1925 1926 1926 1979 1979 1926 1926 1928 1928 1979 1979 1979 1979 1928 1928 1981 1981 1928 1928 1929 1929 1981 1981 1929 1929 1932 1932 1981 1981 1981 1981 1932 1932 1983 1983 1932 1932 1933 1933 1983 1983 1933 1933 1936 1936 1983 1983 1983 1983 1936 1936 1985 1985 1936 1936 1937 1937 1985 1985 1937 1937 1940 1940 1985 1985 1985 1985 1940 1940 1987 1987 1940 1940 1941 1941 1987 1987 1941 1941 1944 1944 1987 1987 1987 1987 1944 1944 1989 1989 1944 1944 1945 1945 1989 1989 1945 1945 2384 2384 1989 1989 1989 1989 2385 2385 2386 2386 1948 1948 1949 1949 1991 1991 1949 1949 1952 1952 1991 1991 1991 1991 1952 1952 1993 1993 1952 1952 1953 1953 1993 1993 1993 1993 1953 1953 1995 1995 1953 1953 1956 1956 1995 1995 1995 1995 1956 1956 1997 1997 1956 1956 1959 1959 1997 1997 1959 1959 1961 1961 1997 1997 1997 1997 1961 1961 1999 1999 1961 1961 1963 1963 1999 1999 1963 1963 1962 1962 1999 1999 1999 1999 1962 1962 1998 1998 1962 1962 1960 1960 1998 1998 1960 1960 1958 1958 1998 1998 1998 1998 1958 1958 1996 1996 1958 1958 1957 1957 1996 1996 1957 1957 1955 1955 1996 1996 1996 1996 1955 1955 1994 1994 1955 1955 1954 1954 1994 1994 1954 1954 1951 1951 1994 1994 1994 1994 1951 1951 1992 1992 1951 1951 1950 1950 1992 1992 2387 2387 1947 1947 2388 2388 2389 2389 1947 1947 1990 1990 1947 1947 1946 1946 1990 1990 1946 1946 1943 1943 1990 1990 1990 1990 1943 1943 1988 1988 1943 1943 1942 1942 1988 1988 1942 1942 1939 1939 1988 1988 1988 1988 1939 1939 1986 1986 1939 1939 1938 1938 1986 1986 1938 1938 1935 1935 1986 1986 1986 1986 1935 1935 1984 1984 1935 1935 1934 1934 1984 1984 1934 1934 1931 1931 1984 1984 1984 1984 1931 1931 1982 1982 1931 1931 1930 1930 1982 1982 1982 1982 1930 1930 1980 1980 1930 1930 1927 1927 1980 1980 1980 1980 1927 1927 1978 1978 1927 1927 1924 1924 1978 1978 1924 1924 1922 1922 1978 1978 1978 1978 1922 1922 1976 1976 1922 1922 1920 1920 1976 1976 1920 1920 1918 1918 1976 1976 1976 1976 1918 1918 1974 1974 1918 1918 1916 1916 1974 1974 1916 1916 1914 1914 1974 1974 1974 1974 1914 1914 2390 2390 1914 1914 2391 2391 2392 2392 1913 1913 1911 1911 1972 1972 1972 1972 1911 1911 1970 1970 1911 1911 1910 1910 1970 1970 1910 1910 1907 1907 1970 1970 1970 1970 1907 1907 1968 1968 1907 1907 1906 1906 1968 1968 1906 1906 1903 1903 1968 1968 1968 1968 1903 1903 1966 1966 1903 1903 1902 1902 1966 1966 1902 1902 1899 1899 1966 1966 1966 1966 1899 1899 1964 1964 1899 1899 1898 1898 1964 1964 1898 1898 1900 1900 1964 1964 1964 1964 1900 1900 1965 1965 1900 1900 1901 1901 1965 1965 1901 1901 1904 1904 1965 1965 1965 1965 1904 1904 1967 1967 1904 1904 1905 1905 1967 1967 1905 1905 1908 1908 1967 1967 1967 1967 1908 1908 1969 1969 1908 1908 1909 1909 1969 1969 1969 1969 1909 1909 1971 1971 1909 1909 1912 1912 1971 1971 2393 2393 2394 2394 1973 1973 2395 2395 1915 1915 1973 1973 1973 1973 1915 1915 1917 1917 2089 2089 2030 2030 2028 2028 2089 2089 2092 2092 2030 2030 2092 2092 2093 2093 2030 2030 2030 2030 2093 2093 2032 2032 2093 2093 2095 2095 2032 2032 2095 2095 2096 2096 2032 2032 2032 2032 2096 2096 2034 2034 2096 2096 2098 2098 2034 2034 2098 2098 2100 2100 2034 2034 2034 2034 2100 2100 2035 2035 2100 2100 2101 2101 2035 2035 2101 2101 2099 2099 2035 2035 2035 2035 2099 2099 2033 2033 2099 2099 2097 2097 2033 2033 2033 2033 2097 2097 2031 2031 2097 2097 2094 2094 2031 2031 2031 2031 2094 2094 2029 2029 2094 2094 2091 2091 2029 2029 2091 2091 2090 2090 2029 2029 2029 2029 2090 2090 2027 2027 2090 2090 2087 2087 2027 2027 2087 2087 2086 2086 2027 2027 2396 2396 2397 2397 2025 2025 2398 2398 2083 2083 2025 2025 2083 2083 2082 2082 2025 2025 2025 2025 2082 2082 2023 2023 2082 2082 2079 2079 2023 2023 2079 2079 2078 2078 2023 2023 2023 2023 2078 2078 2021 2021 2078 2078 2075 2075 2021 2021 2075 2075 2074 2074 2021 2021 2021 2021 2074 2074 2019 2019 2074 2074 2071 2071 2019 2019 2071 2071 2070 2070 2019 2019 2019 2019 2070 2070 2017 2017 2070 2070 2067 2067 2017 2017 2067 2067 2066 2066 2017 2017 2017 2017 2066 2066 2015 2015 2066 2066 2064 2064 2015 2015 2064 2064 2063 2063 2015 2015 2015 2015 2063 2063 2013 2013 2063 2063 2061 2061 2013 2013 2061 2061 2059 2059 2013 2013 2013 2013 2059 2059 2011 2011 2059 2059 2057 2057 2011 2011 2057 2057 2055 2055 2011 2011 2011 2011 2055 2055 2009 2009 2055 2055 2053 2053 2009 2009 2009 2009 2053 2053 2399 2399 2053 2053 2400 2400 2401 2401 2007 2007 2050 2050 2005 2005 2050 2050 2047 2047 2005 2005 2047 2047 2046 2046 2005 2005 2005 2005 2046 2046 2003 2003 2046 2046 2043 2043 2003 2003 2043 2043 2042 2042 2003 2003 2003 2003 2042 2042 2001 2001 2042 2042 2039 2039 2001 2001 2039 2039 2038 2038 2001 2001 2001 2001 2038 2038 2000 2000 2038 2038 2036 2036 2000 2000 2036 2036 2037 2037 2000 2000 2000 2000 2037 2037 2002 2002 2037 2037 2040 2040 2002 2002 2040 2040 2041 2041 2002 2002 2002 2002 2041 2041 2004 2004 2041 2041 2044 2044 2004 2004 2044 2044 2045 2045 2004 2004 2004 2004 2045 2045 2006 2006 2045 2045 2048 2048 2006 2006 2048 2048 2049 2049 2006 2006 2006 2006 2049 2049 2008 2008 2049 2049 2051 2051 2008 2008 2402 2402 2052 2052 2403 2403 2404 2404 2052 2052 2010 2010 2052 2052 2054 2054 2010 2010 2054 2054 2056 2056 2010 2010 2010 2010 2056 2056 2012 2012 2056 2056 2058 2058 2012 2012 2058 2058 2060 2060 2012 2012 2012 2012 2060 2060 2014 2014 2060 2060 2062 2062 2014 2014 2014 2014 2062 2062 2016 2016 2062 2062 2065 2065 2016 2016 2016 2016 2065 2065 2018 2018 2065 2065 2068 2068 2018 2018 2068 2068 2069 2069 2018 2018 2018 2018 2069 2069 2020 2020 2069 2069 2072 2072 2020 2020 2072 2072 2073 2073 2020 2020 2020 2020 2073 2073 2022 2022 2073 2073 2076 2076 2022 2022 2076 2076 2077 2077 2022 2022 2022 2022 2077 2077 2024 2024 2077 2077 2080 2080 2024 2024 2080 2080 2081 2081 2024 2024 2024 2024 2081 2081 2026 2026 2081 2081 2084 2084 2026 2026 2084 2084 2085 2085 2026 2026 2026 2026 2085 2085 2405 2405 2085 2085 2406 2406 2407 2407 2028 2028 2088 2088 2089 2089 </p>
+				</triangles>
+			</mesh>
+		</geometry>
+		<geometry id="ID187" name="geo_27">
+			<mesh>
+				<source id="geo_27-Position">
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1906 1906 1903 1903 1968 1968 1968 1968 1903 1903 1966 1966 1903 1903 1902 1902 1966 1966 1902 1902 1899 1899 1966 1966 1966 1966 1899 1899 1964 1964 1899 1899 1898 1898 1964 1964 1898 1898 1900 1900 1964 1964 1964 1964 1900 1900 1965 1965 1900 1900 1901 1901 1965 1965 1901 1901 1904 1904 1965 1965 1965 1965 1904 1904 1967 1967 1904 1904 1905 1905 1967 1967 1905 1905 1908 1908 1967 1967 1967 1967 1908 1908 1969 1969 1908 1908 1909 1909 1969 1969 1969 1969 1909 1909 1971 1971 1909 1909 1912 1912 1971 1971 2393 2393 2394 2394 1973 1973 2395 2395 1915 1915 1973 1973 1973 1973 1915 1915 1917 1917 2089 2089 2030 2030 2028 2028 2089 2089 2092 2092 2030 2030 2092 2092 2093 2093 2030 2030 2030 2030 2093 2093 2032 2032 2093 2093 2095 2095 2032 2032 2095 2095 2096 2096 2032 2032 2032 2032 2096 2096 2034 2034 2096 2096 2098 2098 2034 2034 2098 2098 2100 2100 2034 2034 2034 2034 2100 2100 2035 2035 2100 2100 2101 2101 2035 2035 2101 2101 2099 2099 2035 2035 2035 2035 2099 2099 2033 2033 2099 2099 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2009 2009 2055 2055 2053 2053 2009 2009 2009 2009 2053 2053 2399 2399 2053 2053 2400 2400 2401 2401 2007 2007 2050 2050 2005 2005 2050 2050 2047 2047 2005 2005 2047 2047 2046 2046 2005 2005 2005 2005 2046 2046 2003 2003 2046 2046 2043 2043 2003 2003 2043 2043 2042 2042 2003 2003 2003 2003 2042 2042 2001 2001 2042 2042 2039 2039 2001 2001 2039 2039 2038 2038 2001 2001 2001 2001 2038 2038 2000 2000 2038 2038 2036 2036 2000 2000 2036 2036 2037 2037 2000 2000 2000 2000 2037 2037 2002 2002 2037 2037 2040 2040 2002 2002 2040 2040 2041 2041 2002 2002 2002 2002 2041 2041 2004 2004 2041 2041 2044 2044 2004 2004 2044 2044 2045 2045 2004 2004 2004 2004 2045 2045 2006 2006 2045 2045 2048 2048 2006 2006 2048 2048 2049 2049 2006 2006 2006 2006 2049 2049 2008 2008 2049 2049 2051 2051 2008 2008 2402 2402 2052 2052 2403 2403 2404 2404 2052 2052 2010 2010 2052 2052 2054 2054 2010 2010 2054 2054 2056 2056 2010 2010 2010 2010 2056 2056 2012 2012 2056 2056 2058 2058 2012 2012 2058 2058 2060 2060 2012 2012 2012 2012 2060 2060 2014 2014 2060 2060 2062 2062 2014 2014 2014 2014 2062 2062 2016 2016 2062 2062 2065 2065 2016 2016 2016 2016 2065 2065 2018 2018 2065 2065 2068 2068 2018 2018 2068 2068 2069 2069 2018 2018 2018 2018 2069 2069 2020 2020 2069 2069 2072 2072 2020 2020 2072 2072 2073 2073 2020 2020 2020 2020 2073 2073 2022 2022 2073 2073 2076 2076 2022 2022 2076 2076 2077 2077 2022 2022 2022 2022 2077 2077 2024 2024 2077 2077 2080 2080 2024 2024 2080 2080 2081 2081 2024 2024 2024 2024 2081 2081 2026 2026 2081 2081 2084 2084 2026 2026 2084 2084 2085 2085 2026 2026 2026 2026 2085 2085 2405 2405 2085 2085 2406 2406 2407 2407 2028 2028 2088 2088 2089 2089 </p>
+				</triangles>
+			</mesh>
+		</geometry>
+		<geometry id="ID192" name="geo_29">
+			<mesh>
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1907 1953 1953 1913 1913 1953 1953 1970 1970 1913 1913 1913 1913 1970 1970 1921 1921 1970 1970 1980 1980 1921 1921 1921 1921 1980 1980 1929 1929 1980 1980 1988 1988 1929 1929 1929 1929 1988 1988 1937 1937 1988 1988 1998 1998 1937 1937 1937 1937 1998 1998 1945 1945 1998 1998 2006 2006 1945 1945 1945 1945 2006 2006 1955 1955 2006 2006 2012 2012 1955 1955 1955 1955 2012 2012 1962 1962 2012 2012 2021 2021 1962 1962 1962 1962 2021 2021 1966 1966 2021 2021 2027 2027 1966 1966 1966 1966 2027 2027 1968 1968 1724 1724 1643 1643 1720 1720 1643 1643 1639 1639 1720 1720 1720 1720 1639 1639 1716 1716 1639 1639 1641 1641 1716 1716 1716 1716 1641 1641 1718 1718 1641 1641 1645 1645 1718 1718 1718 1718 1645 1645 1722 1722 1645 1645 1651 1651 1722 1722 1722 1722 1651 1651 1728 1728 1651 1651 1655 1655 1728 1728 1728 1728 1655 1655 1732 1732 1655 1655 1665 1665 1732 1732 1732 1732 1665 1665 1736 1736 1665 1665 1669 1669 1736 1736 1736 1736 1669 1669 1742 1742 1669 1669 1675 1675 1742 1742 1742 1742 1675 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+				</triangles>
+			</mesh>
+		</geometry>
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+				</triangles>
+			</mesh>
+		</geometry>
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+			<mesh>
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1370 1370 1413 1413 1372 1372 1370 1370 1370 1370 1372 1372 1333 1333 1372 1372 1337 1337 1333 1333 1333 1333 1337 1337 2887 2887 1337 1337 2888 2888 2889 2889 1298 1298 1302 1302 1271 1271 1302 1302 1273 1273 1271 1271 1271 1271 1273 1273 1242 1242 1273 1273 1244 1244 1242 1242 1242 1242 1244 1244 1221 1221 1244 1244 1223 1223 1221 1221 1221 1221 1223 1223 1200 1200 1223 1223 1202 1202 1200 1200 1200 1200 1202 1202 1185 1185 1202 1202 1187 1187 1185 1185 1185 1185 1187 1187 1167 1167 1187 1187 1171 1171 1167 1167 1167 1167 1171 1171 1159 1159 1171 1171 1162 1162 1159 1159 1159 1159 1162 1162 1157 1157 1162 1162 1158 1158 1157 1157 1157 1157 1158 1158 1160 1160 1158 1158 1163 1163 1160 1160 1160 1160 1163 1163 1168 1168 1163 1163 1172 1172 1168 1168 1168 1168 1172 1172 1186 1186 1172 1172 1188 1188 1186 1186 1186 1186 1188 1188 1201 1201 1188 1188 1203 1203 1201 1201 1201 1201 1203 1203 1222 1222 1203 1203 1224 1224 1222 1222 1222 1222 1224 1224 1243 1243 1224 1224 1245 1245 1243 1243 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1207 1207 1213 1213 1213 1213 1207 1207 1232 1232 1207 1207 1226 1226 1232 1232 1232 1232 1226 1226 1257 1257 1226 1226 1249 1249 1257 1257 1257 1257 1249 1249 1282 1282 1249 1249 1278 1278 1282 1282 1282 1282 1278 1278 1313 1313 1278 1278 1305 1305 1313 1313 2902 2902 2903 2903 1348 1348 2904 2904 1340 1340 1348 1348 1348 1348 1340 1340 1385 1385 1340 1340 1377 1377 1385 1385 1385 1385 1377 1377 1426 1426 1377 1377 1418 1418 1426 1426 1426 1426 1418 1418 1471 1471 1418 1418 1467 1467 1471 1471 1471 1471 1467 1467 1524 1524 1467 1467 1520 1520 1524 1524 1524 1524 1520 1520 1583 1583 1520 1520 1575 1575 1583 1583 1583 1583 1575 1575 1646 1646 1571 1571 1518 1518 1573 1573 1518 1518 1522 1522 1573 1573 1573 1573 1522 1522 1581 1581 1522 1522 1528 1528 1581 1581 1581 1581 1528 1528 1585 1585 1528 1528 1532 1532 1585 1585 1585 1585 1532 1532 1589 1589 1532 1532 1540 1540 1589 1589 1589 1589 1540 1540 1597 1597 1540 1540 1548 1548 1597 1597 1597 1597 1548 1548 1603 1603 1548 1548 1554 1554 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1968 1968 1980 1980 1927 1927 1927 1927 1980 1980 1947 1947 1980 1980 1996 1996 1947 1947 1947 1947 1996 1996 1964 1964 1996 1996 2019 2019 1964 1964 1964 1964 2019 2019 1974 1974 2019 2019 2027 2027 1974 1974 1974 1974 2027 2027 1982 1982 2027 2027 2035 2035 1982 1982 1982 1982 2035 2035 1992 1992 2035 2035 2045 2045 1992 1992 1992 1992 2045 2045 2000 2000 2045 2045 2053 2053 2000 2000 2000 2000 2053 2053 2006 2006 2053 2053 2064 2064 2006 2006 2006 2006 2064 2064 2015 2015 2064 2064 2070 2070 2015 2015 2015 2015 2070 2070 2021 2021 1640 1640 1571 1571 1636 1636 1571 1571 1573 1573 1636 1636 1636 1636 1573 1573 1638 1638 1573 1573 1581 1581 1638 1638 1638 1638 1581 1581 1642 1642 1581 1581 1585 1585 1642 1642 1642 1642 1585 1585 1648 1648 1585 1585 1589 1589 1648 1648 1648 1648 1589 1589 1652 1652 1589 1589 1597 1597 1652 1652 1652 1652 1597 1597 1662 1662 1597 1597 1603 1603 1662 1662 1662 1662 1603 1603 1666 1666 1603 1603 1611 1611 1666 1666 1666 1666 1611 1611 1672 1672 1611 1611 1617 1617 1672 1672 1672 1672 1617 1617 1676 1676 1617 1617 1632 1632 1676 1676 1676 1676 1632 1632 1686 1686 1632 1632 1656 1656 1686 1686 1686 1686 1656 1656 1690 1690 1656 1656 1674 1674 1690 1690 1690 1690 1674 1674 1707 1707 1674 1674 1684 1684 1707 1707 1707 1707 1684 1684 1731 1731 1684 1684 1703 1703 1731 1731 1731 1731 1703 1703 1747 1747 1703 1703 1737 1737 1747 1747 1747 1747 1737 1737 1761 1761 1737 1737 1759 1759 1761 1761 1761 1761 1759 1759 1771 1771 1759 1759 1775 1775 1771 1771 1771 1771 1775 1775 1779 1779 1775 1775 1812 1812 1779 1779 1779 1779 1812 1812 1814 1814 1812 1812 1826 1826 1814 1814 1814 1814 1826 1826 1822 1822 1826 1826 1844 1844 1822 1822 1822 1822 1844 1844 1832 1832 1844 1844 1872 1872 1832 1832 1832 1832 1872 1872 1846 1846 1872 1872 1903 1903 1846 1846 1846 1846 1903 1903 1864 1864 1903 1903 1913 1913 1864 1864 1864 1864 1913 1913 1887 1887 1913 1913 1927 1927 1887 1887 1887 1887 1927 1927 1901 1901 1927 1927 1947 1947 1901 1901 1901 1901 1947 1947 1907 1907 1947 1947 1964 1964 1907 1907 1907 1907 1964 1964 1915 1915 1964 1964 1974 1974 1915 1915 1915 1915 1974 1974 1923 1923 1974 1974 1982 1982 1923 1923 1923 1923 1982 1982 1931 1931 1982 1982 1992 1992 1931 1931 1931 1931 1992 1992 1939 1939 1992 1992 2000 2000 1939 1939 1939 1939 2000 2000 1949 1949 2000 2000 2006 2006 1949 1949 1949 1949 2006 2006 1956 1956 2006 2006 2015 2015 1956 1956 1956 1956 2015 2015 1960 1960 2015 2015 2021 2021 1960 1960 1960 1960 2021 2021 1962 1962 1721 1721 1640 1640 1717 1717 1640 1640 1636 1636 1717 1717 1717 1717 1636 1636 1713 1713 1636 1636 1638 1638 1713 1713 1713 1713 1638 1638 1715 1715 1638 1638 1642 1642 1715 1715 1715 1715 1642 1642 1719 1719 1642 1642 1648 1648 1719 1719 1719 1719 1648 1648 1725 1725 1648 1648 1652 1652 1725 1725 1725 1725 1652 1652 1729 1729 1652 1652 1662 1662 1729 1729 1729 1729 1662 1662 1733 1733 1662 1662 1666 1666 1733 1733 1733 1733 1666 1666 1739 1739 1666 1666 1672 1672 1739 1739 1739 1739 1672 1672 1741 1741 1672 1672 1676 1676 1741 1741 1741 1741 1676 1676 1749 1749 1676 1676 1686 1686 1749 1749 1749 1749 1686 1686 1753 1753 1686 1686 1690 1690 1753 1753 1753 1753 1690 1690 1757 1757 1690 1690 1707 1707 1757 1757 1757 1757 1707 1707 1763 1763 1707 1707 1731 1731 1763 1763 1763 1763 1731 1731 1767 1767 1731 1731 1747 1747 1767 1767 1767 1767 1747 1747 1773 1773 1747 1747 1761 1761 1773 1773 1773 1773 1761 1761 1777 1777 1761 1761 1771 1771 1777 1777 1777 1777 1771 1771 1781 1781 1771 1771 1779 1779 1781 1781 1781 1781 1779 1779 1804 1804 1779 1779 1814 1814 1804 1804 1804 1804 1814 1814 1816 1816 1814 1814 1822 1822 1816 1816 1816 1816 1822 1822 1820 1820 1822 1822 1832 1832 1820 1820 1820 1820 1832 1832 1824 1824 1832 1832 1846 1846 1824 1824 1824 1824 1846 1846 1828 1828 1846 1846 1864 1864 1828 1828 1828 1828 1864 1864 1834 1834 1864 1864 1887 1887 1834 1834 1834 1834 1887 1887 1840 1840 1887 1887 1901 1901 1840 1840 1840 1840 1901 1901 1848 1848 1901 1901 1907 1907 1848 1848 1848 1848 1907 1907 1852 1852 1907 1907 1915 1915 1852 1852 1852 1852 1915 1915 1860 1860 1915 1915 1923 1923 1860 1860 1860 1860 1923 1923 1868 1868 1923 1923 1931 1931 1868 1868 1868 1868 1931 1931 1876 1876 1931 1931 1939 1939 1876 1876 1876 1876 1939 1939 1885 1885 1939 1939 1949 1949 1885 1885 1885 1885 1949 1949 1889 1889 1949 1949 1956 1956 1889 1889 1889 1889 1956 1956 1891 1891 1956 1956 1960 1960 1891 1891 1891 1891 1960 1960 1895 1895 1960 1960 1962 1962 1895 1895 1895 1895 1962 1962 1897 1897 1890 1890 1817 1817 1894 1894 1721 1721 1646 1646 1640 1640 1646 1646 1575 1575 1640 1640 1640 1640 1575 1575 1571 1571 1575 1575 1514 1514 1571 1571 1571 1571 1514 1514 1518 1518 1514 1514 1463 1463 1518 1518 1518 1518 1463 1463 1469 1469 1463 1463 1422 1422 1469 1469 1469 1469 1422 1422 1428 1428 1422 1422 1389 1389 1428 1428 1428 1428 1389 1389 1395 1395 1389 1389 1360 1360 1395 1395 1395 1395 1360 1360 1367 1367 1360 1360 1342 1342 1367 1367 1367 1367 1342 1342 1358 1358 1342 1342 2905 2905 1358 1358 1358 1358 2906 2906 2907 2907 1328 1328 1325 1325 1352 1352 1352 1352 1325 1325 1356 1356 1325 1325 1336 1336 1356 1356 2908 2908 2909 2909 1363 1363 2910 2910 1354 1354 1363 1363 1363 1363 1354 1354 1393 1393 1354 1354 1383 1383 1393 1393 1393 1393 1383 1383 1420 1420 1383 1383 1410 1410 1420 1420 1420 1420 1410 1410 1455 1455 1410 1410 1451 1451 1455 1455 1455 1455 1451 1451 1500 1500 1451 1451 1498 1498 1500 1500 1500 1500 1498 1498 1555 1555 1498 1498 1556 1556 1555 1555 1555 1555 1556 1556 1619 1619 1556 1556 1623 1623 1619 1619 1619 1619 1623 1623 1694 1694 1623 1623 1696 1696 1694 1694 1694 1694 1696 1696 1787 1787 1696 1696 1789 1789 1787 1787 1787 1787 1789 1789 1869 1869 1789 1789 1865 1865 1869 1869 1869 1869 1865 1865 1932 1932 1865 1865 1928 1928 1932 1932 1932 1932 1928 1928 1983 1983 1928 1928 1975 1975 1983 1983 1983 1983 1975 1975 2024 2024 1975 1975 2007 2007 2024 2024 2911 2911 2912 2912 2042 2042 2913 2913 2028 2028 2042 2042 2042 2042 2028 2028 2060 2060 2028 2028 2036 2036 2060 2060 2060 2060 2036 2036 2071 2071 2036 2036 2040 2040 2071 2071 2071 2071 2040 2040 2065 2065 2040 2040 2032 2032 2065 2065 2065 2065 2032 2032 2048 2048 2032 2032 2018 2018 2048 2048 2048 2048 2018 2018 2026 2026 2018 2018 1981 1981 2026 2026 2026 2026 1981 1981 1991 1991 1981 1981 1938 1938 1991 1991 1991 1991 1938 1938 1948 1948 1938 1938 1888 1888 1948 1948 1948 1948 1888 1888 1890 1890 1888 1888 1817 1817 1890 1890 </p>
+				</triangles>
+			</mesh>
+		</geometry>
+		<geometry id="ID216" name="geo_40">
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2032 2064 2064 2032 2032 2040 2040 2064 2064 2064 2064 2040 2040 2075 2075 2040 2040 2044 2044 2075 2075 2075 2075 2044 2044 2069 2069 2044 2044 2036 2036 2069 2069 2069 2069 2036 2036 2052 2052 2036 2036 2022 2022 2052 2052 2052 2052 2022 2022 2030 2030 2022 2022 1985 1985 2030 2030 2030 2030 1985 1985 1995 1995 1985 1985 1942 1942 1995 1995 1995 1995 1942 1942 1952 1952 1942 1942 1892 1892 1952 1952 1952 1952 1892 1892 1894 1894 1892 1892 1820 1820 1894 1894 </p>
+				</triangles>
+			</mesh>
+		</geometry>
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+			<mesh>
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1925 1925 1925 1925 1980 1980 1939 1939 1980 1980 1992 1992 1939 1939 1939 1939 1992 1992 1959 1959 1992 1992 2008 2008 1959 1959 1959 1959 2008 2008 1976 1976 2008 2008 2031 2031 1976 1976 1976 1976 2031 2031 1986 1986 2031 2031 2039 2039 1986 1986 1986 1986 2039 2039 1994 1994 2039 2039 2047 2047 1994 1994 1994 1994 2047 2047 2004 2004 2047 2047 2057 2057 2004 2004 2004 2004 2057 2057 2012 2012 2057 2057 2065 2065 2012 2012 2012 2012 2065 2065 2018 2018 2065 2065 2076 2076 2018 2018 2018 2018 2076 2076 2027 2027 2076 2076 2082 2082 2027 2027 2027 2027 2082 2082 2033 2033 1646 1646 1577 1577 1642 1642 1577 1577 1579 1579 1642 1642 1642 1642 1579 1579 1644 1644 1579 1579 1587 1587 1644 1644 1644 1644 1587 1587 1648 1648 1587 1587 1591 1591 1648 1648 1648 1648 1591 1591 1654 1654 1591 1591 1595 1595 1654 1654 1654 1654 1595 1595 1658 1658 1595 1595 1603 1603 1658 1658 1658 1658 1603 1603 1668 1668 1603 1603 1609 1609 1668 1668 1668 1668 1609 1609 1672 1672 1609 1609 1617 1617 1672 1672 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+				</triangles>
+			</mesh>
+		</geometry>
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+			<mesh>
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+					<technique_common>
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+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
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1925 1925 1925 1925 1980 1980 1939 1939 1980 1980 1992 1992 1939 1939 1939 1939 1992 1992 1959 1959 1992 1992 2008 2008 1959 1959 1959 1959 2008 2008 1976 1976 2008 2008 2031 2031 1976 1976 1976 1976 2031 2031 1986 1986 2031 2031 2039 2039 1986 1986 1986 1986 2039 2039 1994 1994 2039 2039 2047 2047 1994 1994 1994 1994 2047 2047 2004 2004 2047 2047 2057 2057 2004 2004 2004 2004 2057 2057 2012 2012 2057 2057 2065 2065 2012 2012 2012 2012 2065 2065 2018 2018 2065 2065 2076 2076 2018 2018 2018 2018 2076 2076 2027 2027 2076 2076 2082 2082 2027 2027 2027 2027 2082 2082 2033 2033 1646 1646 1577 1577 1642 1642 1577 1577 1579 1579 1642 1642 1642 1642 1579 1579 1644 1644 1579 1579 1587 1587 1644 1644 1644 1644 1587 1587 1648 1648 1587 1587 1591 1591 1648 1648 1648 1648 1591 1591 1654 1654 1591 1591 1595 1595 1654 1654 1654 1654 1595 1595 1658 1658 1595 1595 1603 1603 1658 1658 1658 1658 1603 1603 1668 1668 1603 1603 1609 1609 1668 1668 1668 1668 1609 1609 1672 1672 1609 1609 1617 1617 1672 1672 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1913 1913 1919 1919 1860 1860 1860 1860 1919 1919 1864 1864 1919 1919 1927 1927 1864 1864 1864 1864 1927 1927 1872 1872 1927 1927 1935 1935 1872 1872 1872 1872 1935 1935 1880 1880 1935 1935 1943 1943 1880 1880 1880 1880 1943 1943 1888 1888 1943 1943 1951 1951 1888 1888 1888 1888 1951 1951 1897 1897 1951 1951 1961 1961 1897 1897 1897 1897 1961 1961 1901 1901 1961 1961 1968 1968 1901 1901 1901 1901 1968 1968 1903 1903 1968 1968 1972 1972 1903 1903 1903 1903 1972 1972 1907 1907 1972 1972 1974 1974 1907 1907 1907 1907 1974 1974 1909 1909 1902 1902 1825 1825 1906 1906 1727 1727 1652 1652 1646 1646 1652 1652 1581 1581 1646 1646 1646 1646 1581 1581 1577 1577 1581 1581 1520 1520 1577 1577 1577 1577 1520 1520 1524 1524 1520 1520 1469 1469 1524 1524 1524 1524 1469 1469 1475 1475 1469 1469 1428 1428 1475 1475 1475 1475 1428 1428 1434 1434 1428 1428 1395 1395 1434 1434 1434 1434 1395 1395 1401 1401 1395 1395 1366 1366 1401 1401 1401 1401 1366 1366 1373 1373 1366 1366 1348 1348 1373 1373 1373 1373 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+				</triangles>
+			</mesh>
+		</geometry>
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+			<mesh>
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+					<technique_common>
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+					</technique_common>
+				</source>
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+				</triangles>
+			</mesh>
+		</geometry>
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+			<mesh>
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+					<technique_common>
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+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<source id="geo_45-Normals">
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+				</triangles>
+			</mesh>
+		</geometry>
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+					<technique_common>
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+					</technique_common>
+				</source>
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+				</triangles>
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1370 1370 1413 1413 1372 1372 1370 1370 1370 1370 1372 1372 1333 1333 1372 1372 1337 1337 1333 1333 1333 1333 1337 1337 2887 2887 1337 1337 2888 2888 2889 2889 1298 1298 1302 1302 1271 1271 1302 1302 1273 1273 1271 1271 1271 1271 1273 1273 1242 1242 1273 1273 1244 1244 1242 1242 1242 1242 1244 1244 1221 1221 1244 1244 1223 1223 1221 1221 1221 1221 1223 1223 1200 1200 1223 1223 1202 1202 1200 1200 1200 1200 1202 1202 1185 1185 1202 1202 1187 1187 1185 1185 1185 1185 1187 1187 1167 1167 1187 1187 1171 1171 1167 1167 1167 1167 1171 1171 1159 1159 1171 1171 1162 1162 1159 1159 1159 1159 1162 1162 1157 1157 1162 1162 1158 1158 1157 1157 1157 1157 1158 1158 1160 1160 1158 1158 1163 1163 1160 1160 1160 1160 1163 1163 1168 1168 1163 1163 1172 1172 1168 1168 1168 1168 1172 1172 1186 1186 1172 1172 1188 1188 1186 1186 1186 1186 1188 1188 1201 1201 1188 1188 1203 1203 1201 1201 1201 1201 1203 1203 1222 1222 1203 1203 1224 1224 1222 1222 1222 1222 1224 1224 1243 1243 1224 1224 1245 1245 1243 1243 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1207 1207 1213 1213 1213 1213 1207 1207 1232 1232 1207 1207 1226 1226 1232 1232 1232 1232 1226 1226 1257 1257 1226 1226 1249 1249 1257 1257 1257 1257 1249 1249 1282 1282 1249 1249 1278 1278 1282 1282 1282 1282 1278 1278 1313 1313 1278 1278 1305 1305 1313 1313 2902 2902 2903 2903 1348 1348 2904 2904 1340 1340 1348 1348 1348 1348 1340 1340 1385 1385 1340 1340 1377 1377 1385 1385 1385 1385 1377 1377 1426 1426 1377 1377 1418 1418 1426 1426 1426 1426 1418 1418 1471 1471 1418 1418 1467 1467 1471 1471 1471 1471 1467 1467 1524 1524 1467 1467 1520 1520 1524 1524 1524 1524 1520 1520 1583 1583 1520 1520 1575 1575 1583 1583 1583 1583 1575 1575 1646 1646 1571 1571 1518 1518 1573 1573 1518 1518 1522 1522 1573 1573 1573 1573 1522 1522 1581 1581 1522 1522 1528 1528 1581 1581 1581 1581 1528 1528 1585 1585 1528 1528 1532 1532 1585 1585 1585 1585 1532 1532 1589 1589 1532 1532 1540 1540 1589 1589 1589 1589 1540 1540 1597 1597 1540 1540 1548 1548 1597 1597 1597 1597 1548 1548 1603 1603 1548 1548 1554 1554 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1617 1617 1672 1672 1672 1672 1617 1617 1676 1676 1617 1617 1632 1632 1676 1676 1676 1676 1632 1632 1686 1686 1632 1632 1656 1656 1686 1686 1686 1686 1656 1656 1690 1690 1656 1656 1674 1674 1690 1690 1690 1690 1674 1674 1707 1707 1674 1674 1684 1684 1707 1707 1707 1707 1684 1684 1731 1731 1684 1684 1703 1703 1731 1731 1731 1731 1703 1703 1747 1747 1703 1703 1737 1737 1747 1747 1747 1747 1737 1737 1761 1761 1737 1737 1759 1759 1761 1761 1761 1761 1759 1759 1771 1771 1759 1759 1775 1775 1771 1771 1771 1771 1775 1775 1779 1779 1775 1775 1812 1812 1779 1779 1779 1779 1812 1812 1814 1814 1812 1812 1826 1826 1814 1814 1814 1814 1826 1826 1822 1822 1826 1826 1844 1844 1822 1822 1822 1822 1844 1844 1832 1832 1844 1844 1872 1872 1832 1832 1832 1832 1872 1872 1846 1846 1872 1872 1903 1903 1846 1846 1846 1846 1903 1903 1864 1864 1903 1903 1913 1913 1864 1864 1864 1864 1913 1913 1887 1887 1913 1913 1927 1927 1887 1887 1887 1887 1927 1927 1901 1901 1927 1927 1947 1947 1901 1901 1901 1901 1947 1947 1907 1907 1947 1947 1964 1964 1907 1907 1907 1907 1964 1964 1915 1915 1964 1964 1974 1974 1915 1915 1915 1915 1974 1974 1923 1923 1974 1974 1982 1982 1923 1923 1923 1923 1982 1982 1931 1931 1982 1982 1992 1992 1931 1931 1931 1931 1992 1992 1939 1939 1992 1992 2000 2000 1939 1939 1939 1939 2000 2000 1949 1949 2000 2000 2006 2006 1949 1949 1949 1949 2006 2006 1956 1956 2006 2006 2015 2015 1956 1956 1956 1956 2015 2015 1960 1960 2015 2015 2021 2021 1960 1960 1960 1960 2021 2021 1962 1962 1721 1721 1640 1640 1717 1717 1640 1640 1636 1636 1717 1717 1717 1717 1636 1636 1713 1713 1636 1636 1638 1638 1713 1713 1713 1713 1638 1638 1715 1715 1638 1638 1642 1642 1715 1715 1715 1715 1642 1642 1719 1719 1642 1642 1648 1648 1719 1719 1719 1719 1648 1648 1725 1725 1648 1648 1652 1652 1725 1725 1725 1725 1652 1652 1729 1729 1652 1652 1662 1662 1729 1729 1729 1729 1662 1662 1733 1733 1662 1662 1666 1666 1733 1733 1733 1733 1666 1666 1739 1739 1666 1666 1672 1672 1739 1739 1739 1739 1672 1672 1741 1741 1672 1672 1676 1676 1741 1741 1741 1741 1676 1676 1749 1749 1676 1676 1686 1686 1749 1749 1749 1749 1686 1686 1753 1753 1686 1686 1690 1690 1753 1753 1753 1753 1690 1690 1757 1757 1690 1690 1707 1707 1757 1757 1757 1757 1707 1707 1763 1763 1707 1707 1731 1731 1763 1763 1763 1763 1731 1731 1767 1767 1731 1731 1747 1747 1767 1767 1767 1767 1747 1747 1773 1773 1747 1747 1761 1761 1773 1773 1773 1773 1761 1761 1777 1777 1761 1761 1771 1771 1777 1777 1777 1777 1771 1771 1781 1781 1771 1771 1779 1779 1781 1781 1781 1781 1779 1779 1804 1804 1779 1779 1814 1814 1804 1804 1804 1804 1814 1814 1816 1816 1814 1814 1822 1822 1816 1816 1816 1816 1822 1822 1820 1820 1822 1822 1832 1832 1820 1820 1820 1820 1832 1832 1824 1824 1832 1832 1846 1846 1824 1824 1824 1824 1846 1846 1828 1828 1846 1846 1864 1864 1828 1828 1828 1828 1864 1864 1834 1834 1864 1864 1887 1887 1834 1834 1834 1834 1887 1887 1840 1840 1887 1887 1901 1901 1840 1840 1840 1840 1901 1901 1848 1848 1901 1901 1907 1907 1848 1848 1848 1848 1907 1907 1852 1852 1907 1907 1915 1915 1852 1852 1852 1852 1915 1915 1860 1860 1915 1915 1923 1923 1860 1860 1860 1860 1923 1923 1868 1868 1923 1923 1931 1931 1868 1868 1868 1868 1931 1931 1876 1876 1931 1931 1939 1939 1876 1876 1876 1876 1939 1939 1885 1885 1939 1939 1949 1949 1885 1885 1885 1885 1949 1949 1889 1889 1949 1949 1956 1956 1889 1889 1889 1889 1956 1956 1891 1891 1956 1956 1960 1960 1891 1891 1891 1891 1960 1960 1895 1895 1960 1960 1962 1962 1895 1895 1895 1895 1962 1962 1897 1897 1890 1890 1817 1817 1894 1894 1721 1721 1646 1646 1640 1640 1646 1646 1575 1575 1640 1640 1640 1640 1575 1575 1571 1571 1575 1575 1514 1514 1571 1571 1571 1571 1514 1514 1518 1518 1514 1514 1463 1463 1518 1518 1518 1518 1463 1463 1469 1469 1463 1463 1422 1422 1469 1469 1469 1469 1422 1422 1428 1428 1422 1422 1389 1389 1428 1428 1428 1428 1389 1389 1395 1395 1389 1389 1360 1360 1395 1395 1395 1395 1360 1360 1367 1367 1360 1360 1342 1342 1367 1367 1367 1367 1342 1342 1358 1358 1342 1342 2905 2905 1358 1358 1358 1358 2906 2906 2907 2907 1328 1328 1325 1325 1352 1352 1352 1352 1325 1325 1356 1356 1325 1325 1336 1336 1356 1356 2908 2908 2909 2909 1363 1363 2910 2910 1354 1354 1363 1363 1363 1363 1354 1354 1393 1393 1354 1354 1383 1383 1393 1393 1393 1393 1383 1383 1420 1420 1383 1383 1410 1410 1420 1420 1420 1420 1410 1410 1455 1455 1410 1410 1451 1451 1455 1455 1455 1455 1451 1451 1500 1500 1451 1451 1498 1498 1500 1500 1500 1500 1498 1498 1555 1555 1498 1498 1556 1556 1555 1555 1555 1555 1556 1556 1619 1619 1556 1556 1623 1623 1619 1619 1619 1619 1623 1623 1694 1694 1623 1623 1696 1696 1694 1694 1694 1694 1696 1696 1787 1787 1696 1696 1789 1789 1787 1787 1787 1787 1789 1789 1869 1869 1789 1789 1865 1865 1869 1869 1869 1869 1865 1865 1932 1932 1865 1865 1928 1928 1932 1932 1932 1932 1928 1928 1983 1983 1928 1928 1975 1975 1983 1983 1983 1983 1975 1975 2024 2024 1975 1975 2007 2007 2024 2024 2911 2911 2912 2912 2042 2042 2913 2913 2028 2028 2042 2042 2042 2042 2028 2028 2060 2060 2028 2028 2036 2036 2060 2060 2060 2060 2036 2036 2071 2071 2036 2036 2040 2040 2071 2071 2071 2071 2040 2040 2065 2065 2040 2040 2032 2032 2065 2065 2065 2065 2032 2032 2048 2048 2032 2032 2018 2018 2048 2048 2048 2048 2018 2018 2026 2026 2018 2018 1981 1981 2026 2026 2026 2026 1981 1981 1991 1991 1981 1981 1938 1938 1991 1991 1991 1991 1938 1938 1948 1948 1938 1938 1888 1888 1948 1948 1948 1948 1888 1888 1890 1890 1888 1888 1817 1817 1890 1890 </p>
+				</triangles>
+			</mesh>
+		</geometry>
+		<geometry id="ID232" name="geo_48">
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+				</triangles>
+			</mesh>
+		</geometry>
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+			<mesh>
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+				</triangles>
+			</mesh>
+		</geometry>
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+			<mesh>
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+				</triangles>
+			</mesh>
+		</geometry>
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+					<technique_common>
+						<accessor count="900" source="#geo_94-Normals-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="geo_94-Vertex">
+					<input semantic="POSITION" source="#geo_94-Position"/>
+				</vertices>
+				<triangles count="936" material="Mtl24">
+					<input offset="0" semantic="VERTEX" source="#geo_94-Vertex"/>
+					<input offset="1" semantic="NORMAL"  source="#geo_94-Normals"/>
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+					<technique_common>
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+					</technique_common>
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+					<technique_common>
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+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
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+					</technique_common>
+				</source>
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+					<input semantic="POSITION" source="#geo_95-Position"/>
+				</vertices>
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+					<input offset="1" semantic="NORMAL"  source="#geo_95-Normals"/>
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+					<technique_common>
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+						</accessor>
+					</technique_common>
+				</source>
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+					<technique_common>
+						<accessor count="1561" source="#geo_109-Normals-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="geo_109-Vertex">
+					<input semantic="POSITION" source="#geo_109-Position"/>
+				</vertices>
+				<triangles count="1664" material="Mtl">
+					<input offset="0" semantic="VERTEX" source="#geo_109-Vertex"/>
+					<input offset="1" semantic="NORMAL"  source="#geo_109-Normals"/>
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+					<technique_common>
+						<accessor count="1561" source="#geo_111-Position-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
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1158 1145 1145 1145 1145 1158 1158 1143 1143 1158 1158 1157 1157 1143 1143 1157 1157 1155 1155 1143 1143 1143 1143 1155 1155 1141 1141 1155 1155 1153 1153 1141 1141 1153 1153 1151 1151 1141 1141 1141 1141 1151 1151 1137 1137 1151 1151 1149 1149 1137 1137 1149 1149 1147 1147 1137 1137 1137 1137 1147 1147 1133 1133 1147 1147 1144 1144 1133 1133 1144 1144 1139 1139 1133 1133 1133 1133 1139 1139 1129 1129 1139 1139 1135 1135 1129 1129 1129 1129 1135 1135 1126 1126 1135 1135 1131 1131 1126 1126 1126 1126 1131 1131 1123 1123 1131 1131 1127 1127 1123 1123 1127 1127 1122 1122 1123 1123 1123 1123 1122 1122 1118 1118 1122 1122 1119 1119 1118 1118 1119 1119 1116 1116 1118 1118 1118 1118 1116 1116 1114 1114 1116 1116 1112 1112 1114 1114 1112 1112 1108 1108 1114 1114 1114 1114 1108 1108 1109 1109 1108 1108 1105 1105 1109 1109 1105 1105 1102 1102 1109 1109 1109 1109 1102 1102 1104 1104 1102 1102 1097 1097 1104 1104 1097 1097 1091 1091 1104 1104 1104 1104 1091 1091 1100 1100 1091 1091 1089 1089 1100 1100 1089 1089 1087 1087 1100 1100 1100 1100 1087 1087 1096 1096 1087 1087 1085 1085 1096 1096 1085 1085 1083 1083 1096 1096 1096 1096 1083 1083 1094 1094 1083 1083 1081 1081 1094 1094 1081 1081 1079 1079 1094 1094 1094 1094 1079 1079 1092 1092 1079 1079 1078 1078 1092 1092 1078 1078 1080 1080 1092 1092 1092 1092 1080 1080 1095 1095 1080 1080 1082 1082 1095 1095 1082 1082 1084 1084 1095 1095 1095 1095 1084 1084 1098 1098 1084 1084 1086 1086 1098 1098 1086 1086 1088 1088 1098 1098 1098 1098 1088 1088 1101 1101 1088 1088 1090 1090 1101 1101 1090 1090 1093 1093 1101 1101 1101 1101 1093 1093 1106 1106 1093 1093 1099 1099 1106 1106 1099 1099 1103 1103 1106 1106 1106 1106 1103 1103 1111 1111 1103 1103 1107 1107 1111 1111 1111 1111 1107 1107 1110 1110 1178 1178 1176 1176 1173 1173 1183 1183 1181 1181 1173 1173 1181 1181 1179 1179 1173 1173 1173 1173 1179 1179 1178 1178 1188 1188 1187 1187 1173 1173 1187 1187 1185 1185 1173 1173 1173 1173 1185 1185 1183 1183 1182 1182 1184 1184 1173 1173 1184 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1216 1215 1215 1215 1215 1216 1216 1217 1217 1216 1216 1218 1218 1217 1217 </p>
+				</triangles>
+			</mesh>
+		</geometry>
+		<geometry id="ID166" name="geo_113">
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diff --git a/niryo_robot_description/meshes/ned/collada/elbow_link.dae b/niryo_robot_description/meshes/ned/collada/elbow_link.dae
new file mode 100644
index 000000000..6a7af73ac
--- /dev/null
+++ b/niryo_robot_description/meshes/ned/collada/elbow_link.dae
@@ -0,0 +1,1734 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA version="1.4.0" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+	<asset>
+		<contributor>
+			<author> SimLab Soft http://www.simLab-soft.com </author>
+			<authoring_tool>SimLab Collada Exporter for SolidWorks</authoring_tool>
+		</contributor>
+		<created>2020-12-08T17:52:23</created>
+		<modified>2020-12-08T17:52:23</modified>
+		<unit meter="1.000000000000000" name="Meter"/>
+		<up_axis>Z_UP</up_axis>
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1611 1611 1611 1608 1608 1609 1609 1969 1969 1606 1606 1970 1970 1971 1971 1606 1606 1607 1607 1972 1972 1973 1973 1630 1630 1974 1974 1630 1630 1631 1631 1630 1630 1626 1626 1631 1631 1631 1631 1626 1626 1627 1627 1626 1626 1622 1622 1627 1627 1627 1627 1622 1622 1623 1623 1622 1622 1620 1620 1623 1623 1623 1623 1620 1620 1621 1621 1620 1620 1624 1624 1621 1621 1621 1621 1624 1624 1625 1625 1624 1624 1628 1628 1625 1625 1625 1625 1628 1628 1629 1629 1634 1634 1635 1635 1636 1636 1635 1635 1637 1637 1636 1636 1636 1636 1637 1637 1638 1638 1637 1637 1639 1639 1638 1638 1638 1638 1639 1639 1640 1640 1639 1639 1641 1641 1640 1640 1640 1640 1641 1641 1642 1642 1641 1641 1643 1643 1642 1642 1642 1642 1643 1643 1644 1644 1643 1643 1645 1645 1644 1644 1644 1644 1645 1645 1975 1975 1645 1645 1976 1976 1977 1977 1646 1646 1647 1647 1648 1648 1647 1647 1649 1649 1648 1648 1650 1650 1651 1651 1652 1652 1651 1651 1653 1653 1652 1652 1978 1978 1979 1979 1654 1654 1980 1980 1655 1655 1654 1654 1654 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1808 1809 1809 1808 1808 1810 1810 1809 1809 1809 1809 1810 1810 1811 1811 1810 1810 1812 1812 1811 1811 1811 1811 1812 1812 1813 1813 1812 1812 1814 1814 1813 1813 1813 1813 1814 1814 1815 1815 1816 1816 1817 1817 1818 1818 1817 1817 1819 1819 1818 1818 1818 1818 1819 1819 1820 1820 1819 1819 1821 1821 1820 1820 1820 1820 1821 1821 1822 1822 1821 1821 1823 1823 1822 1822 1822 1822 1823 1823 1824 1824 1823 1823 1825 1825 1824 1824 1824 1824 1825 1825 1826 1826 1825 1825 1827 1827 1826 1826 2011 2011 2012 2012 1828 1828 2013 2013 1829 1829 1828 1828 1828 1828 1829 1829 1830 1830 1829 1829 1831 1831 1830 1830 </p>
+				</triangles>
+			</mesh>
+		</geometry>
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+					<technique_common>
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+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
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1130 1130 1132 1132 1143 1143 1132 1132 1138 1138 1143 1143 1143 1143 1138 1138 1148 1148 1138 1138 1142 1142 1148 1148 1142 1142 1145 1145 1148 1148 1148 1148 1145 1145 1152 1152 1145 1145 1149 1149 1152 1152 1149 1149 1153 1153 1152 1152 1152 1152 1153 1153 1157 1157 1153 1153 1156 1156 1157 1157 1156 1156 1159 1159 1157 1157 1157 1157 1159 1159 1162 1162 1159 1159 1163 1163 1162 1162 1163 1163 1166 1166 1162 1162 1162 1162 1166 1166 1167 1167 1166 1166 1169 1169 1167 1167 1169 1169 1173 1173 1167 1167 1167 1167 1173 1173 1172 1172 1173 1173 1177 1177 1172 1172 1177 1177 1180 1180 1172 1172 1172 1172 1180 1180 1176 1176 1180 1180 1186 1186 1176 1176 1186 1186 1190 1190 1176 1176 1176 1176 1190 1190 1181 1181 1190 1190 1192 1192 1181 1181 1181 1181 1192 1192 1183 1183 1192 1192 1194 1194 1183 1183 1183 1183 1194 1194 1185 1185 1194 1194 1196 1196 1185 1185 1196 1196 1198 1198 1185 1185 1185 1185 1198 1198 1188 1188 1198 1198 1201 1201 1188 1188 1201 1201 1200 1200 1188 1188 1188 1188 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1236 1236 1238 1238 1237 1237 1239 1239 1240 1240 1241 1241 1240 1240 1242 1242 1241 1241 1243 1243 1244 1244 1245 1245 1244 1244 1246 1246 1245 1245 1247 1247 1248 1248 1249 1249 1248 1248 1250 1250 1249 1249 1251 1251 1252 1252 1253 1253 1252 1252 1254 1254 1253 1253 1255 1255 1256 1256 1257 1257 1256 1256 1258 1258 1257 1257 1257 1257 1258 1258 1259 1259 1258 1258 1260 1260 1259 1259 </p>
+				</triangles>
+			</mesh>
+		</geometry>
+		<geometry id="ID57" name="geo_3">
+			<mesh>
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+					</technique_common>
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+					<technique_common>
+						<accessor count="1584" source="#geo_3-Normals-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="geo_3-Vertex">
+					<input semantic="POSITION" source="#geo_3-Position"/>
+				</vertices>
+				<triangles count="1752" material="Mtl">
+					<input offset="0" semantic="VERTEX" source="#geo_3-Vertex"/>
+					<input offset="1" semantic="NORMAL"  source="#geo_3-Normals"/>
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0.0295856 0.0144 0.0440351 0.0295856 0.0144 </float_array>
+					<technique_common>
+						<accessor count="1540" source="#geo_5-Position-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<source id="geo_5-Normals">
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+					<technique_common>
+						<accessor count="1585" source="#geo_7-Normals-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="geo_7-Vertex">
+					<input semantic="POSITION" source="#geo_7-Position"/>
+				</vertices>
+				<triangles count="1752" material="Mtl">
+					<input offset="0" semantic="VERTEX" source="#geo_7-Vertex"/>
+					<input offset="1" semantic="NORMAL"  source="#geo_7-Normals"/>
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+					<technique_common>
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+					</technique_common>
+				</source>
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+					<technique_common>
+						<accessor count="1829" source="#geo_9-Normals-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="geo_9-Vertex">
+					<input semantic="POSITION" source="#geo_9-Position"/>
+				</vertices>
+				<triangles count="2018" material="Mtl9">
+					<input offset="0" semantic="VERTEX" source="#geo_9-Vertex"/>
+					<input offset="1" semantic="NORMAL"  source="#geo_9-Normals"/>
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+				</triangles>
+			</mesh>
+		</geometry>
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+					<technique_common>
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+					<technique_common>
+						<accessor count="1829" source="#geo_11-Position-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<source id="geo_11-Normals">
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+					<technique_common>
+						<accessor count="1829" source="#geo_11-Normals-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="geo_11-Vertex">
+					<input semantic="POSITION" source="#geo_11-Position"/>
+				</vertices>
+				<triangles count="2018" material="Mtl9">
+					<input offset="0" semantic="VERTEX" source="#geo_11-Vertex"/>
+					<input offset="1" semantic="NORMAL"  source="#geo_11-Normals"/>
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+				</triangles>
+			</mesh>
+		</geometry>
+		<geometry id="ID76" name="geo_12">
+			<mesh>
+				<source id="geo_12-Position">
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+					<technique_common>
+						<accessor count="1833" source="#geo_12-Position-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<source id="geo_12-Normals">
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+					</technique_common>
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+					</technique_common>
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+				</triangles>
+			</mesh>
+		</geometry>
+		<geometry id="ID85" name="geo_16">
+			<mesh>
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+					<technique_common>
+						<accessor count="1758" source="#geo_16-Position-array" stride="3">
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+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<source id="geo_16-Normals">
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+							<param name="Z" type="float"/>
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+				</triangles>
+			</mesh>
+		</geometry>
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+							<param name="Z" type="float"/>
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+					</technique_common>
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2776 2776 2776 2776 2777 2777 2778 2778 2777 2777 2779 2779 2778 2778 2778 2778 2779 2779 2780 2780 2779 2779 2781 2781 2780 2780 2780 2780 2781 2781 2782 2782 2781 2781 2783 2783 2782 2782 2782 2782 2783 2783 2784 2784 2783 2783 2785 2785 2784 2784 2784 2784 2785 2785 2786 2786 2785 2785 2787 2787 2786 2786 2786 2786 2787 2787 2788 2788 2787 2787 2789 2789 2788 2788 2788 2788 2789 2789 2790 2790 2789 2789 2791 2791 2790 2790 2790 2790 2791 2791 2792 2792 2791 2791 2793 2793 2792 2792 2792 2792 2793 2793 2794 2794 2793 2793 2795 2795 2794 2794 2794 2794 2795 2795 2796 2796 2795 2795 2797 2797 2796 2796 2796 2796 2797 2797 2798 2798 2797 2797 2799 2799 2798 2798 2798 2798 2799 2799 2800 2800 2799 2799 2801 2801 2800 2800 2802 2802 2803 2803 2804 2804 2803 2803 2805 2805 2804 2804 2804 2804 2805 2805 2806 2806 2805 2805 2807 2807 2806 2806 2806 2806 2807 2807 2808 2808 2807 2807 2809 2809 2808 2808 2808 2808 2809 2809 2810 2810 2809 2809 2811 2811 2810 2810 2812 2812 2813 2813 2814 2814 2813 2813 2815 2815 2814 2814 3342 3342 3343 3343 2816 2816 3344 3344 2817 2817 2816 2816 2816 2816 2817 2817 2818 2818 2817 2817 2819 2819 2818 2818 2818 2818 2819 2819 2820 2820 2819 2819 2821 2821 2820 2820 2820 2820 2821 2821 2822 2822 2821 2821 2823 2823 2822 2822 2822 2822 2823 2823 2824 2824 2823 2823 2825 2825 2824 2824 2826 2826 2827 2827 2828 2828 2827 2827 2829 2829 2828 2828 3345 3345 3346 3346 2830 2830 3347 3347 2831 2831 2830 2830 2830 2830 2831 2831 2832 2832 2831 2831 2833 2833 2832 2832 2832 2832 2833 2833 2834 2834 2833 2833 2835 2835 2834 2834 2834 2834 2835 2835 2836 2836 2835 2835 2837 2837 2836 2836 2836 2836 2837 2837 2838 2838 2837 2837 2839 2839 2838 2838 2838 2838 2839 2839 2840 2840 2839 2839 2841 2841 2840 2840 2840 2840 2841 2841 2842 2842 2841 2841 2843 2843 2842 2842 2844 2844 2845 2845 2846 2846 2845 2845 2847 2847 2846 2846 2846 2846 2847 2847 3348 3348 2847 2847 3349 3349 3350 3350 2848 2848 2849 2849 2850 2850 2849 2849 2851 2851 2850 2850 2850 2850 2851 2851 2852 2852 2851 2851 2853 2853 2852 2852 2852 2852 2853 2853 2854 2854 2853 2853 2855 2855 2854 2854 2854 2854 2855 2855 2856 2856 2855 2855 2857 2857 2856 2856 2858 2858 2859 2859 2860 2860 2859 2859 2861 2861 2860 2860 2860 2860 2861 2861 2862 2862 2861 2861 2863 2863 2862 2862 2862 2862 2863 2863 2864 2864 2863 2863 2865 2865 2864 2864 2864 2864 2865 2865 2866 2866 2865 2865 2867 2867 2866 2866 3351 3351 3352 3352 2868 2868 3353 3353 2869 2869 2868 2868 2868 2868 2869 2869 2870 2870 2869 2869 2871 2871 2870 2870 2872 2872 2873 2873 2874 2874 2873 2873 2875 2875 2874 2874 2874 2874 2875 2875 2876 2876 2875 2875 2877 2877 2876 2876 2876 2876 2877 2877 2878 2878 2877 2877 2879 2879 2878 2878 2878 2878 2879 2879 2880 2880 2879 2879 2881 2881 2880 2880 2880 2880 2881 2881 2882 2882 2881 2881 2883 2883 2882 2882 2882 2882 2883 2883 2884 2884 2883 2883 2885 2885 2884 2884 2884 2884 2885 2885 3354 3354 2885 2885 3355 3355 3356 3356 2886 2886 2887 2887 2888 2888 2887 2887 2889 2889 2888 2888 2890 2890 2891 2891 2892 2892 2891 2891 2893 2893 2892 2892 2892 2892 2893 2893 2894 2894 2893 2893 2895 2895 2894 2894 2894 2894 2895 2895 2896 2896 2895 2895 2897 2897 2896 2896 2896 2896 2897 2897 2898 2898 2897 2897 2899 2899 2898 2898 2898 2898 2899 2899 2900 2900 2899 2899 2901 2901 2900 2900 2900 2900 2901 2901 2902 2902 2901 2901 2903 2903 2902 2902 3357 3357 3358 3358 2904 2904 3359 3359 2905 2905 2904 2904 2904 2904 2905 2905 2906 2906 2905 2905 2907 2907 2906 2906 2908 2908 2909 2909 2910 2910 2909 2909 2911 2911 2910 2910 2910 2910 2911 2911 2912 2912 2911 2911 2913 2913 2912 2912 2912 2912 2913 2913 2914 2914 2913 2913 2915 2915 2914 2914 2914 2914 2915 2915 2916 2916 2915 2915 2917 2917 2916 2916 2916 2916 2917 2917 3360 3360 2917 2917 3361 3361 3362 3362 2918 2918 2919 2919 2920 2920 2919 2919 2921 2921 2920 2920 2922 2922 2923 2923 2924 2924 2923 2923 2925 2925 2924 2924 3363 3363 3364 3364 2926 2926 3365 3365 2927 2927 2926 2926 2926 2926 2927 2927 2928 2928 2927 2927 2929 2929 2928 2928 2928 2928 2929 2929 2930 2930 2929 2929 2931 2931 2930 2930 2930 2930 2931 2931 2932 2932 2931 2931 2933 2933 2932 2932 2932 2932 2933 2933 2934 2934 2933 2933 2935 2935 2934 2934 2936 2936 2937 2937 2938 2938 2937 2937 2939 2939 2938 2938 3366 3366 3367 3367 2940 2940 3368 3368 2941 2941 2940 2940 2940 2940 2941 2941 2942 2942 2941 2941 2943 2943 2942 2942 2942 2942 2943 2943 2944 2944 2943 2943 2945 2945 2944 2944 2944 2944 2945 2945 2946 2946 2945 2945 2947 2947 2946 2946 2946 2946 2947 2947 2948 2948 2947 2947 2949 2949 2948 2948 2948 2948 2949 2949 2950 2950 2949 2949 2951 2951 2950 2950 2952 2952 2953 2953 2954 2954 2953 2953 2955 2955 2954 2954 2954 2954 2955 2955 3369 3369 2955 2955 3370 3370 3371 3371 2956 2956 2957 2957 2958 2958 2957 2957 2959 2959 2958 2958 2958 2958 2959 2959 2960 2960 2959 2959 2961 2961 2960 2960 2960 2960 2961 2961 2962 2962 2961 2961 2963 2963 2962 2962 2962 2962 2963 2963 2964 2964 2963 2963 2965 2965 2964 2964 2964 2964 2965 2965 2966 2966 2965 2965 2967 2967 2966 2966 2966 2966 2967 2967 2968 2968 2967 2967 2969 2969 2968 2968 2970 2970 2971 2971 2972 2972 2971 2971 2973 2973 2972 2972 2972 2972 2973 2973 3372 3372 2973 2973 3373 3373 3374 3374 2974 2974 2975 2975 2976 2976 2975 2975 2977 2977 2976 2976 2976 2976 2977 2977 2978 2978 2977 2977 2979 2979 2978 2978 2978 2978 2979 2979 2980 2980 2979 2979 2981 2981 2980 2980 2980 2980 2981 2981 2982 2982 2981 2981 2983 2983 2982 2982 2984 2984 2985 2985 2986 2986 2985 2985 2987 2987 2986 2986 2986 2986 2987 2987 2988 2988 2987 2987 2989 2989 2988 2988 2988 2988 2989 2989 2990 2990 2989 2989 2991 2991 2990 2990 2990 2990 2991 2991 2992 2992 2991 2991 2993 2993 2992 2992 3375 3375 3376 3376 2994 2994 3377 3377 2995 2995 2994 2994 2994 2994 2995 2995 2996 2996 2995 2995 2997 2997 2996 2996 2998 2998 2999 2999 3000 3000 2999 2999 3001 3001 3000 3000 3000 3000 3001 3001 3378 3378 3001 3001 3379 3379 3380 3380 3002 3002 3003 3003 3004 3004 3003 3003 3005 3005 3004 3004 3004 3004 3005 3005 3006 3006 3005 3005 3007 3007 3006 3006 3006 3006 3007 3007 3008 3008 3007 3007 3009 3009 3008 3008 3008 3008 3009 3009 3010 3010 3009 3009 3011 3011 3010 3010 3010 3010 3011 3011 3012 3012 3011 3011 3013 3013 3012 3012 3012 3012 3013 3013 3014 3014 3013 3013 3015 3015 3014 3014 3016 3016 3017 3017 3018 3018 3017 3017 3019 3019 3018 3018 3018 3018 3019 3019 3020 3020 3019 3019 3021 3021 3020 3020 3020 3020 3021 3021 3022 3022 3021 3021 3023 3023 3022 3022 3022 3022 3023 3023 3024 3024 3023 3023 3025 3025 3024 3024 3024 3024 3025 3025 3026 3026 3025 3025 3027 3027 3026 3026 3026 3026 3027 3027 3381 3381 3027 3027 3382 3382 3383 3383 3028 3028 3029 3029 3030 3030 3029 3029 3031 3031 3030 3030 3032 3032 3033 3033 3034 3034 3033 3033 3035 3035 3034 3034 3034 3034 3035 3035 3036 3036 3035 3035 3037 3037 3036 3036 3036 3036 3037 3037 3038 3038 3037 3037 3039 3039 3038 3038 3038 3038 3039 3039 3040 3040 3039 3039 3041 3041 3040 3040 3040 3040 3041 3041 3384 3384 3041 3041 3385 3385 3386 3386 3042 3042 3043 3043 3044 3044 3043 3043 3045 3045 3044 3044 3046 3046 3047 3047 3048 3048 3047 3047 3049 3049 3048 3048 3048 3048 3049 3049 3050 3050 3049 3049 3051 3051 3050 3050 3050 3050 3051 3051 3052 3052 3051 3051 3053 3053 3052 3052 3052 3052 3053 3053 3054 3054 3053 3053 3055 3055 3054 3054 3054 3054 3055 3055 3056 3056 3055 3055 3057 3057 3056 3056 3056 3056 3057 3057 3058 3058 3057 3057 3059 3059 3058 3058 3387 3387 3388 3388 3060 3060 3389 3389 3061 3061 3060 3060 3060 3060 3061 3061 3062 3062 3061 3061 3063 3063 3062 3062 3064 3064 3065 3065 3066 3066 3065 3065 3067 3067 3066 3066 3066 3066 3067 3067 3390 3390 3067 3067 3391 3391 3392 3392 3068 3068 3069 3069 3070 3070 3069 3069 3071 3071 3070 3070 3070 3070 3071 3071 3072 3072 3071 3071 3073 3073 3072 3072 3072 3072 3073 3073 3074 3074 3073 3073 3075 3075 3074 3074 3074 3074 3075 3075 3076 3076 3075 3075 3077 3077 3076 3076 3076 3076 3077 3077 3078 3078 3077 3077 3079 3079 3078 3078 3078 3078 3079 3079 3080 3080 3079 3079 3081 3081 3080 3080 3082 3082 3099 3099 3098 3098 3082 3082 3098 3098 3083 3083 3098 3098 3097 3097 3083 3083 3083 3083 3097 3097 3084 3084 3097 3097 3096 3096 3084 3084 3084 3084 3096 3096 3085 3085 3096 3096 3095 3095 3085 3085 3085 3085 3095 3095 3086 3086 3086 3086 3095 3095 3393 3393 3095 3095 3394 3394 3395 3395 3087 3087 3094 3094 3088 3088 3092 3092 3091 3091 3090 3090 3094 3094 3093 3093 3088 3088 3093 3093 3092 3092 3088 3088 3088 3088 3092 3092 3089 3089 3092 3092 3090 3090 3089 3089 3108 3108 3100 3100 3101 3101 3108 3108 3101 3101 3109 3109 3101 3101 3102 3102 3109 3109 3109 3109 3102 3102 3110 3110 3102 3102 3396 3396 3110 3110 3110 3110 3397 3397 3398 3398 3103 3103 3105 3105 3111 3111 3111 3111 3105 3105 3113 3113 3105 3105 3107 3107 3113 3113 3113 3113 3107 3107 3115 3115 3107 3107 3106 3106 3115 3115 3115 3115 3106 3106 3114 3114 3106 3106 3104 3104 3114 3114 3114 3114 3104 3104 3112 3112 3128 3128 3120 3120 3122 3122 3128 3128 3122 3122 3130 3130 3122 3122 3123 3123 3130 3130 3130 3130 3123 3123 3131 3131 3123 3123 3121 3121 3131 3131 3131 3131 3121 3121 3129 3129 3121 3121 3119 3119 3129 3129 3129 3129 3119 3119 3127 3127 3399 3399 3118 3118 3400 3400 3401 3401 3118 3118 3126 3126 3118 3118 3117 3117 3126 3126 3126 3126 3117 3117 3125 3125 3117 3117 3116 3116 3125 3125 3125 3125 3116 3116 3124 3124 3149 3149 3132 3132 3133 3133 3149 3149 3133 3133 3148 3148 3133 3133 3134 3134 3148 3148 3148 3148 3134 3134 3147 3147 3134 3134 3135 3135 3147 3147 3147 3147 3135 3135 3146 3146 3135 3135 3136 3136 3146 3146 3146 3146 3136 3136 3145 3145 3145 3145 3136 3136 3402 3402 3136 3136 3403 3403 3404 3404 3144 3144 3137 3137 3143 3143 3139 3139 3140 3140 3141 3141 3137 3137 3138 3138 3143 3143 3138 3138 3139 3139 3143 3143 3143 3143 3139 3139 3142 3142 3139 3139 3141 3141 3142 3142 </p>
+				</triangles>
+			</mesh>
+		</geometry>
+	</library_geometries>
+	<library_materials>
+		<material id="ID30" name="Mtl5">
+			<instance_effect url="#ID86"/>
+		</material>
+		<material id="ID46" name="Mtl6">
+			<instance_effect url="#ID87"/>
+		</material>
+		<material id="ID70" name="Mtl9">
+			<instance_effect url="#ID88"/>
+		</material>
+		<material id="ID51" name="Mtl8">
+			<instance_effect url="#ID89"/>
+		</material>
+		<material id="ID5" name="Mtl1">
+			<instance_effect url="#ID90"/>
+		</material>
+		<material id="ID8" name="Mtl">
+			<instance_effect url="#ID91"/>
+		</material>
+		<material id="ID14" name="Mtl2">
+			<instance_effect url="#ID92"/>
+		</material>
+		<material id="ID23" name="Mtl3">
+			<instance_effect url="#ID93"/>
+		</material>
+		<material id="ID43" name="Mtl7">
+			<instance_effect url="#ID94"/>
+		</material>
+		<material id="ID79" name="Mtla">
+			<instance_effect url="#ID95"/>
+		</material>
+		<material id="ID26" name="Mtl4">
+			<instance_effect url="#ID96"/>
+		</material>
+	</library_materials>
+	<library_effects>
+		<effect id="ID86">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.647059 0.619608 0.588235 1</color>
+						</diffuse>
+						<specular><color>0.452941 0.433725 0.411765 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID87">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.208627 0.208627 0.208627 1</color>
+						</diffuse>
+						<specular><color>0.014902 0.014902 0.014902 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID88">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.529412 0.54902 0.54902 1</color>
+						</diffuse>
+						<specular><color>0.370588 0.384314 0.384314 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID89">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.192157 0.643137 0.866667 1</color>
+						</diffuse>
+						<specular><color>0.0960784 0.321569 0.433333 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID90">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.898039 0.917647 0.929412 1</color>
+						</diffuse>
+						<specular><color>0.44902 0.458824 0.464706 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID91">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.792157 0.819608 0.933333 1</color>
+						</diffuse>
+						<specular><color>0.396078 0.409804 0.466667 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID92">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.898039 0.917647 0.929412 1</color>
+						</diffuse>
+						<specular><color>0.44902 0.458824 0.464706 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID93">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.658824 0.658824 0.658824 1</color>
+						</diffuse>
+						<specular><color>0.461176 0.461176 0.461176 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID94">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.898039 0.917647 0.929412 1</color>
+						</diffuse>
+						<specular><color>0.44902 0.458824 0.464706 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID95">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.25098 0.25098 0.25098 1</color>
+						</diffuse>
+						<specular><color>0.12549 0.12549 0.12549 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID96">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.827451 0.666667 0.129412 1</color>
+						</diffuse>
+						<specular><color>0.661961 0.533333 0.103529 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+	</library_effects>
+	<scene>
+		<instance_visual_scene url="#Scene"/>
+	</scene>
+</COLLADA>
diff --git a/niryo_robot_description/meshes/ned/collada/forearm_link.dae b/niryo_robot_description/meshes/ned/collada/forearm_link.dae
new file mode 100644
index 000000000..ceac71f68
--- /dev/null
+++ b/niryo_robot_description/meshes/ned/collada/forearm_link.dae
@@ -0,0 +1,1555 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA version="1.4.0" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+	<asset>
+		<contributor>
+			<author> SimLab Soft http://www.simLab-soft.com </author>
+			<authoring_tool>SimLab Collada Exporter for SolidWorks</authoring_tool>
+		</contributor>
+		<created>2020-12-10T11:27:17</created>
+		<modified>2020-12-10T11:27:17</modified>
+		<unit meter="1.000000000000000" name="Meter"/>
+		<up_axis>Z_UP</up_axis>
+	</asset>
+	<library_visual_scenes>
+		<visual_scene id="Scene" name="Scene">
+			<node>
+				<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+				<node  id="ID0" name="Camera-1">
+					<matrix> 1 0 0 -0.014 0 0 -1 -0.852 0 1 0 0.1065 0 0 0 1 </matrix>
+					<instance_camera url="#ID1" />
+				</node>
+				<node  id="ID2" name="Body_1">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<node  id="ID3" name="_3DGeom-58">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID4">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl" target="#ID5">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+					<node  id="ID6" name="_3DGeom-59">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID7">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl1" target="#ID8">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+				</node>
+				<node  id="ID9" name="Body_2">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<node  id="ID10" name="_3DGeom-104">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID11">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl" target="#ID5">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+					<node  id="ID12" name="_3DGeom-105">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID13">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl2" target="#ID14">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+				</node>
+				<node  id="ID15" name="Body_6">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<node  id="ID16" name="_3DGeom-253">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID17">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl" target="#ID5">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+					<node  id="ID18" name="_3DGeom-254">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
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+								<technique_common>
+									<instance_material symbol="Mtl2" target="#ID14">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+				</node>
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+					<node  id="ID21" name="_3DGeom-495">
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+									<instance_material symbol="Mtl" target="#ID5">
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+								</technique_common>
+							</bind_material>
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+					</node>
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+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+				</node>
+				<node  id="ID26" name="Body_3">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
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+							</technique_common>
+						</bind_material>
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+				</node>
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+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
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+								<instance_material symbol="Mtl3" target="#ID28">
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+							</technique_common>
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+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
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+							</technique_common>
+						</bind_material>
+					</instance_geometry>
+				</node>
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+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
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+							</technique_common>
+						</bind_material>
+					</instance_geometry>
+				</node>
+				<node  id="ID36" name="Body_8">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
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+							<technique_common>
+								<instance_material symbol="Mtl" target="#ID5">
+									<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
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+							</technique_common>
+						</bind_material>
+					</instance_geometry>
+				</node>
+				<node  id="ID38" name="Body_9">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
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+						<bind_material>
+							<technique_common>
+								<instance_material symbol="Mtl" target="#ID5">
+									<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+								</instance_material>
+							</technique_common>
+						</bind_material>
+					</instance_geometry>
+				</node>
+				<node  id="ID40" name="Body_10">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
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+				</node>
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+					<technique_common>
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+					</technique_common>
+				</source>
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+					<technique_common>
+						<accessor count="1826" source="#geo_4-Normals-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="geo_4-Vertex">
+					<input semantic="POSITION" source="#geo_4-Position"/>
+				</vertices>
+				<triangles count="2018" material="Mtl5">
+					<input offset="0" semantic="VERTEX" source="#geo_4-Vertex"/>
+					<input offset="1" semantic="NORMAL"  source="#geo_4-Normals"/>
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+				</triangles>
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+		</geometry>
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+		</geometry>
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+				</triangles>
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+		</geometry>
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+			</mesh>
+		</geometry>
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2222 2224 2224 2219 2219 2224 2224 2226 2226 2219 2219 2219 2219 2226 2226 2228 2228 2215 2215 2217 2217 2219 2219 2217 2217 2220 2220 2219 2219 2219 2219 2220 2220 2222 2222 2209 2209 2211 2211 2219 2219 2211 2211 2213 2213 2219 2219 2219 2219 2213 2213 2215 2215 2210 2210 2208 2208 2219 2219 2208 2208 2207 2207 2219 2219 2219 2219 2207 2207 2209 2209 2216 2216 2214 2214 2219 2219 2214 2214 2212 2212 2219 2219 2219 2219 2212 2212 2210 2210 2223 2223 2221 2221 2219 2219 2221 2221 2218 2218 2219 2219 2219 2219 2218 2218 2216 2216 2229 2229 2227 2227 2219 2219 2227 2227 2225 2225 2219 2219 2219 2219 2225 2225 2223 2223 2232 2232 2233 2233 2234 2234 2233 2233 2235 2235 2234 2234 2236 2236 2237 2237 2238 2238 2237 2237 2239 2239 2238 2238 2240 2240 2241 2241 2242 2242 2241 2241 2243 2243 2242 2242 2244 2244 2245 2245 2246 2246 2245 2245 2247 2247 2246 2246 2248 2248 2249 2249 2250 2250 2249 2249 2251 2251 2250 2250 2252 2252 2253 2253 2254 2254 2253 2253 2255 2255 2254 2254 2256 2256 2257 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+				</triangles>
+			</mesh>
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+				</triangles>
+			</mesh>
+		</geometry>
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+			<mesh>
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+				</triangles>
+			</mesh>
+		</geometry>
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+					<technique_common>
+						<accessor count="1595" source="#geo_16-Position-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
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+				</triangles>
+			</mesh>
+		</geometry>
+		<geometry id="ID37" name="geo_17">
+			<mesh>
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+					<technique_common>
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+					</technique_common>
+				</source>
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+					<technique_common>
+						<accessor count="1595" source="#geo_22-Normals-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="geo_22-Vertex">
+					<input semantic="POSITION" source="#geo_22-Position"/>
+				</vertices>
+				<triangles count="1746" material="Mtl">
+					<input offset="0" semantic="VERTEX" source="#geo_22-Vertex"/>
+					<input offset="1" semantic="NORMAL"  source="#geo_22-Normals"/>
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+					<technique_common>
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+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
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+					</technique_common>
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2251 2251 2253 2253 2252 2252 2252 2252 2253 2253 2254 2254 2253 2253 2255 2255 2254 2254 2254 2254 2255 2255 2256 2256 2255 2255 2257 2257 2256 2256 2266 2266 2269 2269 2268 2268 2266 2266 2268 2268 2265 2265 2268 2268 2267 2267 2265 2265 2265 2265 2267 2267 2263 2263 2267 2267 2264 2264 2263 2263 2263 2263 2264 2264 2262 2262 2264 2264 2261 2261 2262 2262 2262 2262 2261 2261 2260 2260 2261 2261 2259 2259 2260 2260 2260 2260 2259 2259 2258 2258 2281 2281 2280 2280 2278 2278 2281 2281 2278 2278 2279 2279 2278 2278 2275 2275 2279 2279 2279 2279 2275 2275 2277 2277 2275 2275 2272 2272 2277 2277 2277 2277 2272 2272 2276 2276 2272 2272 2271 2271 2276 2276 2276 2276 2271 2271 2274 2274 2271 2271 2270 2270 2274 2274 2274 2274 2270 2270 2273 2273 2294 2294 2290 2290 2296 2296 2290 2290 2292 2292 2296 2296 2296 2296 2292 2292 2295 2295 2292 2292 2291 2291 2295 2295 2295 2295 2291 2291 2293 2293 2291 2291 2288 2288 2293 2293 2293 2293 2288 2288 2289 2289 2288 2288 2286 2286 2289 2289 2282 2282 2283 2283 2284 2284 2283 2283 2285 2285 2284 2284 2284 2284 2285 2285 2286 2286 2285 2285 2287 2287 2286 2286 2286 2286 2287 2287 2289 2289 2298 2298 2297 2297 2299 2299 2297 2297 2300 2300 2299 2299 2299 2299 2300 2300 2301 2301 2301 2301 2300 2300 2303 2303 2300 2300 2302 2302 2303 2303 2303 2303 2302 2302 2305 2305 2302 2302 2304 2304 2305 2305 2305 2305 2304 2304 2307 2307 2304 2304 2306 2306 2307 2307 2307 2307 2306 2306 2308 2308 2306 2306 2309 2309 2308 2308 2308 2308 2309 2309 2310 2310 2310 2310 2309 2309 2311 2311 2309 2309 2312 2312 2311 2311 2311 2311 2312 2312 2313 2313 2314 2314 2315 2315 2316 2316 2315 2315 2317 2317 2316 2316 2316 2316 2317 2317 2318 2318 2317 2317 2319 2319 2318 2318 2318 2318 2319 2319 2320 2320 2319 2319 2321 2321 2320 2320 2320 2320 2321 2321 2322 2322 2321 2321 2323 2323 2322 2322 2322 2322 2323 2323 2324 2324 2323 2323 2325 2325 2324 2324 2324 2324 2325 2325 2326 2326 2325 2325 2327 2327 2326 2326 2329 2329 2328 2328 2331 2331 2329 2329 2331 2331 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2369 2369 2377 2377 2371 2371 2377 2377 2379 2379 2371 2371 2371 2371 2379 2379 2375 2375 2379 2379 2378 2378 2375 2375 2375 2375 2378 2378 2374 2374 2378 2378 2376 2376 2374 2374 2374 2374 2376 2376 2370 2370 2376 2376 2372 2372 2370 2370 2370 2370 2372 2372 2368 2368 2384 2384 2381 2381 2380 2380 2380 2380 2382 2382 2384 2384 2382 2382 2383 2383 2384 2384 2384 2384 2383 2383 2387 2387 2383 2383 2385 2385 2387 2387 2391 2391 2392 2392 2389 2389 2392 2392 2390 2390 2389 2389 2389 2389 2390 2390 2388 2388 2390 2390 2387 2387 2388 2388 2388 2388 2387 2387 2386 2386 2387 2387 2385 2385 2386 2386 2393 2393 2394 2394 2395 2395 2394 2394 2396 2396 2395 2395 2395 2395 2396 2396 2397 2397 2396 2396 2398 2398 2397 2397 2397 2397 2398 2398 2399 2399 2398 2398 2400 2400 2399 2399 2399 2399 2400 2400 2401 2401 2400 2400 2402 2402 2401 2401 2401 2401 2402 2402 2403 2403 2402 2402 2404 2404 2403 2403 2403 2403 2404 2404 2405 2405 2404 2404 2406 2406 2405 2405 2418 2418 2414 2414 2410 2410 2418 2418 2410 2410 2416 2416 2410 2410 2408 2408 2416 2416 2416 2416 2408 2408 2412 2412 2408 2408 2407 2407 2412 2412 2412 2412 2407 2407 2411 2411 2407 2407 2409 2409 2411 2411 2411 2411 2409 2409 2415 2415 2409 2409 2413 2413 2415 2415 2415 2415 2413 2413 2417 2417 2429 2429 2430 2430 2427 2427 2429 2429 2427 2427 2428 2428 2427 2427 2425 2425 2428 2428 2428 2428 2425 2425 2426 2426 2425 2425 2423 2423 2426 2426 2426 2426 2423 2423 2424 2424 2423 2423 2420 2420 2424 2424 2424 2424 2420 2420 2422 2422 2420 2420 2419 2419 2422 2422 2422 2422 2419 2419 2421 2421 2431 2431 2432 2432 2433 2433 2432 2432 2434 2434 2433 2433 2433 2433 2434 2434 2435 2435 2434 2434 2436 2436 2435 2435 2435 2435 2436 2436 2437 2437 2436 2436 2438 2438 2437 2437 2437 2437 2438 2438 2439 2439 2438 2438 2440 2440 2439 2439 2439 2439 2440 2440 2441 2441 2440 2440 2442 2442 2441 2441 2441 2441 2442 2442 2443 2443 2442 2442 2444 2444 2443 2443 2458 2458 2459 2459 2457 2457 2459 2459 2456 2456 2457 2457 2446 2446 2445 2445 2448 2448 2445 2445 2447 2447 2448 2448 2448 2448 2447 2447 2450 2450 2447 2447 2449 2449 2450 2450 2450 2450 2449 2449 2452 2452 2449 2449 2451 2451 2452 2452 2452 2452 2451 2451 2454 2454 2451 2451 2453 2453 2454 2454 2454 2454 2453 2453 2456 2456 2453 2453 2455 2455 2456 2456 2456 2456 2455 2455 2457 2457 2460 2460 2461 2461 2462 2462 2461 2461 2463 2463 2462 2462 2462 2462 2463 2463 2464 2464 2463 2463 2465 2465 2464 2464 2464 2464 2465 2465 2466 2466 2465 2465 2467 2467 2466 2466 2466 2466 2467 2467 2468 2468 2467 2467 2469 2469 2468 2468 2468 2468 2469 2469 2470 2470 2469 2469 2471 2471 2470 2470 2470 2470 2471 2471 2472 2472 2471 2471 2473 2473 2472 2472 2474 2474 2475 2475 2477 2477 2474 2474 2477 2477 2476 2476 2477 2477 2480 2480 2476 2476 2476 2476 2480 2480 2478 2478 2480 2480 2483 2483 2478 2478 2478 2478 2483 2483 2479 2479 2483 2483 2484 2484 2479 2479 2479 2479 2484 2484 2481 2481 2484 2484 2485 2485 2481 2481 2481 2481 2485 2485 2482 2482 2489 2489 2486 2486 2487 2487 2489 2489 2487 2487 2490 2490 2487 2487 2488 2488 2490 2490 2490 2490 2488 2488 2492 2492 2488 2488 2491 2491 2492 2492 2492 2492 2491 2491 2493 2493 2491 2491 2494 2494 2493 2493 2493 2493 2494 2494 2495 2495 2494 2494 2496 2496 2495 2495 2495 2495 2496 2496 2497 2497 2498 2498 2499 2499 2500 2500 2499 2499 2501 2501 2500 2500 2500 2500 2501 2501 2502 2502 2501 2501 2503 2503 2502 2502 2502 2502 2503 2503 2504 2504 2503 2503 2505 2505 2504 2504 2504 2504 2505 2505 2506 2506 2505 2505 2507 2507 2506 2506 2506 2506 2507 2507 2508 2508 2507 2507 2509 2509 2508 2508 2508 2508 2509 2509 2510 2510 2509 2509 2511 2511 2510 2510 2512 2512 2513 2513 2514 2514 2513 2513 2515 2515 2514 2514 2514 2514 2515 2515 2516 2516 2515 2515 2517 2517 2516 2516 2516 2516 2517 2517 2518 2518 2517 2517 2519 2519 2518 2518 2518 2518 2519 2519 2520 2520 2519 2519 2521 2521 2520 2520 2520 2520 2521 2521 2522 2522 2521 2521 2523 2523 2522 2522 2522 2522 2523 2523 2524 2524 2523 2523 2525 2525 2524 2524 2526 2526 2527 2527 2528 2528 2527 2527 2529 2529 2528 2528 2528 2528 2529 2529 2530 2530 2529 2529 2531 2531 2530 2530 2530 2530 2531 2531 2532 2532 2531 2531 2533 2533 2532 2532 2532 2532 2533 2533 2534 2534 2533 2533 2535 2535 2534 2534 2534 2534 2535 2535 2536 2536 2535 2535 2537 2537 2536 2536 2536 2536 2537 2537 2538 2538 2537 2537 2539 2539 2538 2538 2549 2549 2551 2551 2550 2550 2549 2549 2550 2550 2548 2548 2550 2550 2547 2547 2548 2548 2548 2548 2547 2547 2546 2546 2547 2547 2545 2545 2546 2546 2546 2546 2545 2545 2544 2544 2545 2545 2543 2543 2544 2544 2544 2544 2543 2543 2542 2542 2543 2543 2540 2540 2542 2542 2542 2542 2540 2540 2541 2541 </p>
+				</triangles>
+			</mesh>
+		</geometry>
+	</library_geometries>
+	<library_materials>
+		<material id="ID28" name="Mtl3">
+			<instance_effect url="#ID75"/>
+		</material>
+		<material id="ID52" name="Mtl5">
+			<instance_effect url="#ID76"/>
+		</material>
+		<material id="ID5" name="Mtl">
+			<instance_effect url="#ID77"/>
+		</material>
+		<material id="ID33" name="Mtl4">
+			<instance_effect url="#ID78"/>
+		</material>
+		<material id="ID25" name="Mtl6">
+			<instance_effect url="#ID79"/>
+		</material>
+		<material id="ID61" name="Mtl7">
+			<instance_effect url="#ID80"/>
+		</material>
+		<material id="ID72" name="Mtl8">
+			<instance_effect url="#ID81"/>
+		</material>
+		<material id="ID14" name="Mtl2">
+			<instance_effect url="#ID82"/>
+		</material>
+		<material id="ID8" name="Mtl1">
+			<instance_effect url="#ID83"/>
+		</material>
+	</library_materials>
+	<library_effects>
+		<effect id="ID75">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.208627 0.208627 0.208627 1</color>
+						</diffuse>
+						<specular><color>0.014902 0.014902 0.014902 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID76">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.529412 0.54902 0.54902 1</color>
+						</diffuse>
+						<specular><color>0.370588 0.384314 0.384314 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID77">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.792157 0.819608 0.933333 1</color>
+						</diffuse>
+						<specular><color>0.396078 0.409804 0.466667 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID78">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.776471 0.756863 0.737255 1</color>
+						</diffuse>
+						<specular><color>0.388235 0.378431 0.368627 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID79">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.898039 0.917647 0.929412 1</color>
+						</diffuse>
+						<specular><color>0.44902 0.458824 0.464706 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID80">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.192157 0.643137 0.866667 1</color>
+						</diffuse>
+						<specular><color>0.0960784 0.321569 0.433333 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID81">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.25098 0.25098 0.25098 1</color>
+						</diffuse>
+						<specular><color>0.12549 0.12549 0.12549 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID82">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.898039 0.917647 0.929412 1</color>
+						</diffuse>
+						<specular><color>0.44902 0.458824 0.464706 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID83">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.898039 0.917647 0.929412 1</color>
+						</diffuse>
+						<specular><color>0.44902 0.458824 0.464706 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+	</library_effects>
+	<scene>
+		<instance_visual_scene url="#Scene"/>
+	</scene>
+</COLLADA>
diff --git a/niryo_robot_description/meshes/ned/collada/hand_link.dae b/niryo_robot_description/meshes/ned/collada/hand_link.dae
new file mode 100644
index 000000000..27bcd6efe
--- /dev/null
+++ b/niryo_robot_description/meshes/ned/collada/hand_link.dae
@@ -0,0 +1,376 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA version="1.4.0" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+	<asset>
+		<contributor>
+			<author> SimLab Soft http://www.simLab-soft.com </author>
+			<authoring_tool>SimLab Collada Exporter for SolidWorks</authoring_tool>
+		</contributor>
+		<created>2020-12-08T18:32:03</created>
+		<modified>2020-12-08T18:32:03</modified>
+		<unit meter="1.000000000000000" name="Meter"/>
+		<up_axis>Z_UP</up_axis>
+	</asset>
+	<library_visual_scenes>
+		<visual_scene id="Scene" name="Scene">
+			<node>
+				<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+				<node  id="ID0" name="Camera-1">
+					<matrix> 1 0 0 0 0 0 -1 -0.124004 0 1 0 0.007625 0 0 0 1 </matrix>
+					<instance_camera url="#ID1" />
+				</node>
+				<node  id="ID2" name="Body_1">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<node  id="ID3" name="_3DGeom-79">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID4">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl" target="#ID5">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+					<node  id="ID6" name="_3DGeom-80">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID7">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl1" target="#ID8">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+				</node>
+				<node  id="ID9" name="Body_2">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<instance_geometry url="#ID10">
+						<bind_material>
+							<technique_common>
+								<instance_material symbol="Mtl2" target="#ID11">
+									<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+								</instance_material>
+							</technique_common>
+						</bind_material>
+					</instance_geometry>
+				</node>
+				<node  id="ID12" name="Body_3">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<instance_geometry url="#ID13">
+						<bind_material>
+							<technique_common>
+								<instance_material symbol="Mtl" target="#ID5">
+									<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+								</instance_material>
+							</technique_common>
+						</bind_material>
+					</instance_geometry>
+				</node>
+				<node  id="ID14" name="Body_4">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<instance_geometry url="#ID15">
+						<bind_material>
+							<technique_common>
+								<instance_material symbol="Mtl" target="#ID5">
+									<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+								</instance_material>
+							</technique_common>
+						</bind_material>
+					</instance_geometry>
+				</node>
+				<node  id="ID16" name="Body_5">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<instance_geometry url="#ID17">
+						<bind_material>
+							<technique_common>
+								<instance_material symbol="Mtl" target="#ID5">
+									<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
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197 200 200 240 240 240 240 200 200 259 259 200 200 202 202 259 259 259 259 202 202 261 261 202 202 207 207 261 261 261 261 207 207 211 211 314 314 313 313 318 318 313 313 317 317 318 318 318 318 317 317 322 322 317 317 321 321 322 322 322 322 321 321 326 326 321 321 325 325 326 326 326 326 325 325 330 330 325 325 329 329 330 330 330 330 329 329 334 334 329 329 333 333 334 334 334 334 333 333 338 338 333 333 337 337 338 338 338 338 337 337 343 343 473 473 341 341 474 474 475 475 341 341 347 347 341 341 345 345 347 347 347 347 345 345 352 352 345 345 348 348 352 352 352 352 348 348 359 359 348 348 351 351 359 359 359 359 351 351 361 361 351 351 355 355 361 361 361 361 355 355 363 363 355 355 357 357 363 363 363 363 357 357 365 365 357 357 358 358 365 365 365 365 358 358 366 366 358 358 356 356 366 366 366 366 356 356 364 364 356 356 353 353 364 364 364 364 353 353 362 362 353 353 350 350 362 362 362 362 350 350 360 360 350 350 346 346 360 360 360 360 346 346 354 354 346 346 342 342 354 354 354 354 342 342 349 349 342 342 476 476 349 349 349 349 477 477 478 478 339 339 335 335 344 344 344 344 335 335 340 340 335 335 331 331 340 340 340 340 331 331 336 336 331 331 327 327 336 336 336 336 327 327 332 332 327 327 323 323 332 332 332 332 323 323 328 328 323 323 319 319 328 328 328 328 319 319 324 324 319 319 315 315 324 324 324 324 315 315 320 320 315 315 310 310 320 320 320 320 310 310 316 316 310 310 306 306 316 316 316 316 306 306 312 312 479 479 302 302 480 480 481 481 302 302 308 308 302 302 296 296 308 308 308 308 296 296 304 304 296 296 291 291 304 304 304 304 291 291 301 301 291 291 289 289 301 301 301 301 289 289 298 298 289 289 287 287 298 298 298 298 287 287 295 295 287 287 285 285 295 295 295 295 285 285 293 293 285 285 286 286 293 293 293 293 286 286 294 294 286 286 288 288 294 294 294 294 288 288 297 297 288 288 290 290 297 297 297 297 290 290 300 300 290 290 292 292 300 300 300 300 292 292 303 303 292 292 299 299 303 303 303 303 299 299 307 307 299 299 482 482 307 307 307 307 483 483 484 484 305 305 309 309 311 311 311 311 309 309 314 314 309 309 313 313 314 314 389 389 386 386 394 394 386 386 390 390 394 394 394 394 390 390 399 399 390 390 393 393 399 399 399 399 393 393 404 404 393 393 397 397 404 404 404 404 397 397 411 411 397 397 485 485 411 411 411 411 486 486 487 487 401 401 403 403 415 415 415 415 403 403 417 417 403 403 407 407 417 417 417 417 407 407 419 419 407 407 409 409 419 419 419 419 409 409 421 421 409 409 412 412 421 421 421 421 412 412 423 423 412 412 413 413 423 423 423 423 413 413 424 424 413 413 410 410 424 424 424 424 410 410 422 422 410 410 408 408 422 422 422 422 408 408 420 420 408 408 405 405 420 420 420 420 405 405 418 418 405 405 402 402 418 418 418 418 402 402 416 416 402 402 398 398 416 416 416 416 398 398 414 414 488 488 395 395 489 489 490 490 395 395 406 406 395 395 392 392 406 406 406 406 392 392 400 400 392 392 388 388 400 400 400 400 388 388 396 396 388 388 384 384 396 396 396 396 384 384 391 391 384 384 380 380 391 391 391 391 380 380 387 387 380 380 373 373 387 387 387 387 373 373 383 383 373 373 371 371 383 383 383 383 371 371 379 379 371 371 369 369 379 379 379 379 369 369 376 376 369 369 367 367 376 376 376 376 367 367 374 374 367 367 368 368 374 374 374 374 368 368 375 375 368 368 370 370 375 375 375 375 370 370 378 378 370 370 372 372 378 378 378 378 372 372 381 381 372 372 377 377 381 381 381 381 377 377 385 385 377 377 382 382 385 385 385 385 382 382 389 389 382 382 386 386 389 389 425 425 426 426 427 427 426 426 428 428 427 427 429 429 430 430 431 431 430 430 432 432 431 431 433 433 434 434 435 435 434 434 436 436 435 435 437 437 438 438 439 439 438 438 440 440 439 439 441 441 442 442 443 443 442 442 444 444 443 443 445 445 446 446 447 447 446 446 448 448 447 447 449 449 450 450 451 451 450 450 452 452 451 451 451 451 452 452 453 453 452 452 454 454 453 453 </p>
+				</triangles>
+			</mesh>
+		</geometry>
+	</library_geometries>
+	<library_materials>
+		<material id="ID5" name="Mtl">
+			<instance_effect url="#ID18"/>
+		</material>
+		<material id="ID8" name="Mtl1">
+			<instance_effect url="#ID19"/>
+		</material>
+		<material id="ID11" name="Mtl2">
+			<instance_effect url="#ID20"/>
+		</material>
+	</library_materials>
+	<library_effects>
+		<effect id="ID18">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.792157 0.819608 0.933333 1</color>
+						</diffuse>
+						<specular><color>0.396078 0.409804 0.466667 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID19">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.898039 0.917647 0.929412 1</color>
+						</diffuse>
+						<specular><color>0.44902 0.458824 0.464706 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID20">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.25098 0.25098 0.25098 1</color>
+						</diffuse>
+						<specular><color>0.12549 0.12549 0.12549 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+	</library_effects>
+	<scene>
+		<instance_visual_scene url="#Scene"/>
+	</scene>
+</COLLADA>
diff --git a/niryo_robot_description/meshes/ned/collada/shoulder_link.dae b/niryo_robot_description/meshes/ned/collada/shoulder_link.dae
new file mode 100644
index 000000000..4421836cf
--- /dev/null
+++ b/niryo_robot_description/meshes/ned/collada/shoulder_link.dae
@@ -0,0 +1,2093 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA version="1.4.0" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+	<asset>
+		<contributor>
+			<author> SimLab Soft http://www.simLab-soft.com </author>
+			<authoring_tool>SimLab Collada Exporter for SolidWorks</authoring_tool>
+		</contributor>
+		<created>2020-12-08T17:33:36</created>
+		<modified>2020-12-08T17:33:36</modified>
+		<unit meter="1.000000000000000" name="Meter"/>
+		<up_axis>Z_UP</up_axis>
+	</asset>
+	<library_visual_scenes>
+		<visual_scene id="Scene" name="Scene">
+			<node>
+				<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+				<node  id="ID0" name="Camera-1">
+					<matrix> 1 0 0 -0.0217145 0 0 -1 -0.693134 0 1 0 0.0519491 0 0 0 1 </matrix>
+					<instance_camera url="#ID1" />
+				</node>
+				<node  id="ID2" name="Body_1">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<node  id="ID3" name="_3DGeom-68">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID4">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl1" target="#ID5">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+					<node  id="ID6" name="_3DGeom-69">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID7">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl" target="#ID8">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+				</node>
+				<node  id="ID9" name="Body_2">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<node  id="ID10" name="_3DGeom-153">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID11">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl2" target="#ID12">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+					<node  id="ID13" name="_3DGeom-154">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID14">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl" target="#ID8">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+				</node>
+				<node  id="ID15" name="Body_3">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<node  id="ID16" name="_3DGeom-264">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID17">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl2" target="#ID12">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+					<node  id="ID18" name="_3DGeom-265">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID19">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl" target="#ID8">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+				</node>
+				<node  id="ID20" name="Body_4">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<node  id="ID21" name="_3DGeom-275">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID22">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl3" target="#ID23">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+					<node  id="ID24" name="_3DGeom-276">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID25">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl" target="#ID8">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+				</node>
+				<node  id="ID26" name="Body_5">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<node  id="ID27" name="_3DGeom-329">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID28">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl4" target="#ID29">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+					<node  id="ID30" name="_3DGeom-330">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID31">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl" target="#ID8">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+				</node>
+				<node  id="ID32" name="Body_7">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<node  id="ID33" name="_3DGeom-389">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID34">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl5" target="#ID35">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+					<node  id="ID36" name="_3DGeom-390">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID37">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl6" target="#ID38">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+				</node>
+				<node  id="ID39" name="Body_11">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<node  id="ID40" name="_3DGeom-704">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID41">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl9" target="#ID42">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+					<node  id="ID43" name="_3DGeom-705">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID44">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtla" target="#ID45">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+				</node>
+				<node  id="ID46" name="Body_6">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<instance_geometry url="#ID47">
+						<bind_material>
+							<technique_common>
+								<instance_material symbol="texture" target="#ID48">
+									<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+								</instance_material>
+							</technique_common>
+						</bind_material>
+					</instance_geometry>
+				</node>
+				<node  id="ID49" name="Body_8">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<instance_geometry url="#ID50">
+						<bind_material>
+							<technique_common>
+								<instance_material symbol="Mtl7" target="#ID51">
+									<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+								</instance_material>
+							</technique_common>
+						</bind_material>
+					</instance_geometry>
+				</node>
+				<node  id="ID52" name="Body_9">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<instance_geometry url="#ID53">
+						<bind_material>
+							<technique_common>
+								<instance_material symbol="Mtl8" target="#ID54">
+									<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+								</instance_material>
+							</technique_common>
+						</bind_material>
+					</instance_geometry>
+				</node>
+				<node  id="ID55" name="Body_10">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<instance_geometry url="#ID56">
+						<bind_material>
+							<technique_common>
+								<instance_material symbol="Mtl5" target="#ID35">
+									<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+								</instance_material>
+							</technique_common>
+						</bind_material>
+					</instance_geometry>
+				</node>
+				<node  id="ID57" name="Body_12">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<instance_geometry url="#ID58">
+						<bind_material>
+							<technique_common>
+								<instance_material symbol="Mtl" target="#ID8">
+									<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+								</instance_material>
+							</technique_common>
+						</bind_material>
+					</instance_geometry>
+				</node>
+				<node  id="ID59" name="Body_13">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
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+							<technique_common>
+								<instance_material symbol="Mtl" target="#ID8">
+									<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
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+							</technique_common>
+						</bind_material>
+					</instance_geometry>
+				</node>
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+							<param name="Z" type="float"/>
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+					</technique_common>
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+					<technique_common>
+						<accessor count="4817" source="#geo_4-Normals-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="geo_4-Vertex">
+					<input semantic="POSITION" source="#geo_4-Position"/>
+				</vertices>
+				<triangles count="4506" material="Mtl9">
+					<input offset="0" semantic="VERTEX" source="#geo_4-Vertex"/>
+					<input offset="1" semantic="NORMAL"  source="#geo_4-Normals"/>
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+					<technique_common>
+						<accessor count="1593" source="#geo_7-Normals-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="geo_7-Vertex">
+					<input semantic="POSITION" source="#geo_7-Position"/>
+				</vertices>
+				<triangles count="1746" material="Mtl">
+					<input offset="0" semantic="VERTEX" source="#geo_7-Vertex"/>
+					<input offset="1" semantic="NORMAL"  source="#geo_7-Normals"/>
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+					<technique_common>
+						<accessor count="1603" source="#geo_8-Position-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<source id="geo_8-Normals">
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1589 1589 1589 1588 1588 1900 1900 1588 1588 1901 1901 1902 1902 1585 1585 1584 1584 1581 1581 1584 1584 1580 1580 1581 1581 1581 1581 1580 1580 1577 1577 1580 1580 1576 1576 1577 1577 1577 1577 1576 1576 1573 1573 1576 1576 1572 1572 1573 1573 1573 1573 1572 1572 1569 1569 1572 1572 1568 1568 1569 1569 1903 1903 1904 1904 1565 1565 1905 1905 1564 1564 1565 1565 1565 1565 1564 1564 1561 1561 1564 1564 1560 1560 1561 1561 1561 1561 1560 1560 1557 1557 1560 1560 1556 1556 1557 1557 1557 1557 1556 1556 1553 1553 1556 1556 1552 1552 1553 1553 1553 1553 1552 1552 1555 1555 1552 1552 1554 1554 1555 1555 1555 1555 1554 1554 1559 1559 1554 1554 1558 1558 1559 1559 1559 1559 1558 1558 1563 1563 1558 1558 1562 1562 1563 1563 1616 1616 1618 1618 1621 1621 1618 1618 1622 1622 1621 1621 1621 1621 1622 1622 1625 1625 1622 1622 1626 1626 1625 1625 1625 1625 1626 1626 1629 1629 1626 1626 1630 1630 1629 1629 1629 1629 1630 1630 1633 1633 1630 1630 1634 1634 1633 1633 1906 1906 1907 1907 1637 1637 1908 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1923 1732 1732 1733 1733 1733 1733 1732 1732 1737 1737 1732 1732 1736 1736 1737 1737 1737 1737 1736 1736 1741 1741 1736 1736 1740 1740 1741 1741 1741 1741 1740 1740 1745 1745 1740 1740 1744 1744 1745 1745 1745 1745 1744 1744 1743 1743 1744 1744 1742 1742 1743 1743 1743 1743 1742 1742 1739 1739 1742 1742 1738 1738 1739 1739 1739 1739 1738 1738 1735 1735 1738 1738 1734 1734 1735 1735 1735 1735 1734 1734 1924 1924 1734 1734 1925 1925 1926 1926 1731 1731 1730 1730 1727 1727 1730 1730 1726 1726 1727 1727 1727 1727 1726 1726 1723 1723 1726 1726 1722 1722 1723 1723 1723 1723 1722 1722 1719 1719 1722 1722 1718 1718 1719 1719 1719 1719 1718 1718 1715 1715 1718 1718 1714 1714 1715 1715 1927 1927 1928 1928 1711 1711 1929 1929 1710 1710 1711 1711 1711 1711 1710 1710 1707 1707 1710 1710 1706 1706 1707 1707 1707 1707 1706 1706 1703 1703 1706 1706 1702 1702 1703 1703 1703 1703 1702 1702 1699 1699 1702 1702 1698 1698 1699 1699 1699 1699 1698 1698 1701 1701 1698 1698 1700 1700 1701 1701 1701 1701 1700 1700 1705 1705 1700 1700 1704 1704 1705 1705 1705 1705 1704 1704 1709 1709 1704 1704 1708 1708 1709 1709 </p>
+				</triangles>
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+		</geometry>
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0.00918119 0.0061 0.0176523 0.00919827 0.0033 0.0176514 0.00919695 0.0061 0.0176396 0.00479224 0.0061 0.0175006 0.00469549 0.0033 0.0174977 0.00469986 0.0061 0.017394 0.00937047 0.0061 0.0173559 0.00460748 0.0061 0.0172455 0.00945179 0.0033 0.0172431 0.00944714 0.0061 0.0170922 0.00952382 0.0061 0.0170776 0.00446993 0.0033 0.0170769 0.00447136 0.0061 0.0170516 0.004459 0.0061 0.0168008 0.00963082 0.0033 0.0168003 0.00962932 0.0061 0.0167738 0.0096389 0.0061 0.0167313 0.00434903 0.0061 0.0166219 0.00432124 0.0033 0.0166209 0.00432578 0.0061 0.0164436 0.00971399 0.0061 0.0164 0.00427925 0.0061 0.0163318 0.00972991 0.0033 0.0163313 0.0097253 0.0061 0.0161473 0.00425395 0.0033 0.016147 0.00425784 0.0061 0.0161067 0.00974793 0.0061 0.0160626 0.00425071 0.0061 0.0158528 0.00974214 0.0061 0.0158527 0.00974605 0.0033 0.0157682 0.00974021 0.0061 0.0157243 0.00426385 0.0061 0.0156687 0.00427295 0.0061 0.0156682 0.00427009 0.0033 0.0154332 0.00969096 0.0061 0.0153902 0.00431847 0.0061 0.0153789 0.00967597 0.0061 0.0153781 0.00967876 0.0033 0.0152006 0.00437405 0.0061 0.0151992 0.00436918 0.0033 0.0151068 0.00960092 0.0061 0.0150653 0.00441374 0.0061 0.0149243 0.00952539 0.0061 0.0149224 0.00953007 0.0033 0.014794 0.00947145 0.0061 0.0147545 0.00454821 0.0061 0.0147545 0.00454821 0.0033 0.0144994 0.00930451 0.0061 0.0144994 0.00930451 0.0033 0.0144627 0.00471985 0.0061 0.0143508 0.00480575 0.0061 0.0143477 0.00480173 0.0033 0.0142276 0.00910264 0.0061 0.0141941 0.00492605 0.0061 0.0141255 0.00900526 0.0061 0.014122 0.00900893 0.0033 0.0139931 0.00512411 0.0061 0.0139911 0.00512205 0.0033 0.0139826 0.0088689 0.0061 0.0139529 0.00516369 0.0061 0.013804 0.00865047 0.0061 0.0138017 0.0086523 0.0033 0.0137683 0.00860682 0.0061 0.0137428 0.00542917 0.0061 0.0136988 0.00550146 0.0061 0.0136955 0.00549942 0.0033 0.0135877 0.00832039 0.0061 0.0135669 0.00571846 0.0061 0.0135517 0.00824381 0.0061 0.0135482 0.00824548 0.0033 0.0134742 0.0059243 0.0061 0.0134699 0.00592239 0.0033 0.0134437 0.00801394 0.0061 0.0134278 0.00602718 0.0061 0.0133736 0.00779936 0.0061 0.0133692 0.00780081 0.0033 0.0133385 0.00769212 0.0061 0.0133278 0.00635064 0.0061 0.0133228 0.00637839 0.0061 0.0133212 0.00637811 0.0033 0.0132736 0.00735981 0.0061 0.0132717 0.00733169 0.0061 0.0132701 0.0073318 0.0033 0.0132682 0.00668395 0.0061 0.0132592 0.006853 0.0061 0.0132539 0.00685272 0.0033 0.0132501 0.00702205 0.0061 0.0187461 0.00714728 0.0033 0.0187299 0.0066682 0.0033 0.0186788 0.00762189 0.0033 0.0186308 0.00619919 0.0033 0.0185301 0.00807761 0.0033 0.0184518 0.00575452 0.0033 0.0183045 0.00850058 0.0033 0.0181983 0.0053477 0.0033 0.0180089 0.00887795 0.0033 0.017878 0.00499107 0.0033 0.0176976 0.00709105 0.0033 0.0176909 0.00682437 0.0033 0.0176624 0.00735548 0.0033 0.0176523 0.00919827 0.0033 0.0176426 0.00656202 0.0033 0.0175863 0.00761117 0.0033 0.0175539 0.00631045 0.0033 0.0175006 0.00469549 0.0033 0.0174712 0.0078518 0.0033 0.0174269 0.00607586 0.0033 0.0173198 0.00807146 0.0033 0.0172647 0.00586402 0.0033 0.0172455 0.00945179 0.0033 0.017136 0.00826474 0.0033 0.0170776 0.00446993 0.0033 0.0170715 0.00568016 0.0033 0.0169241 0.00842687 0.0033 0.0168518 0.0055288 0.0033 0.0168008 0.00963082 0.0033 0.0166896 0.00855387 0.0033 0.0166219 0.00432124 0.0033 0.0166112 0.00541366 0.0033 0.016438 0.00864261 0.0033 0.0163555 0.00533758 0.0033 0.0163318 0.00972991 0.0033 0.0161756 0.0086909 0.0033 0.0161473 0.00425395 0.0033 0.016091 0.00530244 0.0033 0.015909 0.00869756 0.0033 0.0158527 0.00974605 0.0033 0.0158244 0.0053091 0.0033 0.0156682 0.00427009 0.0033 0.0156445 0.00866242 0.0033 0.015562 0.00535739 0.0033 0.0153888 0.00858634 0.0033 0.0153781 0.00967876 0.0033 0.0153104 0.00544613 0.0033 0.0151992 0.00436918 0.0033 0.0151482 0.0084712 0.0033 0.0150759 0.00557313 0.0033 0.0149285 0.00831984 0.0033 0.0149224 0.00953007 0.0033 0.014864 0.00573526 0.0033 0.0147545 0.00454821 0.0033 0.0147353 0.00813598 0.0033 0.0146802 0.00592854 0.0033 0.0145731 0.00792414 0.0033 0.0145288 0.0061482 0.0033 0.0144994 0.00930451 0.0033 0.0144461 0.00768955 0.0033 0.0144137 0.00638883 0.0033 0.0143574 0.00743798 0.0033 0.0143477 0.00480173 0.0033 0.0143376 0.00664452 0.0033 0.0143091 0.00717563 0.0033 0.0143024 0.00690895 0.0033 0.014122 0.00900893 0.0033 0.0139911 0.00512205 0.0033 0.0138017 0.0086523 0.0033 0.0136955 0.00549942 0.0033 0.0135482 0.00824548 0.0033 0.0134699 0.00592239 0.0033 0.0133692 0.00780081 0.0033 0.0133212 0.00637811 0.0033 0.0132701 0.0073318 0.0033 0.0132539 0.00685272 0.0033 0.0176976 0.00709105 0.0033 0.0176909 0.00682437 0.0033 0.0176624 0.00735548 0.0033 0.0176459 0.00708827 0.00329319 0.0176426 0.00656202 0.0033 0.0176394 0.00682972 0.00329319 0.0176118 0.00734466 0.00329319 0.0175977 0.00708569 0.00327321 0.0175926 0.00657535 0.00329319 0.0175914 0.0068347 0.00327321 0.0175863 0.00761117 0.0033 0.0175646 0.00733457 0.00327321 0.0175563 0.00708347 0.00324142 0.0175539 0.00631045 0.0033 0.0175502 0.00683898 0.00324142 0.017546 0.00658778 0.00327321 0.017538 0.00759256 0.00329319 0.0175246 0.00708177 0.0032 0.0175241 0.00732591 0.00324142 0.0175186 0.00684226 0.0032 0.0175066 0.00633144 0.00329319 0.017506 0.00659845 0.00324142 0.0175047 0.0070807 0.00315176 0.0174988 0.00684433 0.00315176 0.0174978 0.00708034 0.0031 0.017493 0.00731926 0.0032 0.017493 0.00757521 0.00327321 0.017492 0.00684503 0.0031 0.0174753 0.00660664 0.0032 0.0174735 0.00731509 0.00315176 0.0174715 0.00673358 0.0031 0.0174712 0.0078518 0.0033 0.0174668 0.00731366 0.0031 0.0174625 0.00635101 0.00327321 0.0174559 0.00661179 0.00315176 0.0174544 0.00756032 0.00324142 0.0174494 0.00661354 0.0031 0.0174345 0.00742228 0.0031 0.0174269 0.00607586 0.0033 0.0174264 0.00782586 0.00329319 0.0174247 0.0075489 0.0032 0.0174246 0.00636781 0.00324142 0.0174061 0.00754171 0.00315176 0.0173997 0.00753926 0.0031 0.0173956 0.0063807 0.0032 0.0173847 0.00780169 0.00327321 0.0173834 0.006104 0.00329319 0.0173773 0.00638881 0.00315176 0.017374 0.00639978 0.0031 0.0173711 0.00639157 0.0031 0.0173488 0.00778094 0.00324142 0.0173429 0.00613022 0.00327321 0.0173213 0.00776501 0.0032 0.0173198 0.00807146 0.0033 0.0173082 0.00615274 0.00324142 0.017304 0.007755 0.00315176 0.0173019 0.00774374 0.0031 0.0172981 0.00775159 0.0031 0.0172815 0.00617001 0.0032 0.0172797 0.00803883 0.00329319 0.0172647 0.00586402 0.0033 0.0172647 0.00618088 0.00315176 0.017259 0.00618458 0.0031 0.0172422 0.00800843 0.00327321 0.0172262 0.00589861 0.00329319 0.01721 0.00798233 0.00324142 0.0171954 0.00610152 0.0031 0.0171903 0.00593085 0.00327321 0.0171854 0.00796229 0.0032 0.0171699 0.0079497 0.00315176 0.0171646 0.00794541 0.0031 0.0171595 0.00595852 0.00324142 0.017136 0.00826474 0.0033 0.0171359 0.00597976 0.0032 0.017121 0.00599311 0.00315176 0.0171159 0.00599767 0.0031 0.0171014 0.00822623 0.00329319 0.0170925 0.00802119 0.0031 0.0170715 0.00568016 0.0033 0.0170692 0.00819034 0.00327321 0.0170415 0.00815952 0.00324142 0.0170388 0.00572035 0.00329319 0.0170202 0.00813588 0.0032 0.0170084 0.0057578 0.00327321 0.0170069 0.00812101 0.00315176 0.0170023 0.00811594 0.0031 0.0169823 0.00578996 0.00324142 0.0169623 0.00581463 0.0032 0.016958 0.00584743 0.0031 0.0169497 0.00583015 0.00315176 0.0169454 0.00583544 0.0031 0.0169241 0.00842687 0.0033 0.016896 0.00838342 0.00329319 0.0168698 0.00834294 0.00327321 0.0168518 0.0055288 0.0033 0.0168473 0.00830817 0.00324142 0.01683 0.00828149 0.0032 0.0168292 0.00824842 0.0031 0.0168259 0.00557359 0.00329319 0.0168191 0.00826472 0.00315176 0.0168154 0.008259 0.0031 0.0168017 0.00561534 0.00327321 0.0167809 0.00565119 0.00324142 0.016765 0.00567869 0.0032 0.016755 0.00569598 0.00315176 0.0167516 0.00570188 0.0031 0.0166896 0.00855387 0.0033 0.0166686 0.00850656 0.00329319 0.0166651 0.0056605 0.0031 0.016649 0.00846247 0.00327321 0.0166322 0.00842461 0.00324142 0.0166193 0.00839556 0.0032 0.0166112 0.00837729 0.00315176 0.0166112 0.00541366 0.0033 0.0166084 0.00837106 0.0031 0.0165926 0.00546196 0.00329319 0.0165752 0.00550697 0.00327321 0.0165603 0.00554563 0.00324142 0.0165489 0.00557528 0.0032 0.0165417 0.00559393 0.00315176 0.0165393 0.00560029 0.0031 0.016518 0.00840296 0.0031 0.016438 0.00864261 0.0033 0.0164246 0.00859259 0.00329319 0.0164122 0.00854599 0.00327321 0.0164015 0.00850596 0.00324142 0.0163934 0.00847525 0.0032 0.0163882 0.00845595 0.00315176 0.0163865 0.00844936 0.0031 0.0163555 0.00533758 0.0033 0.0163447 0.0053882 0.00329319 0.0163387 0.00554061 0.0031 0.0163346 0.00543537 0.00327321 0.0163259 0.00547588 0.00324142 0.0163193 0.00550696 0.0032 0.0163151 0.0055265 0.00315176 0.0163137 0.00553316 0.0031 0.0161807 0.00848725 0.0031 0.0161756 0.0086909 0.0033 0.0161703 0.00863942 0.00329319 0.0161653 0.00859144 0.00327321 0.016161 0.00855024 0.00324142 0.0161577 0.00851863 0.0032 0.0161557 0.00849875 0.00315176 0.016155 0.00849197 0.0031 0.016091 0.00530244 0.0033 0.0160883 0.00535413 0.00329319 0.0160857 0.0054023 0.00327321 0.0160835 0.00544366 0.00324142 0.0160818 0.0054754 0.0032 0.0160807 0.00549535 0.00315176 0.0160803 0.00550215 0.0031 0.0159932 0.00550433 0.0031 0.0159197 0.00849785 0.0031 0.0159193 0.00850465 0.00315176 0.0159182 0.0085246 0.0032 0.0159165 0.00855634 0.00324142 0.0159143 0.0085977 0.00327321 0.0159117 0.00864587 0.00329319 0.015909 0.00869756 0.0033 0.015845 0.00550803 0.0031 0.0158443 0.00550125 0.00315176 0.0158423 0.00548137 0.0032 0.015839 0.00544976 0.00324142 0.0158347 0.00540856 0.00327321 0.0158333 0.00848637 0.0031 0.0158297 0.00536058 0.00329319 0.0158244 0.0053091 0.0033 0.0156863 0.00846684 0.0031 0.0156849 0.0084735 0.00315176 0.0156807 0.00849304 0.0032 0.0156741 0.00852412 0.00324142 0.0156654 0.00856463 0.00327321 0.0156553 0.0086118 0.00329319 0.0156478 0.00554433 0.0031 0.0156445 0.00866242 0.0033 0.0156135 0.00555064 0.0031 0.0156118 0.00554405 0.00315176 0.0156066 0.00552475 0.0032 0.0155985 0.00549404 0.00324142 0.0155878 0.00545401 0.00327321 0.0155754 0.00540741 0.00329319 0.015562 0.00535739 0.0033 0.0154941 0.00840964 0.0031 0.0154607 0.00839971 0.0031 0.0154583 0.00840607 0.00315176 0.0154511 0.00842472 0.0032 0.0154397 0.00845437 0.00324142 0.0154248 0.00849303 0.00327321 0.0154074 0.00853804 0.00329319 0.0153916 0.00562894 0.0031 0.0153888 0.00858634 0.0033 0.0153888 0.00562271 0.00315176 0.0153807 0.00560445 0.0032 0.0153678 0.00557539 0.00324142 0.015351 0.00553753 0.00327321 0.0153314 0.00549344 0.00329319 0.0153226 0.00566627 0.0031 0.0153104 0.00544613 0.0033 0.0152484 0.00829812 0.0031 0.015245 0.00830402 0.00315176 0.015235 0.00832131 0.0032 0.0152191 0.00834881 0.00324142 0.0151983 0.00838466 0.00327321 0.0151846 0.005741 0.0031 0.0151838 0.00825362 0.0031 0.0151809 0.00573528 0.00315176 0.0151741 0.00842641 0.00329319 0.01517 0.00571851 0.0032 0.0151527 0.00569183 0.00324142 0.0151482 0.0084712 0.0033 0.0151302 0.00565706 0.00327321 0.015104 0.00561658 0.00329319 0.0150759 0.00557313 0.0033 0.0150546 0.00816456 0.0031 0.0150503 0.00816985 0.00315176 0.0150377 0.00818537 0.0032 0.0150322 0.00585759 0.0031 0.0150177 0.00821004 0.00324142 0.0149977 0.00588406 0.0031 0.0149931 0.00587899 0.00315176 0.0149916 0.0082422 0.00327321 0.0149798 0.00586412 0.0032 0.0149612 0.00827965 0.00329319 0.0149585 0.00584048 0.00324142 0.0149308 0.00580966 0.00327321 0.0149285 0.00831984 0.0033 0.0149156 0.00803234 0.0031 0.0148986 0.00577377 0.00329319 0.0148841 0.00800233 0.0031 0.014879 0.00800689 0.00315176 0.0148641 0.00802024 0.0032 0.014864 0.00573526 0.0033 0.0148405 0.00804147 0.00324142 0.0148354 0.00605459 0.0031 0.0148301 0.0060503 0.00315176 0.0148146 0.00603771 0.0032 0.0148097 0.00806915 0.00327321 0.0147959 0.00611199 0.0031 0.01479 0.00601767 0.00324142 0.0147738 0.00810139 0.00329319 0.0147578 0.00599157 0.00327321 0.014741 0.00781542 0.0031 0.0147353 0.00781912 0.00315176 0.0147353 0.00813598 0.0033 0.0147203 0.00596117 0.00329319 0.0147185 0.00782999 0.0032 0.0147078 0.00775413 0.0031 0.0147019 0.00624841 0.0031 0.014696 0.006245 0.00315176 0.0146918 0.00784726 0.00324142 0.0146802 0.00592854 0.0033 0.0146787 0.00623499 0.0032 0.0146571 0.00786978 0.00327321 0.0146512 0.00621906 0.00324142 0.0146289 0.00760843 0.0031 0.0146228 0.00641359 0.0031 0.0146227 0.00761119 0.00315176 0.0146166 0.007896 0.00329319 0.0146153 0.00619831 0.00327321 0.0146044 0.0076193 0.0032 0.0146003 0.00646074 0.0031 0.0145939 0.00645829 0.00315176 0.0145754 0.00763219 0.00324142 0.0145753 0.0064511 0.0032 0.0145736 0.00617414 0.00329319 0.0145731 0.00792414 0.0033 0.014568 0.00743574 0.0031 0.0145506 0.00738646 0.0031 0.0145456 0.00643968 0.00324142 0.0145441 0.00738821 0.00315176 0.0145375 0.00764899 0.00327321 0.0145332 0.00668634 0.0031 0.0145288 0.0061482 0.0033 0.0145265 0.00668491 0.00315176 0.0145251 0.00674679 0.0031 0.0145247 0.00739336 0.0032 0.014508 0.00715497 0.0031 0.014507 0.00642479 0.00327321 0.014507 0.00668074 0.0032 0.0145065 0.00709401 0.0031 0.0145022 0.00691966 0.0031 0.0145012 0.00715567 0.00315176 0.0144953 0.0069193 0.00315176 0.014494 0.00740155 0.00324142 0.0144934 0.00766856 0.00329319 0.0144814 0.00715774 0.0032 0.0144759 0.00667409 0.00324142 0.0144754 0.00691823 0.0032 0.014462 0.00640744 0.00329319 0.014454 0.00741222 0.00327321 0.0144498 0.00716102 0.00324142 0.0144461 0.00768955 0.0033 0.0144437 0.00691653 0.00324142 0.0144354 0.00666543 0.00327321 0.0144137 0.00638883 0.0033 0.0144086 0.0071653 0.00327321 0.0144074 0.00742465 0.00329319 0.0144023 0.00691431 0.00327321 0.0143882 0.00665534 0.00329319 0.0143606 0.00717028 0.00329319 0.0143574 0.00743798 0.0033 0.0143541 0.00691173 0.00329319 0.0143376 0.00664452 0.0033 0.0143091 0.00717563 0.0033 0.0143024 0.00690895 0.0033 0.0174978 0.00708034 0.0031 0.0174978 0.00708034 -0.0083 0.017497 0.0069059 -0.0083 0.017492 0.00684503 0.0031 0.0174784 0.00725368 -0.0083 0.0174715 0.00673358 0.0031 0.0174668 0.00731366 0.0031 0.017466 0.00673455 -0.0083 0.0174494 0.00661354 0.0031 0.017435 0.0065632 -0.0083 0.0174345 0.00742228 0.0031 0.0174292 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+					<technique_common>
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+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="geo_10-Vertex">
+					<input semantic="POSITION" source="#geo_10-Position"/>
+				</vertices>
+				<triangles count="1752" material="Mtl">
+					<input offset="0" semantic="VERTEX" source="#geo_10-Vertex"/>
+					<input offset="1" semantic="NORMAL"  source="#geo_10-Normals"/>
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+					<technique_common>
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+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="geo_11-Vertex">
+					<input semantic="POSITION" source="#geo_11-Position"/>
+				</vertices>
+				<triangles count="1752" material="Mtl">
+					<input offset="0" semantic="VERTEX" source="#geo_11-Vertex"/>
+					<input offset="1" semantic="NORMAL"  source="#geo_11-Normals"/>
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+				</triangles>
+			</mesh>
+		</geometry>
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+			<mesh>
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+					<technique_common>
+						<accessor count="1558" source="#geo_16-Normals-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="geo_16-Vertex">
+					<input semantic="POSITION" source="#geo_16-Position"/>
+				</vertices>
+				<triangles count="1664" material="Mtl">
+					<input offset="0" semantic="VERTEX" source="#geo_16-Vertex"/>
+					<input offset="1" semantic="NORMAL"  source="#geo_16-Normals"/>
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+					<technique_common>
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+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
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1244 1243 1243 1245 1245 1244 1244 1246 1246 1247 1247 1248 1248 1247 1247 1249 1249 1248 1248 1250 1250 1251 1251 1252 1252 1251 1251 1253 1253 1252 1252 1254 1254 1255 1255 1256 1256 1255 1255 1257 1257 1256 1256 1256 1256 1257 1257 1258 1258 1257 1257 1259 1259 1258 1258 </p>
+				</triangles>
+			</mesh>
+		</geometry>
+		<geometry id="ID84" name="geo_18">
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+							<param name="Z" type="float"/>
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+					</technique_common>
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+				</triangles>
+			</mesh>
+		</geometry>
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+					<technique_common>
+						<accessor count="1255" source="#geo_20-Normals-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="geo_20-Vertex">
+					<input semantic="POSITION" source="#geo_20-Position"/>
+				</vertices>
+				<triangles count="1254" material="Mtl">
+					<input offset="0" semantic="VERTEX" source="#geo_20-Vertex"/>
+					<input offset="1" semantic="NORMAL"  source="#geo_20-Normals"/>
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+				</triangles>
+			</mesh>
+		</geometry>
+		<geometry id="ID96" name="geo_23">
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798 798 1489 1489 1490 1490 798 798 1491 1491 798 798 787 787 1492 1492 1493 1493 787 787 1494 1494 787 787 773 773 1495 1495 1496 1496 773 773 1497 1497 773 773 758 758 1498 1498 1499 1499 758 758 1500 1500 758 758 745 745 1501 1501 1502 1502 745 745 730 730 745 745 729 729 730 730 730 730 729 729 1503 1503 729 729 713 713 1504 1504 1505 1505 713 713 1506 1506 713 713 701 701 1507 1507 1508 1508 701 701 1509 1509 701 701 687 687 1510 1510 1511 1511 687 687 1512 1512 687 687 674 674 1513 1513 1514 1514 674 674 1515 1515 674 674 663 663 1516 1516 1517 1517 663 663 1518 1518 663 663 664 664 1519 1519 1520 1520 664 664 1521 1521 664 664 675 675 1522 1522 1523 1523 675 675 1524 1524 675 675 688 688 1525 1525 1526 1526 688 688 1527 1527 688 688 702 702 1528 1528 1529 1529 702 702 1530 1530 702 702 714 714 1531 1531 1532 1532 714 714 1533 1533 714 714 731 731 1534 1534 1535 1535 731 731 1536 1536 731 731 748 748 1537 1537 1538 1538 748 748 1539 1539 748 748 762 762 1540 1540 1541 1541 762 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817 817 815 815 815 815 817 817 799 799 817 817 800 800 799 799 799 799 800 800 785 785 800 800 784 784 785 785 785 785 784 784 771 771 784 784 769 769 771 771 771 771 769 769 756 756 769 769 755 755 756 756 756 756 755 755 743 743 755 755 740 740 743 743 743 743 740 740 727 727 740 740 725 725 727 727 727 727 725 725 711 711 725 725 709 709 711 711 711 711 709 709 695 695 709 709 690 690 695 695 695 695 690 690 681 681 690 690 666 666 681 681 681 681 666 666 662 662 666 666 656 656 662 662 662 662 656 656 658 658 656 656 653 653 658 658 658 658 653 653 659 659 653 653 654 654 659 659 659 659 654 654 665 665 654 654 657 657 665 665 665 665 657 657 684 684 657 657 670 670 684 684 684 684 670 670 697 697 670 670 694 694 697 697 697 697 694 694 712 712 694 694 710 710 712 712 712 712 710 710 728 728 710 710 726 726 728 728 728 728 726 726 744 744 726 726 742 742 744 744 744 744 742 742 759 759 742 742 757 757 759 759 759 759 757 757 776 776 757 757 772 772 776 776 772 772 770 770 791 791 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786 786 808 808 786 786 810 810 808 808 808 808 810 810 824 824 810 810 825 825 824 824 824 824 825 825 840 840 825 825 841 841 840 840 840 840 841 841 855 855 841 841 857 857 855 855 855 855 857 857 870 870 857 857 873 873 870 870 870 870 873 873 885 885 873 873 895 895 885 885 885 885 895 895 907 907 895 895 914 914 907 907 907 907 914 914 933 933 914 914 942 942 933 933 933 933 942 942 947 947 942 942 952 952 947 947 947 947 952 952 951 951 952 952 955 955 951 951 951 951 955 955 953 953 955 955 956 956 953 953 953 953 956 956 950 950 956 956 954 954 950 950 950 950 954 954 944 944 954 954 949 949 944 944 944 944 949 949 929 929 949 949 941 941 929 929 929 929 941 941 904 904 941 941 912 912 904 904 904 904 912 912 884 884 912 912 890 890 884 884 884 884 890 890 868 868 890 890 872 872 868 868 868 868 872 872 854 854 872 872 856 856 854 854 854 854 856 856 837 837 856 856 839 839 837 837 837 837 839 839 820 820 839 839 822 822 820 820 820 820 822 822 801 801 822 822 802 802 801 801 801 801 802 802 783 783 802 802 782 782 783 783 783 783 782 782 767 767 782 782 766 766 767 767 767 767 766 766 753 753 766 766 751 751 753 753 753 753 751 751 737 737 751 751 735 735 737 737 737 737 735 735 723 723 735 735 716 716 723 723 723 723 716 716 703 703 716 716 696 696 703 703 703 703 696 696 685 685 696 696 669 669 685 685 685 685 669 669 660 660 669 669 652 652 660 660 660 660 652 652 650 650 652 652 646 646 650 650 650 650 646 646 648 648 646 646 644 644 648 648 648 648 644 644 649 649 644 644 645 645 649 649 649 649 645 645 651 651 645 645 647 647 651 651 651 651 647 647 661 661 647 647 655 655 661 661 661 661 655 655 686 686 655 655 676 676 686 686 686 686 676 676 707 707 676 676 699 699 707 707 707 707 699 699 724 724 699 699 721 721 724 724 724 724 721 721 738 738 721 721 736 736 738 738 738 738 736 736 754 754 736 736 752 752 754 754 754 754 752 752 770 770 752 752 768 768 770 770 974 974 973 973 979 979 973 973 978 978 979 979 979 979 978 978 984 984 978 978 982 982 984 984 1544 1544 1545 1545 987 987 1546 1546 1547 1547 987 987 987 987 1548 1548 992 992 961 961 958 958 960 960 958 958 959 959 960 960 960 960 959 959 967 967 959 959 964 964 967 967 967 967 964 964 969 969 964 964 965 965 969 969 969 969 965 965 974 974 965 965 972 972 974 974 974 974 972 972 973 973 976 976 975 975 970 970 975 975 971 971 970 970 970 970 971 971 968 968 971 971 966 966 968 968 968 968 966 966 962 962 966 966 963 963 962 962 962 962 963 963 961 961 963 963 957 957 961 961 961 961 957 957 958 958 994 994 993 993 988 988 993 993 989 989 988 988 988 988 989 989 1549 1549 989 989 1550 1550 1551 1551 986 986 985 985 980 980 985 985 981 981 980 980 980 980 981 981 976 976 981 981 977 977 976 976 976 976 977 977 975 975 1011 1011 1010 1010 1005 1005 1010 1010 1006 1006 1005 1005 1005 1005 1006 1006 1003 1003 1006 1006 1002 1002 1003 1003 1003 1003 1002 1002 998 998 1002 1002 999 999 998 998 998 998 999 999 994 994 999 999 995 995 994 994 994 994 995 995 993 993 1038 1038 1034 1034 1033 1033 1034 1034 1030 1030 1033 1033 1033 1033 1030 1030 1028 1028 1030 1030 1029 1029 1028 1028 1028 1028 1029 1029 1023 1023 1029 1029 1024 1024 1023 1023 1023 1023 1024 1024 1020 1020 1024 1024 1021 1021 1020 1020 1020 1020 1021 1021 1015 1015 1021 1021 1016 1016 1015 1015 1015 1015 1016 1016 1011 1011 1016 1016 1012 1012 1011 1011 1011 1011 1012 1012 1010 1010 1056 1056 1052 1052 1051 1051 1052 1052 1048 1048 1051 1051 1552 1552 1553 1553 1046 1046 1554 1554 1047 1047 1046 1046 1046 1046 1047 1047 1042 1042 1047 1047 1041 1041 1042 1042 1042 1042 1041 1041 1038 1038 1041 1041 1039 1039 1038 1038 1038 1038 1039 1039 1034 1034 1072 1072 1071 1071 1069 1069 1071 1071 1066 1066 1069 1069 1069 1069 1066 1066 1064 1064 1066 1066 1065 1065 1064 1064 1064 1064 1065 1065 1060 1060 1065 1065 1059 1059 1060 1060 1060 1060 1059 1059 1056 1056 1059 1059 1057 1057 1056 1056 1056 1056 1057 1057 1052 1052 1062 1062 1067 1067 1068 1068 1067 1067 1073 1073 1068 1068 1068 1068 1073 1073 1070 1070 1073 1073 1074 1074 1070 1070 1070 1070 1074 1074 1077 1077 1074 1074 1076 1076 1077 1077 1077 1077 1076 1076 1072 1072 1076 1076 1075 1075 1072 1072 1072 1072 1075 1075 1071 1071 1050 1050 1053 1053 1054 1054 1053 1053 1055 1055 1054 1054 1054 1054 1055 1055 1058 1058 1055 1055 1061 1061 1058 1058 1058 1058 1061 1061 1062 1062 1061 1061 1063 1063 1062 1062 1062 1062 1063 1063 1067 1067 1032 1032 1035 1035 1036 1036 1035 1035 1037 1037 1036 1036 1036 1036 1037 1037 1040 1040 1037 1037 1043 1043 1040 1040 1040 1040 1043 1043 1044 1044 1043 1043 1045 1045 1044 1044 1044 1044 1045 1045 1555 1555 1045 1045 1556 1556 1557 1557 1050 1050 1049 1049 1053 1053 1014 1014 1017 1017 1018 1018 1017 1017 1019 1019 1018 1018 1018 1018 1019 1019 1022 1022 1019 1019 1025 1025 1022 1022 1022 1022 1025 1025 1026 1026 1025 1025 1027 1027 1026 1026 1026 1026 1027 1027 1032 1032 1027 1027 1031 1031 1032 1032 1032 1032 1031 1031 1035 1035 1558 1558 990 990 992 992 990 990 991 991 992 992 992 992 991 991 997 997 991 991 996 996 997 997 997 997 996 996 1001 1001 996 996 1000 1000 1001 1001 1001 1001 1000 1000 1004 1004 1000 1000 1007 1007 1004 1004 1004 1004 1007 1007 1009 1009 1007 1007 1008 1008 1009 1009 1009 1009 1008 1008 1014 1014 1008 1008 1013 1013 1014 1014 1014 1014 1013 1013 1017 1017 1129 1129 1123 1123 1127 1127 1129 1129 1125 1125 1123 1123 1125 1125 1121 1121 1123 1123 1123 1123 1121 1121 1119 1119 1121 1121 1117 1117 1119 1119 1117 1117 1115 1115 1119 1119 1119 1119 1115 1115 1113 1113 1115 1115 1110 1110 1113 1113 1110 1110 1106 1106 1113 1113 1113 1113 1106 1106 1108 1108 1106 1106 1102 1102 1108 1108 1102 1102 1098 1098 1108 1108 1108 1108 1098 1098 1104 1104 1098 1098 1092 1092 1104 1104 1092 1092 1090 1090 1104 1104 1104 1104 1090 1090 1100 1100 1090 1090 1088 1088 1100 1100 1088 1088 1086 1086 1100 1100 1100 1100 1086 1086 1096 1096 1086 1086 1084 1084 1096 1096 1084 1084 1082 1082 1096 1096 1096 1096 1082 1082 1094 1094 1082 1082 1080 1080 1094 1094 1080 1080 1079 1079 1094 1094 1094 1094 1079 1079 1093 1093 1079 1079 1078 1078 1093 1093 1078 1078 1081 1081 1093 1093 1093 1093 1081 1081 1095 1095 1081 1081 1083 1083 1095 1095 1083 1083 1085 1085 1095 1095 1095 1095 1085 1085 1099 1099 1085 1085 1087 1087 1099 1099 1087 1087 1089 1089 1099 1099 1099 1099 1089 1089 1103 1103 1089 1089 1091 1091 1103 1103 1091 1091 1097 1097 1103 1103 1103 1103 1097 1097 1107 1107 1097 1097 1101 1101 1107 1107 1107 1107 1101 1101 1111 1111 1101 1101 1105 1105 1111 1111 1111 1111 1105 1105 1112 1112 1105 1105 1109 1109 1112 1112 1109 1109 1114 1114 1112 1112 1112 1112 1114 1114 1118 1118 1114 1114 1116 1116 1118 1118 1116 1116 1120 1120 1118 1118 1118 1118 1120 1120 1122 1122 1120 1120 1124 1124 1122 1122 1124 1124 1128 1128 1122 1122 1122 1122 1128 1128 1126 1126 1128 1128 1130 1130 1126 1126 1130 1130 1134 1134 1126 1126 1126 1126 1134 1134 1131 1131 1134 1134 1138 1138 1131 1131 1138 1138 1144 1144 1131 1131 1131 1131 1144 1144 1136 1136 1144 1144 1147 1147 1136 1136 1147 1147 1149 1149 1136 1136 1136 1136 1149 1149 1140 1140 1149 1149 1151 1151 1140 1140 1151 1151 1153 1153 1140 1140 1140 1140 1153 1153 1142 1142 1153 1153 1155 1155 1142 1142 1155 1155 1157 1157 1142 1142 1142 1142 1157 1157 1145 1145 1157 1157 1159 1159 1145 1145 1159 1159 1158 1158 1145 1145 1145 1145 1158 1158 1143 1143 1158 1158 1156 1156 1143 1143 1156 1156 1154 1154 1143 1143 1143 1143 1154 1154 1141 1141 1154 1154 1152 1152 1141 1141 1152 1152 1150 1150 1141 1141 1141 1141 1150 1150 1137 1137 1150 1150 1148 1148 1137 1137 1148 1148 1146 1146 1137 1137 1137 1137 1146 1146 1133 1133 1146 1146 1139 1139 1133 1133 1139 1139 1135 1135 1133 1133 1133 1133 1135 1135 1127 1127 1135 1135 1132 1132 1127 1127 1127 1127 1132 1132 1129 1129 1170 1170 1171 1171 1175 1175 1164 1164 1166 1166 1175 1175 1166 1166 1168 1168 1175 1175 1175 1175 1168 1168 1170 1170 1161 1161 1160 1160 1175 1175 1160 1160 1162 1162 1175 1175 1175 1175 1162 1162 1164 1164 1167 1167 1165 1165 1175 1175 1165 1165 1163 1163 1175 1175 1175 1175 1163 1163 1161 1161 1174 1174 1172 1172 1175 1175 1172 1172 1169 1169 1175 1175 1175 1175 1169 1169 1167 1167 1181 1181 1179 1179 1175 1175 1179 1179 1177 1177 1175 1175 1175 1175 1177 1177 1174 1174 1187 1187 1185 1185 1175 1175 1185 1185 1183 1183 1175 1175 1175 1175 1183 1183 1181 1181 1184 1184 1186 1186 1175 1175 1186 1186 1188 1188 1175 1175 1175 1175 1188 1188 1187 1187 1178 1178 1180 1180 1175 1175 1180 1180 1182 1182 1175 1175 1175 1175 1182 1182 1184 1184 1171 1171 1173 1173 1175 1175 1173 1173 1176 1176 1175 1175 1175 1175 1176 1176 1178 1178 1189 1189 1190 1190 1191 1191 1190 1190 1192 1192 1191 1191 1193 1193 1194 1194 1195 1195 1194 1194 1196 1196 1195 1195 1197 1197 1198 1198 1199 1199 1198 1198 1200 1200 1199 1199 1201 1201 1202 1202 1203 1203 1202 1202 1204 1204 1203 1203 1205 1205 1206 1206 1207 1207 1206 1206 1208 1208 1207 1207 1209 1209 1210 1210 1211 1211 1210 1210 1212 1212 1211 1211 1213 1213 1214 1214 1215 1215 1214 1214 1216 1216 1215 1215 1215 1215 1216 1216 1217 1217 1216 1216 1218 1218 1217 1217 </p>
+				</triangles>
+			</mesh>
+		</geometry>
+		<geometry id="ID102" name="geo_26">
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+				</triangles>
+			</mesh>
+		</geometry>
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+				</triangles>
+			</mesh>
+		</geometry>
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+			<mesh>
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+						<specular><color>0.396078 0.409804 0.466667 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID117">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.192157 0.643137 0.866667 1</color>
+						</diffuse>
+						<specular><color>0.0960784 0.321569 0.433333 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID118">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>1 1 1 1</color>
+						</diffuse>
+						<specular><color>0.2 0.2 0.2 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+	</library_effects>
+	<scene>
+		<instance_visual_scene url="#Scene"/>
+	</scene>
+</COLLADA>
diff --git a/niryo_robot_description/meshes/ned/collada/wrist_link.dae b/niryo_robot_description/meshes/ned/collada/wrist_link.dae
new file mode 100644
index 000000000..2eecf5572
--- /dev/null
+++ b/niryo_robot_description/meshes/ned/collada/wrist_link.dae
@@ -0,0 +1,757 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA version="1.4.0" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+	<asset>
+		<contributor>
+			<author> SimLab Soft http://www.simLab-soft.com </author>
+			<authoring_tool>SimLab Collada Exporter for SolidWorks</authoring_tool>
+		</contributor>
+		<created>2020-12-08T17:25:33</created>
+		<modified>2020-12-08T17:25:33</modified>
+		<unit meter="1.000000000000000" name="Meter"/>
+		<up_axis>Z_UP</up_axis>
+	</asset>
+	<library_visual_scenes>
+		<visual_scene id="Scene" name="Scene">
+			<node>
+				<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+				<node  id="ID0" name="Camera-1">
+					<matrix> 1 0 0 -0.01465 0 0 -1 -0.274675 0 1 0 -0.00525 0 0 0 1 </matrix>
+					<instance_camera url="#ID1" />
+				</node>
+				<node  id="ID2" name="Body_1">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<node  id="ID3" name="_3DGeom-46">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID4">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl1" target="#ID5">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+					<node  id="ID6" name="_3DGeom-47">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID7">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl" target="#ID8">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+				</node>
+				<node  id="ID9" name="Body_10">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<node  id="ID10" name="_3DGeom-347">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+						<instance_geometry url="#ID11">
+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl8" target="#ID12">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+					<node  id="ID13" name="_3DGeom-348">
+						<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
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+							<bind_material>
+								<technique_common>
+									<instance_material symbol="Mtl" target="#ID8">
+										<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+									</instance_material>
+								</technique_common>
+							</bind_material>
+						</instance_geometry>
+					</node>
+				</node>
+				<node  id="ID15" name="Body_2">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<instance_geometry url="#ID16">
+						<bind_material>
+							<technique_common>
+								<instance_material symbol="Mtl2" target="#ID17">
+									<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+								</instance_material>
+							</technique_common>
+						</bind_material>
+					</instance_geometry>
+				</node>
+				<node  id="ID18" name="Body_3">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<instance_geometry url="#ID19">
+						<bind_material>
+							<technique_common>
+								<instance_material symbol="Mtl3" target="#ID20">
+									<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+								</instance_material>
+							</technique_common>
+						</bind_material>
+					</instance_geometry>
+				</node>
+				<node  id="ID21" name="Body_4">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<instance_geometry url="#ID22">
+						<bind_material>
+							<technique_common>
+								<instance_material symbol="Mtl4" target="#ID23">
+									<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+								</instance_material>
+							</technique_common>
+						</bind_material>
+					</instance_geometry>
+				</node>
+				<node  id="ID24" name="Body_5">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<instance_geometry url="#ID25">
+						<bind_material>
+							<technique_common>
+								<instance_material symbol="Mtl5" target="#ID26">
+									<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+								</instance_material>
+							</technique_common>
+						</bind_material>
+					</instance_geometry>
+				</node>
+				<node  id="ID27" name="Body_6">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<instance_geometry url="#ID28">
+						<bind_material>
+							<technique_common>
+								<instance_material symbol="Mtl5" target="#ID26">
+									<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+								</instance_material>
+							</technique_common>
+						</bind_material>
+					</instance_geometry>
+				</node>
+				<node  id="ID29" name="Body_7">
+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<instance_geometry url="#ID30">
+						<bind_material>
+							<technique_common>
+								<instance_material symbol="Mtl" target="#ID8">
+									<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+								</instance_material>
+							</technique_common>
+						</bind_material>
+					</instance_geometry>
+				</node>
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+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
+					<instance_geometry url="#ID32">
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+							<technique_common>
+								<instance_material symbol="Mtl6" target="#ID33">
+									<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+								</instance_material>
+							</technique_common>
+						</bind_material>
+					</instance_geometry>
+				</node>
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+					<matrix> 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 </matrix>
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+							<technique_common>
+								<instance_material symbol="Mtl7" target="#ID36">
+									<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+								</instance_material>
+							</technique_common>
+						</bind_material>
+					</instance_geometry>
+				</node>
+			</node>
+		</visual_scene>
+	</library_visual_scenes>
+	<library_cameras>
+		<camera id="ID1" name="Camera-1">
+			<optics>
+				<technique_common>
+					<perspective>
+						<yfov>45</yfov>
+						<aspect_ratio>1.33333</aspect_ratio>
+						<znear>0.00299507</znear>
+						<zfar>29.9507</zfar>
+					</perspective>
+				</technique_common>
+			</optics>
+			<extra>
+				<technique  >
+					<camera_target type="float">-0.01465 0.000125 -0.00525</camera_target>
+				</technique>
+			</extra>
+		</camera >
+	</library_cameras>
+	<library_geometries>
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+			<mesh>
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+					<technique_common>
+						<accessor count="2166" source="#geo_2-Normals-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="geo_2-Vertex">
+					<input semantic="POSITION" source="#geo_2-Position"/>
+				</vertices>
+				<triangles count="2110" material="Mtl4">
+					<input offset="0" semantic="VERTEX" source="#geo_2-Vertex"/>
+					<input offset="1" semantic="NORMAL"  source="#geo_2-Normals"/>
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+					<technique_common>
+						<accessor count="1382" source="#geo_5-Normals-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="geo_5-Vertex">
+					<input semantic="POSITION" source="#geo_5-Position"/>
+				</vertices>
+				<triangles count="1492" material="Mtl">
+					<input offset="0" semantic="VERTEX" source="#geo_5-Vertex"/>
+					<input offset="1" semantic="NORMAL"  source="#geo_5-Normals"/>
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+					<technique_common>
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+						</accessor>
+					</technique_common>
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+				</triangles>
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+					<technique_common>
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+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<source id="geo_11-Normals">
+					<float_array count="360" id="geo_11-Normals-array">0 -1 0 0 -0.965926 -0.258819 0 -0.965926 0.258819 0 -0.866025 -0.5 0 -0.866025 0.5 0 -0.707107 -0.707107 0 -0.707107 0.707107 0 -0.5 -0.866025 0 -0.5 0.866025 0 -0.258819 -0.965926 0 -0.258819 0.965926 0 0 -1 0 0 1 0 0.258819 -0.965926 0 0.258819 0.965926 0 0.5 -0.866025 0 0.5 0.866025 0 0.707107 -0.707107 0 0.707107 0.707107 0 0.866025 -0.5 0 0.866025 0.5 0 0.965926 -0.258819 0 0.965926 0.258819 0 1 0 0 -1 0 0 -0.965926 -0.258819 0 -0.965926 0.258819 0 -0.866025 -0.5 0 -0.866025 0.5 0 -0.707107 -0.707107 0 -0.707107 0.707107 0 -0.5 -0.866025 0 -0.5 0.866025 0 -0.258819 -0.965926 0 -0.258819 0.965926 0 0 -1 0 0 1 0 0.258819 -0.965926 0 0.258819 0.965926 0 0.5 -0.866025 0 0.5 0.866025 0 0.707107 -0.707107 0 0.707107 0.707107 0 0.866025 -0.5 0 0.866025 0.5 0 0.965926 -0.258819 0 0.965926 0.258819 0 1 0 0 -1 0 0 -0.965926 -0.258819 0 -0.965926 0.258819 0 -0.866025 -0.5 0 -0.866025 0.5 0 -0.707107 -0.707107 0 -0.707107 0.707107 0 -0.5 -0.866025 0 -0.5 0.866025 0 -0.258819 -0.965926 0 -0.258819 0.965926 0 0 -1 0 0 1 0 0.258819 -0.965926 0 0.258819 0.965926 0 0.5 -0.866025 0 0.5 0.866025 0 0.707107 -0.707107 0 0.707107 0.707107 0 0.866025 -0.5 0 0.866025 0.5 0 0.965926 -0.258819 0 0.965926 0.258819 0 1 0 0 -1 0 0 -0.965926 -0.258819 0 -0.965926 0.258819 0 -0.866025 -0.5 0 -0.866025 0.5 0 -0.707107 -0.707107 0 -0.707107 0.707107 0 -0.5 -0.866025 0 -0.5 0.866025 0 -0.258819 -0.965926 0 -0.258819 0.965926 0 0 -1 0 0 1 0 0.258819 -0.965926 0 0.258819 0.965926 0 0.5 -0.866025 0 0.5 0.866025 0 0.707107 -0.707107 0 0.707107 0.707107 0 0.866025 -0.5 0 0.866025 0.5 0 0.965926 -0.258819 0 0.965926 0.258819 0 1 0 0 -1 0 0 -1 0 0 -1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 -1 0 0 -1 0 0 -1 0 </float_array>
+					<technique_common>
+						<accessor count="120" source="#geo_11-Normals-array" stride="3">
+							<param name="X" type="float"/>
+							<param name="Y" type="float"/>
+							<param name="Z" type="float"/>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="geo_11-Vertex">
+					<input semantic="POSITION" source="#geo_11-Position"/>
+				</vertices>
+				<triangles count="96" material="Mtl">
+					<input offset="0" semantic="VERTEX" source="#geo_11-Vertex"/>
+					<input offset="1" semantic="NORMAL"  source="#geo_11-Normals"/>
+					<p>96 96 97 97 2 2 98 98 26 26 2 2 2 2 26 26 4 4 26 26 28 28 4 4 4 4 28 28 6 6 28 28 30 30 6 6 6 6 30 30 8 8 30 30 32 32 8 8 8 8 32 32 10 10 32 32 34 34 10 10 10 10 34 34 12 12 34 34 36 36 12 12 12 12 36 36 14 14 36 36 38 38 14 14 14 14 38 38 16 16 38 38 40 40 16 16 16 16 40 40 18 18 40 40 42 42 18 18 18 18 42 42 20 20 42 42 44 44 20 20 20 20 44 44 22 22 44 44 46 46 22 22 22 22 46 46 99 99 46 46 100 100 101 101 102 102 103 103 21 21 104 104 45 45 21 21 21 21 45 45 19 19 45 45 43 43 19 19 19 19 43 43 17 17 43 43 41 41 17 17 17 17 41 41 15 15 41 41 39 39 15 15 15 15 39 39 13 13 39 39 37 37 13 13 13 13 37 37 11 11 37 37 35 35 11 11 11 11 35 35 9 9 35 35 33 33 9 9 9 9 33 33 7 7 33 33 31 31 7 7 7 7 31 31 5 5 31 31 29 29 5 5 5 5 29 29 3 3 29 29 27 27 3 3 3 3 27 27 1 1 27 27 25 25 1 1 1 1 25 25 105 105 25 25 106 106 107 107 108 108 109 109 50 50 110 110 74 74 50 50 50 50 74 74 52 52 74 74 76 76 52 52 52 52 76 76 54 54 76 76 78 78 54 54 54 54 78 78 56 56 78 78 80 80 56 56 56 56 80 80 58 58 80 80 82 82 58 58 58 58 82 82 60 60 82 82 84 84 60 60 60 60 84 84 62 62 84 84 86 86 62 62 62 62 86 86 64 64 86 86 88 88 64 64 64 64 88 88 66 66 88 88 90 90 66 66 66 66 90 90 68 68 90 90 92 92 68 68 68 68 92 92 70 70 92 92 94 94 70 70 70 70 94 94 111 111 94 94 112 112 113 113 114 114 115 115 69 69 116 116 93 93 69 69 69 69 93 93 67 67 93 93 91 91 67 67 67 67 91 91 65 65 91 91 89 89 65 65 65 65 89 89 63 63 89 89 87 87 63 63 63 63 87 87 61 61 87 87 85 85 61 61 61 61 85 85 59 59 85 85 83 83 59 59 59 59 83 83 57 57 83 83 81 81 57 57 57 57 81 81 55 55 81 81 79 79 55 55 55 55 79 79 53 53 79 79 77 77 53 53 53 53 77 77 51 51 77 77 75 75 51 51 51 51 75 75 49 49 75 75 73 73 49 49 49 49 73 73 117 117 73 73 118 118 119 119 </p>
+				</triangles>
+			</mesh>
+		</geometry>
+	</library_geometries>
+	<library_materials>
+		<material id="ID23" name="Mtl4">
+			<instance_effect url="#ID37"/>
+		</material>
+		<material id="ID33" name="Mtl6">
+			<instance_effect url="#ID38"/>
+		</material>
+		<material id="ID36" name="Mtl7">
+			<instance_effect url="#ID39"/>
+		</material>
+		<material id="ID26" name="Mtl5">
+			<instance_effect url="#ID40"/>
+		</material>
+		<material id="ID12" name="Mtl8">
+			<instance_effect url="#ID41"/>
+		</material>
+		<material id="ID5" name="Mtl1">
+			<instance_effect url="#ID42"/>
+		</material>
+		<material id="ID8" name="Mtl">
+			<instance_effect url="#ID43"/>
+		</material>
+		<material id="ID17" name="Mtl2">
+			<instance_effect url="#ID44"/>
+		</material>
+		<material id="ID20" name="Mtl3">
+			<instance_effect url="#ID45"/>
+		</material>
+	</library_materials>
+	<library_effects>
+		<effect id="ID37">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.686275 0.686275 0.686275 1</color>
+						</diffuse>
+						<specular><color>0.686275 0.686275 0.686275 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID38">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.529412 0.54902 0.54902 1</color>
+						</diffuse>
+						<specular><color>0.370588 0.384314 0.384314 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID39">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.898039 0.917647 0.929412 1</color>
+						</diffuse>
+						<specular><color>0.44902 0.458824 0.464706 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID40">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.498039 0.498039 0.498039 1</color>
+						</diffuse>
+						<specular><color>0.24902 0.24902 0.24902 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID41">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.898039 0.917647 0.929412 1</color>
+						</diffuse>
+						<specular><color>0.44902 0.458824 0.464706 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID42">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.898039 0.917647 0.929412 1</color>
+						</diffuse>
+						<specular><color>0.44902 0.458824 0.464706 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID43">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.792157 0.819608 0.933333 1</color>
+						</diffuse>
+						<specular><color>0.396078 0.409804 0.466667 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID44">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.8 0.8 0.8 1</color>
+						</diffuse>
+						<specular><color>0 0 0 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+		<effect id="ID45">
+			<profile_COMMON>
+				<technique sid="standard">
+					<phong>
+						<emission><color>0 0 0 1</color></emission>
+						<ambient><color>0 0 0 1</color></ambient>
+						<diffuse>
+							<color>0.898039 0.917647 0.929412 1</color>
+						</diffuse>
+						<specular><color>0.44902 0.458824 0.464706 1</color></specular>
+						<transparent opaque="A_ONE"><color>1.0 1.0 1.0 1.0</color></transparent>
+						<transparency><float>1</float></transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+	</library_effects>
+	<scene>
+		<instance_visual_scene url="#Scene"/>
+	</scene>
+</COLLADA>
diff --git a/niryo_robot_description/meshes/ned/stl/arm_link.stl b/niryo_robot_description/meshes/ned/stl/arm_link.stl
new file mode 100644
index 000000000..90532593d
Binary files /dev/null and b/niryo_robot_description/meshes/ned/stl/arm_link.stl differ
diff --git a/niryo_robot_description/meshes/ned/stl/base_link.stl b/niryo_robot_description/meshes/ned/stl/base_link.stl
new file mode 100644
index 000000000..599915660
Binary files /dev/null and b/niryo_robot_description/meshes/ned/stl/base_link.stl differ
diff --git a/niryo_robot_description/meshes/ned/stl/elbow_link.stl b/niryo_robot_description/meshes/ned/stl/elbow_link.stl
new file mode 100644
index 000000000..ef450245c
Binary files /dev/null and b/niryo_robot_description/meshes/ned/stl/elbow_link.stl differ
diff --git a/niryo_robot_description/meshes/ned/stl/forearm_link.stl b/niryo_robot_description/meshes/ned/stl/forearm_link.stl
new file mode 100644
index 000000000..13ae3e475
Binary files /dev/null and b/niryo_robot_description/meshes/ned/stl/forearm_link.stl differ
diff --git a/niryo_robot_description/meshes/ned/stl/hand_link.stl b/niryo_robot_description/meshes/ned/stl/hand_link.stl
new file mode 100644
index 000000000..992393d5a
Binary files /dev/null and b/niryo_robot_description/meshes/ned/stl/hand_link.stl differ
diff --git a/niryo_robot_description/meshes/ned/stl/shoulder_link.stl b/niryo_robot_description/meshes/ned/stl/shoulder_link.stl
new file mode 100644
index 000000000..6b97aa003
Binary files /dev/null and b/niryo_robot_description/meshes/ned/stl/shoulder_link.stl differ
diff --git a/niryo_robot_description/meshes/ned/stl/wrist_link.stl b/niryo_robot_description/meshes/ned/stl/wrist_link.stl
new file mode 100644
index 000000000..13e754c1d
Binary files /dev/null and b/niryo_robot_description/meshes/ned/stl/wrist_link.stl differ
diff --git a/niryo_robot_description/package.xml b/niryo_robot_description/package.xml
new file mode 100644
index 000000000..d5b786751
--- /dev/null
+++ b/niryo_robot_description/package.xml
@@ -0,0 +1,13 @@
+<package>
+  <name>niryo_robot_description</name>
+  <version>3.0.0</version>
+  <description>Provides URDF files</description>
+  <author email="r.lux@niryo.com">Rémi Lux</author>
+  <maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>
+  <maintainer email="v.pitre@niryo.com">Valentin Pitre</maintainer>
+
+  <license>GPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+</package>
diff --git a/niryo_robot_description/urdf/ned/niryo_ned.transmission.xacro b/niryo_robot_description/urdf/ned/niryo_ned.transmission.xacro
new file mode 100644
index 000000000..85b3d9311
--- /dev/null
+++ b/niryo_robot_description/urdf/ned/niryo_ned.transmission.xacro
@@ -0,0 +1,47 @@
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <!-- Transmission macro -->
+  <xacro:macro name="SimpleTransmissionPosition" params="joint n">
+    <transmission name="transmission_${n}">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${joint}">
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="motor_${n}">
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+  </xacro:macro>
+
+    <!-- Transmission macro -->
+  <xacro:macro name="SimpleTransmissionEffort" params="joint n">
+    <transmission name="transmission_${n}">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${joint}">
+        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="motor_${n}">
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+  </xacro:macro>
+
+  <!-- Transmission 1 -->
+  <xacro:SimpleTransmissionPosition n="1" joint="joint_1" />
+
+  <!-- Transmission 2 -->
+  <xacro:SimpleTransmissionPosition n="2" joint="joint_2" />
+
+  <!-- Transmission 3 -->
+  <xacro:SimpleTransmissionPosition n="3" joint="joint_3" />
+
+  <!-- Transmission 4 -->
+  <xacro:SimpleTransmissionPosition n="4" joint="joint_4" />
+
+  <!-- Transmission 5 -->
+  <xacro:SimpleTransmissionPosition n="5" joint="joint_5" />
+
+  <!-- Transmission 6 -->
+  <xacro:SimpleTransmissionPosition n="6" joint="joint_6" />
+
+</robot>
diff --git a/niryo_robot_description/urdf/ned/niryo_ned.urdf.xacro b/niryo_robot_description/urdf/ned/niryo_ned.urdf.xacro
new file mode 100644
index 000000000..04b634ba6
--- /dev/null
+++ b/niryo_robot_description/urdf/ned/niryo_ned.urdf.xacro
@@ -0,0 +1,255 @@
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="niryo_ned">
+    <!-- Import Properties -->
+    <xacro:include filename="$(find niryo_robot_description)/urdf/ned/niryo_ned_param.urdf.xacro"/>
+
+    <!-- Links -->
+
+    <link name="world"/>
+
+    <joint name="joint_world" type="fixed">
+        <parent link="world"/>
+        <child link="base_link"/>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+    </joint>
+
+    <link name="base_link">
+        <inertial>
+            <origin xyz="-0.00240796011216664 -0.00591764669105095 0.0515774030380053"
+                    rpy="0 0 0"/>
+            <mass value="0.999243361008122"/>
+            <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.004"/>
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0"
+                    rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://niryo_robot_description/meshes/ned/collada/base_link.dae"/>
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0"
+                    rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://niryo_robot_description/meshes/ned/stl/base_link.stl"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="joint_1"
+           type="revolute">
+        <origin xyz="0 0 0.1065"
+                rpy="0 0 0"/>
+        <parent link="base_link"/>
+        <child link="shoulder_link"/>
+        <axis xyz="0 0 1"/>
+        <limit effort="10.0" velocity="2.2" lower="${(limit_low_shoulder_rotation + safety_pos_margin) * deg_to_rad}"
+               upper="${(limit_up_shoulder_rotation - safety_pos_margin) * deg_to_rad}"/>
+    </joint>
+
+    <link name="shoulder_link">
+        <inertial>
+            <origin xyz="-0.0307310771918448 0.00581074732334248 0.0302277607274943"
+                    rpy="0 0 0"/>
+            <mass value="0.474558968160783"/>
+            <inertia ixx="0.0015" ixy="0.0" ixz="0.0" iyy="0.0015" iyz="0.0" izz="0.0015"/>
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0"
+                    rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://niryo_robot_description/meshes/ned/collada/shoulder_link.dae"/>
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0"
+                    rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://niryo_robot_description/meshes/ned/stl/shoulder_link.stl"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="joint_2"
+           type="revolute">
+        <origin xyz="0 0 0.065"
+                rpy="${PI/2} ${-PI/2} 0"/>
+        <parent link="shoulder_link"/>
+        <child link="arm_link"/>
+        <axis xyz="0 0 1"/>
+        <limit effort="10.0" velocity="2.2" lower="${(limit_low_arm_rotation + safety_pos_margin) * deg_to_rad}"
+               upper="${(limit_up_arm_rotation - safety_pos_margin) * deg_to_rad}"/>
+
+    </joint>
+
+    <link name="arm_link">
+        <inertial>
+            <origin xyz="0.116485160625991 -0.00141190194997476 -0.00338105503061108"
+                    rpy="0 0 0"/>
+            <mass value="0.513332159226246"/>
+            <inertia ixx="0.0015" ixy="0.0" ixz="0.0" iyy="0.0015" iyz="0.0" izz="0.0015"/>
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0"
+                    rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://niryo_robot_description/meshes/ned/collada/arm_link.dae"/>
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0"
+                    rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://niryo_robot_description/meshes/ned/stl/arm_link.stl"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="joint_3"
+           type="revolute">
+        <origin xyz="0.221 -0.012 0"
+                rpy="0 0 ${-PI/2}"/>
+        <parent link="arm_link"/>
+        <child link="elbow_link"/>
+        <axis xyz="0 0 1"/>
+        <limit effort="7.0" velocity="2.0" lower="${(limit_low_elbow_rotation + safety_pos_margin) * deg_to_rad}"
+               upper="${(limit_up_elbow_rotation - safety_pos_margin) * deg_to_rad}"/>
+
+    </joint>
+
+    <link name="elbow_link">
+        <inertial>
+            <origin xyz="0.00840548736069937 0.0235132719991579 0.00139784606943909"
+                    rpy="0 0 0"/>
+            <mass value="0.201038841892435"/>
+            <inertia ixx="0.0015" ixy="0.0" ixz="0.0" iyy="0.0015" iyz="0.0" izz="0.0015"/>
+
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0"
+                    rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://niryo_robot_description/meshes/ned/collada/elbow_link.dae"/>
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0"
+                    rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://niryo_robot_description/meshes/ned/stl/elbow_link.stl"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="joint_4"
+           type="revolute">
+        <origin xyz="0.047 0.0325 0"
+                rpy="0 ${PI/2} 0"/>
+        <parent link="elbow_link"/>
+        <child link="forearm_link"/>
+        <axis xyz="0 0 1"/>
+        <limit effort="7.0" velocity="2.0" lower="${(limit_low_forearm_rotation + safety_pos_margin) * deg_to_rad}"
+               upper="${(limit_up_forearm_rotation - safety_pos_margin) * deg_to_rad}"/>
+    </joint>
+
+    <link name="forearm_link">
+        <inertial>
+            <origin xyz="-0.00811345462189901 -0.000135618649565461 0.107402242790047"
+                    rpy="0 0 0"/>
+            <mass value="0.203543862275952"/>
+            <inertia ixx="0.0015" ixy="0.0" ixz="0.0" iyy="0.0015" iyz="0.0" izz="0.0015"/>
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0"
+                    rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://niryo_robot_description/meshes/ned/collada/forearm_link.dae"/>
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0"
+                    rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://niryo_robot_description/meshes/ned/stl/forearm_link.stl"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="joint_5"
+           type="revolute">
+        <origin xyz="0 0 0.188"
+                rpy="${PI} ${-PI/2} ${PI}"/>
+        <parent link="forearm_link"/>
+        <child link="wrist_link"/>
+        <axis xyz="0 0 1"/>
+        <limit effort="6.0" velocity="2.0" lower="${(limit_low_wrist_rotation + safety_pos_margin) * deg_to_rad}"
+               upper="${(limit_up_wrist_rotation - safety_pos_margin) * deg_to_rad}"/>
+
+    </joint>
+
+    <link name="wrist_link">
+        <inertial>
+            <origin xyz="-0.0193227036920796 -0.00157014407079775 0.000275751023741896"
+                    rpy="0 0 0"/>
+            <mass value="0.0403595377880338"/>
+            <inertia ixx="0.0015" ixy="0.0" ixz="0.0" iyy="0.0015" iyz="0.0" izz="0.0015"/>
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0"
+                    rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://niryo_robot_description/meshes/ned/collada/wrist_link.dae"/>
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0"
+                    rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://niryo_robot_description/meshes/ned/stl/wrist_link.stl"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="joint_6"
+           type="revolute">
+        <origin xyz="0.0197 0.00925 0"
+                rpy="0 ${PI/2} 0"/>
+        <parent link="wrist_link"/>
+        <child link="hand_link"/>
+        <axis xyz="0 0 1"/>
+        <limit effort="5.0" velocity="2.0" lower="${(limit_low_hand_rotation + safety_pos_margin) * deg_to_rad}"
+               upper="${(limit_up_hand_rotation - safety_pos_margin) * deg_to_rad}"/>
+    </joint>
+
+    <link name="hand_link">
+        <inertial>
+            <origin xyz="-5.84141230982198E-10 -1.35851692194544E-05 0.00881600136229516"
+                    rpy="0 0 0"/>
+            <mass value="0.0148769800713074"/>
+            <inertia ixx="0.0015" ixy="0.0" ixz="0.0" iyy="0.0015" iyz="0.0" izz="0.0015"/>
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0"
+                    rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://niryo_robot_description/meshes/ned/collada/hand_link.dae"/>
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0"
+                    rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://niryo_robot_description/meshes/ned/stl/hand_link.stl"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="hand_tool_joint" type="fixed">
+        <parent link="hand_link"/>
+        <child link="tool_link"/>
+        <origin xyz="0 0 ${distance_hand_tool}" rpy="${-PI/2} ${-PI/2} 0"/>
+    </joint>
+
+    <link name="tool_link">
+    </link>
+
+</robot>
diff --git a/niryo_robot_description/urdf/ned/niryo_ned_camera.urdf.xacro b/niryo_robot_description/urdf/ned/niryo_ned_camera.urdf.xacro
new file mode 100644
index 000000000..8054a479a
--- /dev/null
+++ b/niryo_robot_description/urdf/ned/niryo_ned_camera.urdf.xacro
@@ -0,0 +1,70 @@
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="niryo_ned">
+    <!-- Including base robot -->
+    <xacro:include filename="$(find niryo_robot_description)/urdf/ned/niryo_ned_gazebo.urdf.xacro"/>
+
+    <!-- Properties -->
+    <xacro:property name="cameraWidth" value="0.01"/>
+    <xacro:property name="cameraHeight" value="0.037"/>
+    <xacro:property name="cameraMass" value="0.05"/>
+
+    <!-- Joint for camera -->
+    <joint name="camera_joint" type="fixed">
+        <axis xyz="0 0 1"/>
+        <origin xyz="0 ${cameraHeight/2 + 0.02} 0" rpy="-${PI/2} 0 0"/>
+        <parent link="wrist_link"/>
+        <child link="camera_link"/>
+    </joint>
+
+    <!-- Camera link -->
+
+    <link name="camera_link">
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <box size="${cameraWidth} ${cameraHeight} ${cameraHeight}"/>
+            </geometry>
+            <material name="DarkGrey"/>
+        </visual>
+    </link>
+
+    <!-- Add gazebo settings to make the link an camera ! -->
+    <gazebo reference="camera_link">
+        <material>Gazebo/DarkGrey</material>
+        <sensor type="camera" name="camera_gazebo">
+            <update_rate>15.0</update_rate>
+            <camera name="head">
+                <!--69,33 degrees-->
+                <horizontal_fov>1.21</horizontal_fov>
+                <!--  <aspect_ratio>1.333</aspect_ratio>-->
+                <image>
+                    <width>640</width>
+                    <height>480</height>
+                    <format>R8G8B8</format>
+                </image>
+                <clip>
+                    <near>0.03</near>
+                    <far>2</far>
+                </clip>
+                <distortion>
+                    <k1>-0.4146402</k1>
+                    <k2>0.2407384</k2>
+                    <p1>-0.0</p1>
+                    <p2>-0.0</p2>
+                    <k3>-0.1040042</k3>
+                    <center>0.5 0.5</center>
+                </distortion>
+            </camera>
+            <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
+                <alwaysOn>true</alwaysOn>
+                <updateRate>0.0</updateRate>
+                <cameraName>gazebo_camera</cameraName>
+                <imageTopicName>image_raw</imageTopicName>
+                <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+                <frameName>camera_link</frameName>
+            </plugin>
+        </sensor>
+    </gazebo>
+
+
+</robot>
diff --git a/niryo_robot_description/urdf/ned/niryo_ned_gazebo.urdf.xacro b/niryo_robot_description/urdf/ned/niryo_ned_gazebo.urdf.xacro
new file mode 100644
index 000000000..21a158b91
--- /dev/null
+++ b/niryo_robot_description/urdf/ned/niryo_ned_gazebo.urdf.xacro
@@ -0,0 +1,15 @@
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="niryo_ned">
+    <!-- Enable Gazebo control-->
+    <gazebo>
+        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+            <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
+        </plugin>
+    </gazebo>
+
+    <!-- Import Robot -->
+    <xacro:include filename="$(find niryo_robot_description)/urdf/ned/niryo_ned.urdf.xacro"/>
+
+    <!-- Import Transmission -->
+    <xacro:include filename="$(find niryo_robot_description)/urdf/ned/niryo_ned.transmission.xacro"/>
+
+</robot>
diff --git a/niryo_robot_description/urdf/ned/niryo_ned_gripper1_n_camera.urdf.xacro b/niryo_robot_description/urdf/ned/niryo_ned_gripper1_n_camera.urdf.xacro
new file mode 100644
index 000000000..ae95f608d
--- /dev/null
+++ b/niryo_robot_description/urdf/ned/niryo_ned_gripper1_n_camera.urdf.xacro
@@ -0,0 +1,170 @@
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="niryo_ned">
+    <xacro:include filename="$(find niryo_robot_description)/urdf/ned/niryo_ned_camera.urdf.xacro"/>
+
+    <!-- gazebo joint state publisher for all joints. Necessary to control mors -->
+    <gazebo>
+        <plugin name="passive_joint_state_publisher" filename="libgazebo_ros_joint_state_publisher.so">
+
+            <jointName>joint_1, joint_2, joint_3, joint_4, joint_5, joint_6,
+                joint_base_to_mors_1, joint_base_to_mors_2
+            </jointName>
+            <updateRate>50.0</updateRate>
+            <alwaysOn>true</alwaysOn>
+        </plugin>
+    </gazebo>
+
+    <!-- Joint from tool_link to base_gripper -->
+    <joint name="joint_to_gripper" type="fixed">
+        <parent link="tool_link"/>
+        <child link="base_gripper_1"/>
+        <origin
+                xyz="0 0 0"
+                rpy="0 ${PI/2} ${PI/2}"/>
+    </joint>
+
+    <!-- Base Gripper -->
+    <link name="base_gripper_1">
+        <inertial>
+            <origin xyz="0.0028582 0.0022204 0.023772"
+                    rpy="0 0 0"/>
+            <mass value="0.001"/>
+            <inertia
+                    ixx="1E-06"
+                    ixy="0.0"
+                    ixz="0.0"
+                    iyy="1E-06"
+                    iyz="0.0"
+                    izz="1E-06"/>
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0"
+                    rpy="0 0 0"/>
+            <geometry>
+                <mesh
+                        filename="package://niryo_robot_description/meshes/gripper_1/base_gripper_1.STL"/>
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0"
+                    rpy="0 0 0"/>
+            <geometry>
+                <mesh
+                        filename="package://niryo_robot_description/meshes/gripper_1/base_gripper_1.STL"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <!-- Mors 1 -->
+    <link
+            name="mors_1">
+        <inertial>
+            <origin xyz="-0.0049739 0.0067393 -0.023929"
+                    rpy="0 0 0"/>
+            <mass value="0.0067248"/>
+            <inertia
+                    ixx="1.1778E-06"
+                    ixy="-2.1129E-08"
+                    ixz="1.0185E-07"
+                    iyy="1.3054E-06"
+                    iyz="1.7669E-07"
+                    izz="4.3534E-07"/>
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0"
+                    rpy="0 0 0"/>
+            <geometry>
+                <mesh
+                        filename="package://niryo_robot_description/meshes/gripper_1/mors_1.STL"/>
+            </geometry>
+            <material name="">
+                <color rgba="0.49804 0.49804 0.49804 1"/>
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0"
+                    rpy="0 0 0"/>
+            <geometry>
+                <mesh
+                        filename="package://niryo_robot_description/meshes/gripper_1/mors_1.STL"/>
+            </geometry>
+        </collision>
+    </link>
+    <joint
+            name="joint_base_to_mors_1"
+            type="prismatic">
+        <origin xyz="0.01455 -0.0796 0.0096137"
+                rpy="1.5708 0 0"/>
+        <parent link="base_gripper_1"/>
+        <child link="mors_1"/>
+        <axis xyz="0 1 0"/>
+        <limit lower="-0.01"
+               upper="0.01"
+               effort="1"
+               velocity="5"/>
+    </joint>
+
+    <!-- Mors 2 -->
+    <link
+            name="mors_2">
+        <inertial>
+            <origin xyz="-0.0049739 -0.0067393 -0.023929"
+                    rpy="0 0 0"/>
+            <mass value="0.0067248"/>
+            <inertia
+                    ixx="1.1778E-06"
+                    ixy="2.1129E-08"
+                    ixz="1.0185E-07"
+                    iyy="1.3054E-06"
+                    iyz="-1.7669E-07"
+                    izz="4.3534E-07"/>
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0"
+                    rpy="0 0 0"/>
+            <geometry>
+                <mesh
+                        filename="package://niryo_robot_description/meshes/gripper_1/mors_2.STL"/>
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0"
+                    rpy="0 0 0"/>
+            <geometry>
+                <mesh
+                        filename="package://niryo_robot_description/meshes/gripper_1/mors_2.STL"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="joint_base_to_mors_2"
+           type="prismatic">
+        <origin xyz="0.01455 -0.0796 -0.011066"
+                rpy="1.5708 0 0"/>
+        <parent link="base_gripper_1"/>
+        <child link="mors_2"/>
+        <axis xyz="0 -1 0"/>
+        <limit lower="-0.01"
+               upper="0.01"
+               effort="1"
+               velocity="5"/>
+    </joint>
+
+    <!-- Transmissions -->
+    <xacro:SimpleTransmissionEffort n="7" joint="joint_base_to_mors_1"/>
+    <xacro:SimpleTransmissionEffort n="8" joint="joint_base_to_mors_2"/>
+
+
+    <!-- material -->
+    <gazebo reference="base_gripper_1">
+        <material>Gazebo/DarkGrey</material>
+    </gazebo>
+
+    <gazebo reference="mors_1">
+        <material>Gazebo/DarkGrey</material>
+    </gazebo>
+
+    <gazebo reference="mors_2">
+        <material>Gazebo/DarkGrey</material>
+    </gazebo>
+
+</robot>
diff --git a/niryo_robot_description/urdf/ned/niryo_ned_param.urdf.xacro b/niryo_robot_description/urdf/ned/niryo_ned_param.urdf.xacro
new file mode 100644
index 000000000..c19354741
--- /dev/null
+++ b/niryo_robot_description/urdf/ned/niryo_ned_param.urdf.xacro
@@ -0,0 +1,24 @@
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="niryo_ned">
+    <xacro:property name="PI" value="3.14159265359"/>
+    <xacro:property name="deg_to_rad" value="${PI/180}"/>
+
+    <!-- Properties -->
+
+    <xacro:property name="distance_hand_tool" value="0.0215"/>
+
+    <xacro:property name="limit_low_shoulder_rotation" value="-170.0"/>
+    <xacro:property name="limit_up_shoulder_rotation" value="170.0"/>
+    <xacro:property name="limit_low_arm_rotation" value="-120.0"/>
+    <xacro:property name="limit_up_arm_rotation" value="35.0"/>
+    <xacro:property name="limit_low_elbow_rotation" value="-77.0"/>
+    <xacro:property name="limit_up_elbow_rotation" value="90.0"/>
+    <xacro:property name="limit_low_forearm_rotation" value="-120.0"/>
+    <xacro:property name="limit_up_forearm_rotation" value="120.0"/>
+    <xacro:property name="limit_low_wrist_rotation" value="-100.0"/>
+    <xacro:property name="limit_up_wrist_rotation" value="55.0"/>
+    <xacro:property name="limit_low_hand_rotation" value="-145.0"/>
+    <xacro:property name="limit_up_hand_rotation" value="145.0"/>
+
+    <xacro:property name="safety_pos_margin" value="0.0"/>
+
+</robot>
diff --git a/niryo_robot_description/urdf/ned/without_mesh_niryo_ned.urdf.xacro b/niryo_robot_description/urdf/ned/without_mesh_niryo_ned.urdf.xacro
new file mode 100644
index 000000000..6b1578370
--- /dev/null
+++ b/niryo_robot_description/urdf/ned/without_mesh_niryo_ned.urdf.xacro
@@ -0,0 +1,163 @@
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="niryo_ned">
+    <!-- Import Properties -->
+    <xacro:include filename="$(find niryo_robot_description)/urdf/ned/niryo_ned_param.urdf.xacro"/>
+
+    <!-- Links -->
+
+    <link name="world"/>
+
+    <joint name="joint_world" type="fixed">
+        <parent link="world"/>
+        <child link="base_link"/>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+    </joint>
+
+    <link name="base_link">
+        <collision>
+            <origin xyz="0 0 0"
+                    rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://niryo_robot_description/meshes/ned/stl/base_link.stl"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="joint_1"
+           type="revolute">
+        <origin xyz="0 0 0.1065"
+                rpy="0 0 0"/>
+        <parent link="base_link"/>
+        <child link="shoulder_link"/>
+        <axis xyz="0 0 1"/>
+        <limit effort="10.0" velocity="2.2" lower="${(limit_low_shoulder_rotation + safety_pos_margin) * deg_to_rad}"
+               upper="${(limit_up_shoulder_rotation - safety_pos_margin) * deg_to_rad}"/>
+    </joint>
+
+    <link name="shoulder_link">
+        <collision>
+            <origin xyz="0 0 0"
+                    rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://niryo_robot_description/meshes/ned/stl/shoulder_link.stl"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="joint_2"
+           type="revolute">
+        <origin xyz="0 0 0.065"
+                rpy="${PI/2} ${-PI/2} 0"/>
+        <parent link="shoulder_link"/>
+        <child link="arm_link"/>
+        <axis xyz="0 0 1"/>
+        <limit effort="10.0" velocity="2.2" lower="${(limit_low_arm_rotation + safety_pos_margin) * deg_to_rad}"
+               upper="${(limit_up_arm_rotation - safety_pos_margin) * deg_to_rad}"/>
+
+    </joint>
+
+    <link name="arm_link">
+        <collision>
+            <origin xyz="0 0 0"
+                    rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://niryo_robot_description/meshes/ned/stl/arm_link.stl"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="joint_3"
+           type="revolute">
+        <origin xyz="0.221 -0.012 0"
+                rpy="0 0 ${-PI/2}"/>
+        <parent link="arm_link"/>
+        <child link="elbow_link"/>
+        <axis xyz="0 0 1"/>
+        <limit effort="7.0" velocity="2.0" lower="${(limit_low_elbow_rotation + safety_pos_margin) * deg_to_rad}"
+               upper="${(limit_up_elbow_rotation - safety_pos_margin) * deg_to_rad}"/>
+
+    </joint>
+
+    <link name="elbow_link">
+        <collision>
+            <origin xyz="0 0 0"
+                    rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://niryo_robot_description/meshes/ned/stl/elbow_link.stl"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="joint_4"
+           type="revolute">
+        <origin xyz="0.047 0.0325 0"
+                rpy="0 ${PI/2} 0"/>
+        <parent link="elbow_link"/>
+        <child link="forearm_link"/>
+        <axis xyz="0 0 1"/>
+        <limit effort="7.0" velocity="2.0" lower="${(limit_low_forearm_rotation + safety_pos_margin) * deg_to_rad}"
+               upper="${(limit_up_forearm_rotation - safety_pos_margin) * deg_to_rad}"/>
+    </joint>
+
+    <link name="forearm_link">
+        <collision>
+            <origin xyz="0 0 0"
+                    rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://niryo_robot_description/meshes/ned/stl/forearm_link.stl"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="joint_5"
+           type="revolute">
+        <origin xyz="0 0 0.188"
+                rpy="${PI} ${-PI/2} ${PI}"/>
+        <parent link="forearm_link"/>
+        <child link="wrist_link"/>
+        <axis xyz="0 0 1"/>
+        <limit effort="6.0" velocity="2.0" lower="${(limit_low_wrist_rotation + safety_pos_margin) * deg_to_rad}"
+               upper="${(limit_up_wrist_rotation - safety_pos_margin) * deg_to_rad}"/>
+
+    </joint>
+
+    <link name="wrist_link">
+        <collision>
+            <origin xyz="0 0 0"
+                    rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://niryo_robot_description/meshes/ned/stl/wrist_link.stl"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="joint_6"
+           type="revolute">
+        <origin xyz="0.0197 0.00925 0"
+                rpy="0 ${PI/2} 0"/>
+        <parent link="wrist_link"/>
+        <child link="hand_link"/>
+        <axis xyz="0 0 1"/>
+        <limit effort="5.0" velocity="2.0" lower="${(limit_low_hand_rotation + safety_pos_margin) * deg_to_rad}"
+               upper="${(limit_up_hand_rotation - safety_pos_margin) * deg_to_rad}"/>
+    </joint>
+
+    <link name="hand_link">
+        <collision>
+            <origin xyz="0 0 0"
+                    rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://niryo_robot_description/meshes/ned/stl/hand_link.stl"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="hand_tool_joint" type="fixed">
+        <parent link="hand_link"/>
+        <child link="tool_link"/>
+        <origin xyz="0 0 ${distance_hand_tool}" rpy="${-PI/2} ${-PI/2} 0"/>
+    </joint>
+
+    <link name="tool_link">
+    </link>
+
+</robot>
diff --git a/niryo_robot_gazebo/CMakeLists.txt b/niryo_robot_gazebo/CMakeLists.txt
new file mode 100644
index 000000000..6b66a9f6c
--- /dev/null
+++ b/niryo_robot_gazebo/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(niryo_robot_gazebo)
+
+find_package(catkin COMPONENTS
+  gazebo_ros
+)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
diff --git a/niryo_robot_gazebo/launch/niryo_gazebo_world.launch b/niryo_robot_gazebo/launch/niryo_gazebo_world.launch
new file mode 100644
index 000000000..b35a0836f
--- /dev/null
+++ b/niryo_robot_gazebo/launch/niryo_gazebo_world.launch
@@ -0,0 +1,10 @@
+<launch>
+  <arg name="world_name" default="niryo_cube_world"/>
+  <arg name="debug" default="false"/>
+
+    <!-- Launch World -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" value="$(find niryo_robot_gazebo)/worlds/$(arg world_name).world"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+</launch>
diff --git a/niryo_robot_gazebo/launch/niryo_robot_gazebo_world.launch.xml b/niryo_robot_gazebo/launch/niryo_robot_gazebo_world.launch.xml
new file mode 100644
index 000000000..4cb9a30a9
--- /dev/null
+++ b/niryo_robot_gazebo/launch/niryo_robot_gazebo_world.launch.xml
@@ -0,0 +1,21 @@
+<launch>
+    <!-- Arguments -->
+    <arg name="use_sim_time" default="true"/>
+    <arg name="gui" default="true"/>
+    <arg name="headless" default="false"/>
+    <arg name="debug" default="false"/>
+
+    <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
+    <include file="$(find gazebo_ros)/launch/empty_world.launch">
+        <arg name="world_name" value="$(find niryo_robot_gazebo)/worlds/niryo_cube_world.world"/>
+        <arg name="debug" value="$(arg debug)"/>
+        <arg name="gui" value="$(arg gui)"/>
+        <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+        <arg name="headless" value="$(arg headless)"/>
+        <arg name="output" value="log"/>
+    </include>
+
+    <!-- Spawn URDF in Gazebo -->
+    <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" respawn="false"
+          args="-urdf -model niryo_robot -param robot_description" output="log"/>
+</launch>
diff --git a/niryo_robot_gazebo/media/materials/scripts/workspace.material b/niryo_robot_gazebo/media/materials/scripts/workspace.material
new file mode 100644
index 000000000..d538791f2
--- /dev/null
+++ b/niryo_robot_gazebo/media/materials/scripts/workspace.material
@@ -0,0 +1,35 @@
+material Niryo/Workspace1
+{
+  receive_shadows on
+  technique
+  {
+    pass
+    {
+      ambient 0.5 0.5 0.5 1.000000
+      texture_unit
+      {
+        texture workspace_1.jpg
+        filtering anisotropic
+        max_anisotropy 16
+      }
+    }
+  }
+}
+
+material Niryo/WorkspaceGrille
+{
+  receive_shadows on
+  technique
+  {
+    pass
+    {
+      ambient 0.5 0.5 0.5 1.000000
+      texture_unit
+      {
+        texture workspace_grille.jpg
+        filtering anisotropic
+        max_anisotropy 16
+      }
+    }
+  }
+}
\ No newline at end of file
diff --git a/niryo_robot_gazebo/media/materials/textures/workspace_1.jpg b/niryo_robot_gazebo/media/materials/textures/workspace_1.jpg
new file mode 100644
index 000000000..9a62fabe6
Binary files /dev/null and b/niryo_robot_gazebo/media/materials/textures/workspace_1.jpg differ
diff --git a/niryo_robot_gazebo/media/materials/textures/workspace_grille.jpg b/niryo_robot_gazebo/media/materials/textures/workspace_grille.jpg
new file mode 100644
index 000000000..4aeb96a4c
Binary files /dev/null and b/niryo_robot_gazebo/media/materials/textures/workspace_grille.jpg differ
diff --git a/niryo_robot_gazebo/models/cube_blue/model.config b/niryo_robot_gazebo/models/cube_blue/model.config
new file mode 100644
index 000000000..3cb93ad93
--- /dev/null
+++ b/niryo_robot_gazebo/models/cube_blue/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>cube_blue</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>
diff --git a/niryo_robot_gazebo/models/cube_blue/model.sdf b/niryo_robot_gazebo/models/cube_blue/model.sdf
new file mode 100644
index 000000000..ed8fbd0e0
--- /dev/null
+++ b/niryo_robot_gazebo/models/cube_blue/model.sdf
@@ -0,0 +1,105 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='cube_blue'>
+    <link name='link_1'>
+      <inertial>
+        <mass>1e-4</mass>
+        <inertia>
+          <ixx>1.0e-8</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1.0e-8</iyy>
+          <iyz>0</iyz>
+          <izz>1.0e-8</izz>
+        </inertia>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+      </inertial>
+      <pose frame=''>0 0 0 0 -0 0</pose>
+      <gravity>1</gravity>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <enable_wind>0</enable_wind>
+      <visual name='visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.02 0.02</size>
+          </box>
+        </geometry>
+        <material>
+          <lighting>1</lighting>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <shader type='vertex'>
+            <normal_map>__default__</normal_map>
+          </shader>
+          <ambient>0.204 0.396 0.643 1</ambient>
+          <diffuse>0.204 0.396 0.643 1</diffuse>
+          <specular>0.333 0.341 0.325 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <transparency>0</transparency>
+        <cast_shadows>1</cast_shadows>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>50</max_contacts>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.02 0.02</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1e6</mu>
+              <mu2>1e4</mu2>
+<!--              <fdir1>0 0 0</fdir1>-->
+<!--              <slip1>0</slip1>-->
+<!--              <slip2>0</slip2>-->
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+<!--              <ode>-->
+<!--                <slip>0</slip>-->
+<!--              </ode>-->
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.0</max_vel>
+              <min_depth>0.002</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <static>0</static>
+    <allow_auto_disable>1</allow_auto_disable>
+  </model>
+</sdf>
diff --git a/niryo_robot_gazebo/models/cube_green/model.config b/niryo_robot_gazebo/models/cube_green/model.config
new file mode 100644
index 000000000..0861c5ab1
--- /dev/null
+++ b/niryo_robot_gazebo/models/cube_green/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>cube_green</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>
diff --git a/niryo_robot_gazebo/models/cube_green/model.sdf b/niryo_robot_gazebo/models/cube_green/model.sdf
new file mode 100644
index 000000000..811389529
--- /dev/null
+++ b/niryo_robot_gazebo/models/cube_green/model.sdf
@@ -0,0 +1,105 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='cube_green'>
+    <link name='link_1'>
+      <inertial>
+        <mass>1e-4</mass>
+        <inertia>
+          <ixx>1.0e-8</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1.0e-8</iyy>
+          <iyz>0</iyz>
+          <izz>1.0e-8</izz>
+        </inertia>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+      </inertial>
+      <pose frame=''>0 0 0 0 -0 0</pose>
+      <gravity>1</gravity>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <enable_wind>0</enable_wind>
+      <visual name='visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.02 0.02</size>
+          </box>
+        </geometry>
+        <material>
+          <lighting>1</lighting>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Green</name>
+          </script>
+          <shader type='vertex'>
+            <normal_map>__default__</normal_map>
+          </shader>
+          <ambient>0.208 0.706 0.298 1</ambient>
+          <diffuse>0.451 0.824 0.082 1</diffuse>
+          <specular>0.18 0.204 0.212 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <transparency>0</transparency>
+        <cast_shadows>1</cast_shadows>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>50</max_contacts>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.02 0.02</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1e+6</mu>
+              <mu2>1e+6</mu2>
+<!--              <fdir1>0 0 0</fdir1>-->
+<!--              <slip1>0</slip1>-->
+<!--              <slip2>0</slip2>-->
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.0</max_vel>
+              <min_depth>0.002</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <static>0</static>
+    <allow_auto_disable>1</allow_auto_disable>
+  </model>
+</sdf>
diff --git a/niryo_robot_gazebo/models/cube_red/model.config b/niryo_robot_gazebo/models/cube_red/model.config
new file mode 100644
index 000000000..ab585015a
--- /dev/null
+++ b/niryo_robot_gazebo/models/cube_red/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>cube_red</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>
diff --git a/niryo_robot_gazebo/models/cube_red/model.sdf b/niryo_robot_gazebo/models/cube_red/model.sdf
new file mode 100644
index 000000000..77f8dd8d1
--- /dev/null
+++ b/niryo_robot_gazebo/models/cube_red/model.sdf
@@ -0,0 +1,105 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='cube_red'>
+    <link name='link_1'>
+      <inertial>
+        <mass>1e-4</mass>
+        <inertia>
+          <ixx>1.0e-8</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1.0e-8</iyy>
+          <iyz>0</iyz>
+          <izz>1.0e-8</izz>
+        </inertia>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+      </inertial>
+      <pose frame=''>0 0 0 0 -0 0</pose>
+      <gravity>1</gravity>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <enable_wind>0</enable_wind>
+      <visual name='visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.02 0.02</size>
+          </box>
+        </geometry>
+        <material>
+          <lighting>1</lighting>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <shader type='vertex'>
+            <normal_map>__default__</normal_map>
+          </shader>
+          <ambient>0.643 0 0 1</ambient>
+          <diffuse>0.835 0.114 0.114 1</diffuse>
+          <specular>0.333 0.341 0.325 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <transparency>0</transparency>
+        <cast_shadows>1</cast_shadows>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>50</max_contacts>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.02 0.02</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1e+6</mu>
+              <mu2>1e+6</mu2>
+<!--              <fdir1>0 0 0</fdir1>-->
+<!--              <slip1>0</slip1>-->
+<!--              <slip2>0</slip2>-->
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.0</max_vel>
+              <min_depth>0.002</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <static>0</static>
+    <allow_auto_disable>1</allow_auto_disable>
+  </model>
+</sdf>
diff --git a/niryo_robot_gazebo/models/workspace_1/model.config b/niryo_robot_gazebo/models/workspace_1/model.config
new file mode 100644
index 000000000..e5b429a96
--- /dev/null
+++ b/niryo_robot_gazebo/models/workspace_1/model.config
@@ -0,0 +1,12 @@
+<?xml version="1.0" ?>
+<model>
+    <name>workspace_1</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description>
+    </description>
+</model>
diff --git a/niryo_robot_gazebo/models/workspace_1/model.sdf b/niryo_robot_gazebo/models/workspace_1/model.sdf
new file mode 100644
index 000000000..3b3b0cbf3
--- /dev/null
+++ b/niryo_robot_gazebo/models/workspace_1/model.sdf
@@ -0,0 +1,100 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+    <model name='Workspace1'>
+        <link name='workspace_link'>
+            <inertial>
+                <mass>1000.0</mass>
+                <inertia>
+                    <ixx>4.508</ixx>
+                    <ixy>0</ixy>
+                    <ixz>0</ixz>
+                    <iyy>8.184</iyy>
+                    <iyz>0</iyz>
+                    <izz>11.026</izz>
+                </inertia>
+                <pose frame=''>0 0 0 0 -0 0</pose>
+            </inertial>
+            <pose frame=''>0 0 0 0 -0 0</pose>
+            <gravity>1</gravity>
+            <self_collide>0</self_collide>
+            <kinematic>0</kinematic>
+            <enable_wind>0</enable_wind>
+
+            <visual name='visual'>
+                <cast_shadows>false</cast_shadows>
+                <pose frame=''>0 0 0 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.21 0.297 0.001</size>
+                    </box>
+                </geometry>
+                <material>
+                    <script>
+                        <uri>media://materials/scripts/workspace.material</uri>
+                        <name>Niryo/Workspace1</name>
+                    </script>
+                </material>
+
+                <transparency>0</transparency>
+                <cast_shadows>1</cast_shadows>
+            </visual>
+            <collision name='collision'>
+                <laser_retro>0</laser_retro>
+                <max_contacts>10</max_contacts>
+                <pose frame=''>0 0 0 0 -0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.21 0.297 0.001</size>
+                    </box>
+                </geometry>
+                <surface>
+                    <friction>
+                        <ode>
+                            <mu>1</mu>
+                            <mu2>1</mu2>
+                            <fdir1>0 0 0</fdir1>
+                            <slip1>0</slip1>
+                            <slip2>0</slip2>
+                        </ode>
+                        <torsional>
+                            <coefficient>1</coefficient>
+                            <patch_radius>0</patch_radius>
+                            <surface_radius>0</surface_radius>
+                            <use_patch_radius>1</use_patch_radius>
+                            <ode>
+                                <slip>0</slip>
+                            </ode>
+                        </torsional>
+                    </friction>
+                    <bounce>
+                        <restitution_coefficient>0</restitution_coefficient>
+                        <threshold>1e+06</threshold>
+                    </bounce>
+                    <contact>
+                        <collide_without_contact>0</collide_without_contact>
+                        <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+                        <collide_bitmask>1</collide_bitmask>
+                        <ode>
+                            <soft_cfm>0</soft_cfm>
+                            <soft_erp>0.2</soft_erp>
+                            <kp>1e+13</kp>
+                            <kd>1</kd>
+                            <max_vel>0.01</max_vel>
+                            <min_depth>0</min_depth>
+                        </ode>
+                        <bullet>
+                            <split_impulse>1</split_impulse>
+                            <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                            <soft_cfm>0</soft_cfm>
+                            <soft_erp>0.2</soft_erp>
+                            <kp>1e+13</kp>
+                            <kd>1</kd>
+                        </bullet>
+                    </contact>
+                </surface>
+            </collision>
+        </link>
+        <static>0</static>
+        <allow_auto_disable>1</allow_auto_disable>
+    </model>
+</sdf>
diff --git a/niryo_robot_gazebo/models/workspace_grille/model.config b/niryo_robot_gazebo/models/workspace_grille/model.config
new file mode 100644
index 000000000..791ac0cac
--- /dev/null
+++ b/niryo_robot_gazebo/models/workspace_grille/model.config
@@ -0,0 +1,12 @@
+<?xml version="1.0" ?>
+<model>
+    <name>workspace_grille</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description>
+    </description>
+</model>
diff --git a/niryo_robot_gazebo/models/workspace_grille/model.sdf b/niryo_robot_gazebo/models/workspace_grille/model.sdf
new file mode 100644
index 000000000..93a43fc13
--- /dev/null
+++ b/niryo_robot_gazebo/models/workspace_grille/model.sdf
@@ -0,0 +1,100 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+    <model name='WorkspaceGrille'>
+        <link name='workspace_link'>
+            <inertial>
+                <mass>1000.0</mass>
+                <inertia>
+                    <ixx>4.508</ixx>
+                    <ixy>0</ixy>
+                    <ixz>0</ixz>
+                    <iyy>8.184</iyy>
+                    <iyz>0</iyz>
+                    <izz>11.026</izz>
+                </inertia>
+                <pose frame=''>0 0 0 0 -0 0</pose>
+            </inertial>
+            <pose frame=''>0 0 0 0 -0 0</pose>
+            <gravity>1</gravity>
+            <self_collide>0</self_collide>
+            <kinematic>0</kinematic>
+            <enable_wind>0</enable_wind>
+
+            <visual name='visual'>
+                <cast_shadows>false</cast_shadows>
+                <pose frame=''>0 0 0 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.21 0.21 0.001</size>
+                    </box>
+                </geometry>
+                <material>
+                    <script>
+                        <uri>media://materials/scripts/workspace.material</uri>
+                        <name>Niryo/WorkspaceGrille</name>
+                    </script>
+                </material>
+
+                <transparency>0</transparency>
+                <cast_shadows>1</cast_shadows>
+            </visual>
+            <collision name='collision'>
+                <laser_retro>0</laser_retro>
+                <max_contacts>10</max_contacts>
+                <pose frame=''>0 0 0 0 -0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.21 0.21 0.001</size>
+                    </box>
+                </geometry>
+                <surface>
+                    <friction>
+                        <ode>
+                            <mu>1</mu>
+                            <mu2>1</mu2>
+                            <fdir1>0 0 0</fdir1>
+                            <slip1>0</slip1>
+                            <slip2>0</slip2>
+                        </ode>
+                        <torsional>
+                            <coefficient>1</coefficient>
+                            <patch_radius>0</patch_radius>
+                            <surface_radius>0</surface_radius>
+                            <use_patch_radius>1</use_patch_radius>
+                            <ode>
+                                <slip>0</slip>
+                            </ode>
+                        </torsional>
+                    </friction>
+                    <bounce>
+                        <restitution_coefficient>0</restitution_coefficient>
+                        <threshold>1e+06</threshold>
+                    </bounce>
+                    <contact>
+                        <collide_without_contact>0</collide_without_contact>
+                        <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+                        <collide_bitmask>1</collide_bitmask>
+                        <ode>
+                            <soft_cfm>0</soft_cfm>
+                            <soft_erp>0.2</soft_erp>
+                            <kp>1e+13</kp>
+                            <kd>1</kd>
+                            <max_vel>0.01</max_vel>
+                            <min_depth>0</min_depth>
+                        </ode>
+                        <bullet>
+                            <split_impulse>1</split_impulse>
+                            <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                            <soft_cfm>0</soft_cfm>
+                            <soft_erp>0.2</soft_erp>
+                            <kp>1e+13</kp>
+                            <kd>1</kd>
+                        </bullet>
+                    </contact>
+                </surface>
+            </collision>
+        </link>
+        <static>0</static>
+        <allow_auto_disable>1</allow_auto_disable>
+    </model>
+</sdf>
diff --git a/niryo_robot_gazebo/package.xml b/niryo_robot_gazebo/package.xml
new file mode 100644
index 000000000..323fa2329
--- /dev/null
+++ b/niryo_robot_gazebo/package.xml
@@ -0,0 +1,26 @@
+<package>
+    <name>niryo_robot_gazebo</name>
+    <version>3.0.0</version>
+    <description>Gazebo simulation for Ned</description>
+    <author email="r.lux@niryo.com">Rémi Lux</author>
+    <maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>
+    <license>GPLv3</license>
+
+    <buildtool_depend>catkin</buildtool_depend>
+    <build_depend>gazebo_ros</build_depend>
+
+    <run_depend>controller_manager</run_depend>
+    <run_depend>joint_state_controller</run_depend>
+    <run_depend>robot_state_publisher</run_depend>
+    <run_depend>effort_controllers</run_depend>
+    <run_depend>niryo_robot_description</run_depend>
+    <run_depend>niryo_robot_commander</run_depend>
+    <run_depend>niryo_robot_hardware_interface</run_depend>
+    <run_depend>gazebo_ros_control</run_depend>
+    <run_depend>gazebo_ros</run_depend>
+
+    <export>
+        <gazebo_ros gazebo_model_path="${prefix}/models"/>
+        <gazebo_ros gazebo_media_path="${prefix}"/>
+    </export>
+</package>
diff --git a/niryo_robot_gazebo/worlds/niryo_cube_world.world b/niryo_robot_gazebo/worlds/niryo_cube_world.world
new file mode 100644
index 000000000..3aeab8097
--- /dev/null
+++ b/niryo_robot_gazebo/worlds/niryo_cube_world.world
@@ -0,0 +1,61 @@
+<sdf version='1.6'>
+    <world name='default'>
+        <!-- A global light source -->
+        <include>
+            <uri>model://sun</uri>
+        </include>
+
+        <!-- A ground plane -->
+        <include>
+            <uri>model://ground_plane</uri>
+        </include>
+
+        <!-- Niryo Workspace -->
+        <model name='workspace_1'>
+            <include>
+                <uri>model://workspace_1</uri>
+            </include>
+            <pose frame=''>0.25 0.0 0.0005 0.0 0.0 0.0</pose>
+        </model>
+
+        <!-- Place Workspace -->
+        <model name='workspace_grille'>
+            <include>
+                <uri>model://workspace_grille</uri>
+            </include>
+            <pose frame=''>0.0 0.25 0.0005 0.0 0.0 1.57</pose>
+        </model>
+
+        <!--CUBES-->
+        <model name='cube_blue'>
+            <include>
+                <uri>model://cube_blue</uri>
+            </include>
+            <pose frame=''>0.25 0.0357 0.011 0.0 0.0 0.5</pose>
+        </model>
+
+        <model name='cube_red'>
+            <include>
+                <uri>model://cube_red</uri>
+            </include>
+            <pose frame=''>0.267 -0.062 0.011 0.0 0.0 0.1</pose>
+        </model>
+
+        <model name='cube_green'>
+            <include>
+                <uri>model://cube_green</uri>
+            </include>
+            <pose frame=''>0.212 -0.0369 0.011 0 0 -0.3</pose>
+        </model>
+
+        <!--GUI-->
+        <gui fullscreen='0'>
+            <camera name='user_camera'>
+                <pose frame=''>0.198 -0.823 0.916 0 0.763 1.592</pose>
+                <view_controller>orbit</view_controller>
+                <projection_type>perspective</projection_type>
+            </camera>
+        </gui>
+
+    </world>
+</sdf>
diff --git a/niryo_robot_gazebo/worlds/niryo_empty_world.world b/niryo_robot_gazebo/worlds/niryo_empty_world.world
new file mode 100644
index 000000000..736a0764e
--- /dev/null
+++ b/niryo_robot_gazebo/worlds/niryo_empty_world.world
@@ -0,0 +1,115 @@
+<sdf version='1.6'>
+    <world name='default'>
+        <light name='sun' type='directional'>
+            <cast_shadows>1</cast_shadows>
+            <pose frame=''>0 0 10 0 -0 0</pose>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.2 0.2 0.2 1</specular>
+            <attenuation>
+                <range>1000</range>
+                <constant>0.9</constant>
+                <linear>0.01</linear>
+                <quadratic>0.001</quadratic>
+            </attenuation>
+            <direction>-0.5 0.1 -0.9</direction>
+        </light>
+        <model name='ground_plane'>
+            <static>1</static>
+            <link name='link'>
+                <collision name='collision'>
+                    <geometry>
+                        <plane>
+                            <normal>0 0 1</normal>
+                            <size>100 100</size>
+                        </plane>
+                    </geometry>
+                    <surface>
+                        <contact>
+                            <collide_bitmask>65535</collide_bitmask>
+                            <ode/>
+                        </contact>
+                        <friction>
+                            <ode>
+                                <mu>100</mu>
+                                <mu2>50</mu2>
+                            </ode>
+                            <torsional>
+                                <ode/>
+                            </torsional>
+                        </friction>
+                        <bounce/>
+                    </surface>
+                    <max_contacts>10</max_contacts>
+                </collision>
+                <visual name='visual'>
+                    <cast_shadows>0</cast_shadows>
+                    <geometry>
+                        <plane>
+                            <normal>0 0 1</normal>
+                            <size>100 100</size>
+                        </plane>
+                    </geometry>
+                    <material>
+                        <script>
+                            <uri>file://media/materials/scripts/gazebo.material</uri>
+                            <name>Gazebo/Grey</name>
+                        </script>
+                    </material>
+                </visual>
+                <self_collide>0</self_collide>
+                <enable_wind>0</enable_wind>
+                <kinematic>0</kinematic>
+            </link>
+        </model>
+        <gravity>0 0 -9.8</gravity>
+        <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+        <atmosphere type='adiabatic'/>
+        <physics name='default_physics' default='0' type='ode'>
+            <max_step_size>0.001</max_step_size>
+            <real_time_factor>1</real_time_factor>
+            <real_time_update_rate>1000</real_time_update_rate>
+        </physics>
+        <scene>
+            <ambient>0.4 0.4 0.4 1</ambient>
+            <background>0.7 0.7 0.7 1</background>
+            <shadows>1</shadows>
+        </scene>
+        <audio>
+            <device>default</device>
+        </audio>
+        <wind/>
+        <spherical_coordinates>
+            <surface_model>EARTH_WGS84</surface_model>
+            <latitude_deg>0</latitude_deg>
+            <longitude_deg>0</longitude_deg>
+            <elevation>0</elevation>
+            <heading_deg>0</heading_deg>
+        </spherical_coordinates>
+        <state world_name='default'>
+            <sim_time>47 91000000</sim_time>
+            <real_time>47 300541154</real_time>
+            <wall_time>1585648802 670909787</wall_time>
+            <iterations>47091</iterations>
+            <model name='ground_plane'>
+                <pose frame=''>0 0 0 0 -0 0</pose>
+                <scale>1 1 1</scale>
+                <link name='link'>
+                    <pose frame=''>0 0 0 0 -0 0</pose>
+                    <velocity>0 0 0 0 -0 0</velocity>
+                    <acceleration>0 0 0 0 -0 0</acceleration>
+                    <wrench>0 0 0 0 -0 0</wrench>
+                </link>
+            </model>
+            <light name='sun'>
+                <pose frame=''>0 0 10 0 -0 0</pose>
+            </light>
+        </state>
+        <gui fullscreen='0'>
+            <camera name='user_camera'>
+                <pose frame=''>0.60 -0.90 0.70 0 0.42 2.1</pose>
+                <view_controller>orbit</view_controller>
+                <projection_type>perspective</projection_type>
+            </camera>
+        </gui>
+    </world>
+</sdf>
diff --git a/niryo_robot_hardware_stack/conveyor_interface/CMakeLists.txt b/niryo_robot_hardware_stack/conveyor_interface/CMakeLists.txt
new file mode 100644
index 000000000..d1063e1c2
--- /dev/null
+++ b/niryo_robot_hardware_stack/conveyor_interface/CMakeLists.txt
@@ -0,0 +1,86 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(conveyor_interface)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+find_package(catkin REQUIRED
+    COMPONENTS
+        roscpp
+        std_msgs
+        stepper_driver
+        message_generation
+)
+
+find_package(Boost REQUIRED COMPONENTS system)
+
+add_message_files(
+  FILES
+  ConveyorFeedback.msg
+  ConveyorFeedbackArray.msg
+)
+
+add_service_files(
+  DIRECTORY srv
+  FILES
+  ControlConveyor.srv
+  SetConveyor.srv
+)
+
+generate_messages(
+  DEPENDENCIES
+    std_msgs
+)
+
+catkin_package(
+  INCLUDE_DIRS
+      include
+  LIBRARIES
+      ${PROJECT_NAME}
+  CATKIN_DEPENDS
+      roscpp
+      std_msgs
+      stepper_driver
+      message_runtime
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_library(${PROJECT_NAME}
+  src/conveyor_interface_core.cpp
+)
+
+add_executable(${PROJECT_NAME}_node
+  src/conveyor_interface_node.cpp
+)
+
+add_dependencies(${PROJECT_NAME}_node
+  ${catkin_EXPORTED_TARGETS}
+)
+
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+)
+
+target_link_libraries(${PROJECT_NAME}_node
+  ${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+)
+
+install(
+  TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
+
+install(
+  DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+add_dependencies(${PROJECT_NAME} stepper_driver_generate_messages_cpp )
+add_dependencies(${PROJECT_NAME} conveyor_interface_generate_messages_cpp )
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/conveyor_interface/config/default.yaml b/niryo_robot_hardware_stack/conveyor_interface/config/default.yaml
new file mode 100644
index 000000000..d31623602
--- /dev/null
+++ b/niryo_robot_hardware_stack/conveyor_interface/config/default.yaml
@@ -0,0 +1,5 @@
+conveyor :
+    max_effort : 90
+    id : 6
+    id_list : [12,13]
+    publish_frequency : 2
diff --git a/niryo_robot_hardware_stack/conveyor_interface/include/conveyor_interface/conveyor_interface_core.hpp b/niryo_robot_hardware_stack/conveyor_interface/include/conveyor_interface/conveyor_interface_core.hpp
new file mode 100644
index 000000000..4af5910e8
--- /dev/null
+++ b/niryo_robot_hardware_stack/conveyor_interface/include/conveyor_interface/conveyor_interface_core.hpp
@@ -0,0 +1,70 @@
+/*
+    conveyor_interface_interface_core.hpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef CONVEYOR_INTERFACE_CORE_HPP
+#define CONVEYOR_INTERFACE_CORE_HPP
+
+#include <boost/shared_ptr.hpp>
+
+#include <ros/ros.h>
+#include <vector>
+
+#include "stepper_driver/stepper_driver_core.hpp"
+
+#include "stepper_driver/StepperCmd.h"
+#include "conveyor_interface/SetConveyor.h"
+#include "conveyor_interface/ControlConveyor.h"
+#include "conveyor_interface/ConveyorFeedbackArray.h"
+#include "niryo_robot_msgs/CommandStatus.h"
+
+class ConveyorInterfaceCore
+{
+    public:
+        
+        ConveyorInterfaceCore(boost::shared_ptr<StepperDriver::StepperDriverCore> &stepper);
+        void initServices();
+        void initParams();
+
+    private:
+
+        ros::NodeHandle _nh;
+        boost::shared_ptr<StepperDriver::StepperDriverCore> &_stepper;
+
+        ros::ServiceServer _ping_and_set_stepper_server;
+        ros::ServiceServer _control_conveyor_server;
+        ros::Publisher _conveyors_feedback_publisher;
+
+        ros::Publisher _conveyor_status_publisher;
+        boost::shared_ptr<std::thread> _publish_conveyor_status_thread;
+
+        std::vector<uint8_t> _list_conveyor_id;
+        std::vector<uint8_t> _list_available_id; 
+        std::vector<int> _list_possible_conveyor_id;
+        int _conveyor_id;
+        int _conveyor_max_effort;
+        double _publish_feedback_frequency;
+
+        boost::shared_ptr<std::thread> _publish_conveyors_feedback_thread;
+
+        bool _callbackPingAndSetConveyor(conveyor_interface::SetConveyor::Request &req, conveyor_interface::SetConveyor::Response &res);
+        bool _callbackControlConveyor(conveyor_interface::ControlConveyor::Request &req, conveyor_interface::ControlConveyor::Response &res);
+
+        void _publishConveyorsFeedback();
+};
+#endif
diff --git a/niryo_robot_hardware_stack/conveyor_interface/include/conveyor_interface/conveyor_state.hpp b/niryo_robot_hardware_stack/conveyor_interface/include/conveyor_interface/conveyor_state.hpp
new file mode 100644
index 000000000..fa85396ad
--- /dev/null
+++ b/niryo_robot_hardware_stack/conveyor_interface/include/conveyor_interface/conveyor_state.hpp
@@ -0,0 +1,58 @@
+/*
+    conveyor_state.hpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef CONVEYOR_STATE_HPP
+#define CONVEYOR_STATE_HPP
+
+#include <stdint.h>
+#include <string>
+
+#include "stepper_driver/stepper_enum.hpp"
+
+class ConveyorState
+{
+    public:
+        ConveyorState(uint8_t id);
+
+        void setId(uint8_t id);
+        uint8_t getId();
+
+        void setConnectionState(bool state);
+        bool isConnected();
+
+        void setState(bool state);
+        bool isRunning();
+
+        int16_t getVelocity();
+        void setVelocity(int16_t velocity);
+
+        int8_t getDirection();
+        void setDirection(int8_t direction);
+
+    private:
+
+        uint8_t _id;
+
+        bool _connected;
+        bool _activated;
+
+        int16_t _velocity;
+        int8_t _direction;
+};
+#endif
diff --git a/niryo_robot_hardware_stack/conveyor_interface/msg/ConveyorFeedback.msg b/niryo_robot_hardware_stack/conveyor_interface/msg/ConveyorFeedback.msg
new file mode 100644
index 000000000..2c57addfd
--- /dev/null
+++ b/niryo_robot_hardware_stack/conveyor_interface/msg/ConveyorFeedback.msg
@@ -0,0 +1,11 @@
+
+#Conveyor id ( either 12 or 18)
+uint8 conveyor_id
+#Conveyor Connection state ( if it is enabled) 
+bool connection_state
+# Conveyor Controls state : ON or OFF
+bool running
+# Conveyor Speed ( 1-> 100 %)
+int16 speed
+# Conveyor direction ( backward or forward)
+int8 direction
diff --git a/niryo_robot_hardware_stack/conveyor_interface/msg/ConveyorFeedbackArray.msg b/niryo_robot_hardware_stack/conveyor_interface/msg/ConveyorFeedbackArray.msg
new file mode 100644
index 000000000..f6d7f0c41
--- /dev/null
+++ b/niryo_robot_hardware_stack/conveyor_interface/msg/ConveyorFeedbackArray.msg
@@ -0,0 +1 @@
+conveyor_interface/ConveyorFeedback[] conveyors
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/conveyor_interface/package.xml b/niryo_robot_hardware_stack/conveyor_interface/package.xml
new file mode 100644
index 000000000..27367cfe5
--- /dev/null
+++ b/niryo_robot_hardware_stack/conveyor_interface/package.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>conveyor_interface</name>
+  <version>0.0.0</version>
+  <description>The conveyor_interface package</description>
+  <author>Etienne Rey-Coquais</author>
+  <author>Edouard Renard</author>
+  <maintainer email="e.rey-coquais@niryo.com">Etienne Rey-Coquais</maintainer>
+
+  <license>GPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>roscpp</build_depend>
+  <build_depend>niryo_robot_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>stepper_driver</build_depend>
+  <build_depend>message_generation</build_depend>
+  
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>niryo_robot_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>stepper_driver</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+</package>
diff --git a/niryo_robot_hardware_stack/conveyor_interface/src/conveyor_interface_core.cpp b/niryo_robot_hardware_stack/conveyor_interface/src/conveyor_interface_core.cpp
new file mode 100644
index 000000000..4ca5bd34d
--- /dev/null
+++ b/niryo_robot_hardware_stack/conveyor_interface/src/conveyor_interface_core.cpp
@@ -0,0 +1,188 @@
+#include "conveyor_interface/conveyor_interface_core.hpp"
+#include "stepper_driver/conveyor_state.hpp"
+
+ConveyorInterfaceCore::ConveyorInterfaceCore(boost::shared_ptr<StepperDriver::StepperDriverCore> &stepper):
+   _stepper(stepper)
+{
+    _list_conveyor_id.clear();
+    initParams();
+    initServices();
+
+    _conveyors_feedback_publisher = _nh.advertise<conveyor_interface::ConveyorFeedbackArray>("/niryo_robot/conveyor/feedback", 10);
+    _publish_conveyors_feedback_thread.reset(new std::thread(boost::bind(&ConveyorInterfaceCore::_publishConveyorsFeedback, this)));
+}
+
+void ConveyorInterfaceCore::initParams()
+{
+    _nh.getParam("/niryo_robot_hardware_interface/conveyor/max_effort", _conveyor_max_effort);
+    _nh.getParam("/niryo_robot_hardware_interface/conveyor/id", _conveyor_id);
+    _nh.getParam("/niryo_robot_hardware_interface/conveyor/id_list", _list_possible_conveyor_id);
+    _nh.getParam("/niryo_robot_hardware_interface/conveyor/publish_frequency", _publish_feedback_frequency);
+
+    ROS_DEBUG("Conveyor interface - conveyor max effort : %d", _conveyor_max_effort);
+    ROS_DEBUG("Conveyor interface - Publish_hw_status_frequency : %f", _publish_feedback_frequency);
+    _list_available_id.push_back((uint8_t)_list_possible_conveyor_id.at(1));
+    _list_available_id.push_back((uint8_t)_list_possible_conveyor_id.at(0));
+}
+
+void ConveyorInterfaceCore::initServices()
+{
+    _ping_and_set_stepper_server = _nh.advertiseService("/niryo_robot/conveyor/ping_and_set_conveyor", &ConveyorInterfaceCore::_callbackPingAndSetConveyor, this);
+    _control_conveyor_server = _nh.advertiseService("/niryo_robot/conveyor/control_conveyor", &ConveyorInterfaceCore::_callbackControlConveyor, this);
+}
+
+bool ConveyorInterfaceCore::_callbackPingAndSetConveyor(conveyor_interface::SetConveyor::Request &req, conveyor_interface::SetConveyor::Response &res)
+{
+    std::string message = "";
+    int result;
+    if (_stepper->getCalibrationState() == true)
+    {
+        res.status = niryo_robot_msgs::CommandStatus::CALIBRATION_IN_PROGRESS;
+        res.message = "Calibration in progress";
+        return true;
+    }
+
+    uint8_t conveyor_id;
+    if(req.cmd == conveyor_interface::SetConveyor::Request::ADD)
+    {
+        if(_list_available_id.size() == 0)
+        {
+            res.message = "no conveyor available";
+            res.id = 0;
+            res.status = niryo_robot_msgs::CommandStatus::NO_CONVEYOR_LEFT;
+            return true; 
+        }
+        else
+        {
+            conveyor_id = _list_available_id.back(); 
+        }
+        result = _stepper->setConveyor(conveyor_id);
+        if(result != niryo_robot_msgs::CommandStatus::SUCCESS)
+        {
+            res.status = result;
+            res.id = 0;
+            ROS_INFO("Conveyor interface - No new conveyor found");
+            message = "No new conveyor found";
+        }
+        else
+        {
+            _list_conveyor_id.push_back(conveyor_id);
+            _list_available_id.pop_back();
+            ros::Duration(0.05).sleep();
+
+            StepperDriver::StepperMotorCmd cmd;
+            std::vector<uint8_t> stepper_id{conveyor_id};
+            std::vector<int32_t> stepper_params{8};
+            cmd.setParams(stepper_params);
+            cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_MICRO_STEPS);
+            cmd.setMotorsId(stepper_id);
+            _stepper->setStepperCommands(cmd);
+            ros::Duration(0.05).sleep();
+
+            stepper_params.clear();
+            stepper_params = {_conveyor_max_effort};
+            cmd.setParams(stepper_params);
+            cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_MAX_EFFORT);
+            cmd.setMotorsId(stepper_id);
+            _stepper->setStepperCommands(cmd);
+            ros::Duration(0.1).sleep();
+
+            cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_CONVEYOR);
+            cmd.setParams(std::vector<int32_t>{false, 0, -1});
+            cmd.setMotorsId(stepper_id);
+            _stepper->setConveyorCommands(cmd);
+            ros::Duration(0.1).sleep();
+            _stepper->setConveyorCommands(cmd);
+            res.status = niryo_robot_msgs::CommandStatus::SUCCESS;
+            message = "Set new conveyor on id ";
+            message += std::to_string(conveyor_id);
+            message += " OK";
+            res.id = conveyor_id;
+        }
+        
+    }
+    else if (req.cmd == conveyor_interface::SetConveyor::Request::REMOVE)
+    {
+        bool conveyor_found = false;
+        for(int i = 0; i < _list_conveyor_id.size(); i++)
+        {
+            if(req.id == _list_conveyor_id.at(i))
+            {
+                conveyor_found = true;
+                _list_conveyor_id.erase( _list_conveyor_id.begin() + i);
+                _list_available_id.push_back(req.id);
+                _stepper->unsetConveyor(req.id);
+                std::sort(_list_available_id.begin(), _list_available_id.end(), std::greater<int>()); 
+                message = "Remove conveyor id ";
+                message += std::to_string(req.id);
+                res.status = niryo_robot_msgs::CommandStatus::SUCCESS;
+                break;
+            }
+        }
+        if(!conveyor_found)
+        {
+            ROS_INFO("Conveyor interface - Conveyor id %d not found", req.id);
+            message = "Conveyor id ";
+            message += std::to_string(req.id);
+            message += " not found";
+            res.status = niryo_robot_msgs::CommandStatus::NO_CONVEYOR_FOUND;
+        }
+    }
+    res.message = message;
+    return true;
+
+}
+
+bool ConveyorInterfaceCore::_callbackControlConveyor(conveyor_interface::ControlConveyor::Request &req, conveyor_interface::ControlConveyor::Response &res)
+{
+    std::string message = "";
+    auto conveyor_id = std::find(_list_conveyor_id.begin(), _list_conveyor_id.end() , req.id);
+    StepperDriver::StepperMotorCmd cmd;
+    if(conveyor_id != _list_conveyor_id.end())
+    {
+        cmd.setMotorsId(std::vector<uint8_t> {req.id});
+        cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_CONVEYOR);
+        cmd.setParams(std::vector<int32_t>{req.control_on, req.speed, req.direction});
+        message = "Set command on conveyor id ";
+        message += std::to_string(req.id);
+        message += " is OK";
+        res.status = niryo_robot_msgs::CommandStatus::SUCCESS;
+        _stepper->setConveyorCommands(cmd);
+    }
+    else
+    {
+        ROS_INFO("Conveyor interface - Conveyor id %d isn't set", req.id);
+        message = "Conveyor id ";
+        message += std::to_string(req.id);
+        message += " is not set";
+        res.status = niryo_robot_msgs::CommandStatus::CONVEYOR_ID_INVALID;
+    }
+    
+    res.message = message;
+    return true;
+}
+
+void ConveyorInterfaceCore::_publishConveyorsFeedback()
+{
+    ros::Rate publish_conveyor_feedback_rate = ros::Rate(_publish_feedback_frequency);
+
+    while (ros::ok()) {
+        
+        conveyor_interface::ConveyorFeedbackArray msg;
+        conveyor_interface::ConveyorFeedback data;
+
+        std::vector<StepperDriver::ConveyorState> conveyor_list;
+        conveyor_list = _stepper->getConveyorStates();
+        for(int i = 0; i < conveyor_list.size(); i++)
+        {
+            data.conveyor_id = conveyor_list.at(i).getId();
+            data.running = conveyor_list.at(i).getState();
+            data.direction = conveyor_list.at(i).getDirection();
+            data.speed = conveyor_list.at(i).getSpeed();
+            msg.conveyors.push_back(data);
+        }
+        _conveyors_feedback_publisher.publish(msg);
+        publish_conveyor_feedback_rate.sleep();
+
+    }
+}
diff --git a/niryo_robot_hardware_stack/conveyor_interface/src/conveyor_interface_node.cpp b/niryo_robot_hardware_stack/conveyor_interface/src/conveyor_interface_node.cpp
new file mode 100644
index 000000000..57a240780
--- /dev/null
+++ b/niryo_robot_hardware_stack/conveyor_interface/src/conveyor_interface_node.cpp
@@ -0,0 +1,22 @@
+#include <ros/ros.h>
+#include "conveyor_interface/conveyor_interface_core.hpp"
+#include "stepper_driver/stepper_driver_core.hpp"
+
+int main(int argc, char **argv) 
+{
+    ros::init(argc, argv, "conveyor_interface_node");
+  
+    ros::AsyncSpinner spinner(4);
+    spinner.start();
+    
+    ros::NodeHandle nh;
+   
+    boost::shared_ptr<StepperDriver::StepperDriverCore> stepper(new StepperDriver::StepperDriverCore());
+    ros::Duration(1).sleep();
+    boost::shared_ptr<ConveyorInterfaceCore> conveyor_interface(new ConveyorInterfaceCore(stepper));
+    ros::Duration(1).sleep();
+    
+    ros::spin();
+
+    return 0;
+}
diff --git a/niryo_robot_hardware_stack/conveyor_interface/src/conveyor_state.cpp b/niryo_robot_hardware_stack/conveyor_interface/src/conveyor_state.cpp
new file mode 100644
index 000000000..d34f2ec66
--- /dev/null
+++ b/niryo_robot_hardware_stack/conveyor_interface/src/conveyor_state.cpp
@@ -0,0 +1,80 @@
+/*
+    conveyor_state.cpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "conveyor_interface/conveyor_state.hpp"
+
+
+ConveyorState::ConveyorState(uint8_t id) :
+    _id(id)
+{
+    _connected = true;
+    _activated = true;
+    _velocity = 0;
+    _direction = 0;
+}
+
+void ConveyorState::setId(uint8_t id)
+{
+    _id = id;
+}
+
+uint8_t ConveyorState::getId()
+{
+    return _id;
+}
+
+void ConveyorState::setConnectionState(bool state)
+{
+    _connected = state;
+}
+
+bool ConveyorState::isConnected()
+{
+    return _connected;
+}
+
+void ConveyorState::setState(bool state)
+{
+    _activated = state;
+}
+
+bool ConveyorState::isRunning()
+{
+    return _activated;
+}
+
+int16_t ConveyorState::getVelocity()
+{
+    return _velocity;
+}
+
+void ConveyorState::setVelocity(int16_t velocity)
+{
+    _velocity = velocity;
+}
+
+int8_t ConveyorState::getDirection()
+{
+    return _direction;
+}
+
+void ConveyorState::setDirection(int8_t direction)
+{
+    _direction = direction;
+}
diff --git a/niryo_robot_hardware_stack/conveyor_interface/srv/ControlConveyor.srv b/niryo_robot_hardware_stack/conveyor_interface/srv/ControlConveyor.srv
new file mode 100644
index 000000000..c4df917a0
--- /dev/null
+++ b/niryo_robot_hardware_stack/conveyor_interface/srv/ControlConveyor.srv
@@ -0,0 +1,8 @@
+uint8 id
+
+bool control_on
+int16 speed
+int8 direction 
+---
+int16 status
+string message
diff --git a/niryo_robot_hardware_stack/conveyor_interface/srv/SetConveyor.srv b/niryo_robot_hardware_stack/conveyor_interface/srv/SetConveyor.srv
new file mode 100644
index 000000000..0a128a6fb
--- /dev/null
+++ b/niryo_robot_hardware_stack/conveyor_interface/srv/SetConveyor.srv
@@ -0,0 +1,10 @@
+uint8 cmd
+uint8 id
+
+uint8 ADD = 1
+uint8 REMOVE = 2
+
+--- 
+int16 id
+int16 status
+string message
diff --git a/niryo_robot_hardware_stack/conveyor_interface/test/conveyor_test.cpp b/niryo_robot_hardware_stack/conveyor_interface/test/conveyor_test.cpp
new file mode 100644
index 000000000..02b264d13
--- /dev/null
+++ b/niryo_robot_hardware_stack/conveyor_interface/test/conveyor_test.cpp
@@ -0,0 +1,128 @@
+/*
+    conveyor_test.cpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include <ros/ros.h>
+#include "conveyor_interface/conveyor_interface_core.hpp"
+
+#include "stepper_driver/stepper_driver_core.hpp"
+
+boost::shared_ptr<ConveyorInterfaceCore> conveyor_interface_bite;
+
+void TestConveyor(ros::NodeHandle nh)
+{
+    ros::ServiceClient set_conveyor_client = nh.serviceClient<conveyor_interface::SetConveyor>("niryo_robot/tools/ping_and_set_conveyor");
+    ros::ServiceClient control_conveyor_client = nh.serviceClient<conveyor_interface::ControlConveyor>("niryo_robot/tools/control_conveyor");
+    ros::ServiceClient change_conveyor_client = nh.serviceClient<conveyor_interface::UpdateConveyorId>("niryo_robot/tools/update_conveyor_id");
+
+    conveyor_interface::SetConveyor set_conveyor_srv;
+    conveyor_interface::ControlConveyor control_conveyor_srv;
+    conveyor_interface::UpdateConveyorId update_conveyor_srv;
+
+    ROS_INFO("Conveyor Test - Set Conveyor");
+    set_conveyor_srv.request.id = 6;
+    set_conveyor_srv.request.activate = true;
+    if(set_conveyor_client.call(set_conveyor_srv))
+    {
+        ROS_INFO("Conveyor Test -  Server return");
+    }
+    ros::Duration(5).sleep();
+
+    ROS_INFO("Conveyor Test - Control Conveyor step 1");
+    control_conveyor_srv.request.id = 6;
+    control_conveyor_srv.request.control_on = true;
+    control_conveyor_srv.request.speed = 75;
+    control_conveyor_srv.request.direction = 1;
+    if(control_conveyor_client.call(control_conveyor_srv))
+    {
+        ROS_INFO("Conveyor Test - Server return");
+    }
+    ros::Duration(5).sleep();
+
+    ROS_INFO("Conveyor Test - Control Conveyor step 2");
+    control_conveyor_srv.request.id = 6;
+    control_conveyor_srv.request.control_on = true;
+    control_conveyor_srv.request.speed = 75;
+    control_conveyor_srv.request.direction = -1;
+    if(control_conveyor_client.call(control_conveyor_srv))
+    {
+        ROS_INFO("Conveyor Test - Server return");
+    }
+    ros::Duration(5).sleep();
+
+    ROS_INFO("Control Conveyor step 3");
+    control_conveyor_srv.request.id = 6;
+    control_conveyor_srv.request.control_on = false;
+    control_conveyor_srv.request.speed = 75;
+    control_conveyor_srv.request.direction = -1;
+    if(control_conveyor_client.call(control_conveyor_srv))
+    {
+        ROS_INFO("Conveyor Test - Server return");
+    }
+    ros::Duration(5).sleep();
+
+    ROS_INFO("Conveyor Test - Change Conveyor ID");
+    update_conveyor_srv.request.old_id = 6;
+    update_conveyor_srv.request.new_id = 7;
+    if(change_conveyor_client.call(update_conveyor_srv))
+    {
+        ROS_INFO("Conveyor Test - Server return");
+    }    
+    ros::Duration(5).sleep();
+
+    ROS_INFO("Conveyor Test - Control Conveyor step 2");
+    control_conveyor_srv.request.id = 7;
+    control_conveyor_srv.request.control_on = true;
+    control_conveyor_srv.request.speed = 75;
+    control_conveyor_srv.request.direction = -1;
+    if(control_conveyor_client.call(control_conveyor_srv))
+    {
+        ROS_INFO("Conveyor Test - Server return");
+    }
+    ros::Duration(5).sleep();
+
+    ROS_INFO("Conveyor Test - Control Conveyor step 3");
+    control_conveyor_srv.request.id = 7;
+    control_conveyor_srv.request.control_on = false;
+    control_conveyor_srv.request.speed = 75;
+    control_conveyor_srv.request.direction = -1;
+    if(control_conveyor_client.call(control_conveyor_srv))
+    {
+        ROS_INFO("Conveyor Test - Server return");
+    }
+    ros::Duration(5).sleep();
+}
+
+int main(int argc, char **argv) 
+{
+    ros::init(argc, argv, "conveyor_interface_node");
+
+    ros::AsyncSpinner spinner(4);
+    spinner.start();
+    
+    ros::NodeHandle nh;
+
+    boost::shared_ptr<StepperDriver::StepperDriverCore> stepper(new StepperDriver::StepperDriverCore());
+    ros::Duration(1).sleep();
+    conveyor_interface_bite.reset(new ConveyorInterfaceCore(stepper));
+    ros::Duration(1).sleep();
+    TestConveyor(nh);
+    ros::waitForShutdown();
+    
+    ROS_INFO("Conveyor Test - Shutdown node");
+}
diff --git a/niryo_robot_hardware_stack/cpu_interface/CMakeLists.txt b/niryo_robot_hardware_stack/cpu_interface/CMakeLists.txt
new file mode 100644
index 000000000..5a0811f85
--- /dev/null
+++ b/niryo_robot_hardware_stack/cpu_interface/CMakeLists.txt
@@ -0,0 +1,59 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(cpu_interface)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+find_package(catkin REQUIRED
+    COMPONENTS
+        roscpp
+)
+
+find_package(Boost REQUIRED COMPONENTS system)
+
+catkin_package(
+    INCLUDE_DIRS
+        include
+    LIBRARIES
+        ${PROJECT_NAME}
+    CATKIN_DEPENDS
+        roscpp
+)
+
+include_directories(
+    include
+    ${catkin_INCLUDE_DIRS}
+)
+
+add_library(${PROJECT_NAME}
+    src/cpu_interface_core.cpp
+)
+
+add_executable(${PROJECT_NAME}_node
+  src/cpu_interface_node.cpp
+)
+
+add_dependencies(${PROJECT_NAME}_node
+  ${catkin_EXPORTED_TARGETS}
+)
+
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+)
+
+target_link_libraries(${PROJECT_NAME}_node
+  ${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+)
+
+install(
+  TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
+
+install(
+  DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/cpu_interface/config/default.yaml b/niryo_robot_hardware_stack/cpu_interface/config/default.yaml
new file mode 100644
index 000000000..8dfe3cdaf
--- /dev/null
+++ b/niryo_robot_hardware_stack/cpu_interface/config/default.yaml
@@ -0,0 +1,3 @@
+read_rpi_diagnostics_frequency : 0.25
+temperature_warn_threshold: 75
+temperature_shutdown_threshold: 85
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/cpu_interface/include/cpu_interface/cpu_interface_core.hpp b/niryo_robot_hardware_stack/cpu_interface/include/cpu_interface/cpu_interface_core.hpp
new file mode 100644
index 000000000..ed8be2ed1
--- /dev/null
+++ b/niryo_robot_hardware_stack/cpu_interface/include/cpu_interface/cpu_interface_core.hpp
@@ -0,0 +1,56 @@
+/*
+    cpu_interface_interface_core.hpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef CPU_INTERFACE_CORE_HPP
+#define CPU_INTERFACE_CORE_HPP
+
+#include <boost/shared_ptr.hpp>
+#include <fstream>
+#include <ros/ros.h>
+#include <vector>
+#include <thread>
+#include <string>
+
+class CpuInterfaceCore
+{
+    public:
+        
+        CpuInterfaceCore();
+
+        void initParams();
+
+        void startReadingData();
+        int getCpuTemperature(); 
+
+    private:
+        ros::NodeHandle _nh;
+        
+        int _cpu_temperature;
+
+        double _read_cpu_frequency;
+        int _temperature_warn_threshold;
+        int _temperature_shutdown_threshold;
+
+        void _readCpuTemperature();
+        void _readHardwareDataLoop();
+
+        boost::shared_ptr<std::thread> _read_hardware_data_thread;
+        
+};
+#endif
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/cpu_interface/launch/cpu_interface.launch b/niryo_robot_hardware_stack/cpu_interface/launch/cpu_interface.launch
new file mode 100644
index 000000000..48ff2e88a
--- /dev/null
+++ b/niryo_robot_hardware_stack/cpu_interface/launch/cpu_interface.launch
@@ -0,0 +1,7 @@
+<launch>
+
+  <node pkg="cpu_interface" type="cpu_interface_node" name="cpu_interface" output="screen">  
+    <rosparam file="$(find cpu_interface)/config/default.yaml" command="load"/>
+  </node>
+
+</launch>
diff --git a/niryo_robot_hardware_stack/cpu_interface/package.xml b/niryo_robot_hardware_stack/cpu_interface/package.xml
new file mode 100644
index 000000000..1abf57182
--- /dev/null
+++ b/niryo_robot_hardware_stack/cpu_interface/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>cpu_interface</name>
+  <version>0.0.0</version>
+  <description>The cpu_interface package</description>
+  <author>Etienne Rey-Coquais</author>
+  <author>Edouard Renard</author>
+  <maintainer email="e.rey-coquais@niryo.com">Etienne Rey-Coquais</maintainer>
+
+  <license>GPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>roscpp</build_depend>
+  
+  <exec_depend>roscpp</exec_depend>
+
+</package>
diff --git a/niryo_robot_hardware_stack/cpu_interface/src/cpu_interface_core.cpp b/niryo_robot_hardware_stack/cpu_interface/src/cpu_interface_core.cpp
new file mode 100644
index 000000000..d3bafea47
--- /dev/null
+++ b/niryo_robot_hardware_stack/cpu_interface/src/cpu_interface_core.cpp
@@ -0,0 +1,69 @@
+#include "cpu_interface/cpu_interface_core.hpp"
+
+CpuInterfaceCore::CpuInterfaceCore()
+{
+    _cpu_temperature = 0;
+    initParams();
+    startReadingData();
+    ROS_INFO("CPU Interface - Started");
+}
+
+void CpuInterfaceCore::initParams()
+{
+    if (ros::param::has("read_rpi_diagnostics_frequency/read_rpi_diagnostics_frequency"))
+    {
+        ros::param::get("read_rpi_diagnostics_frequency/read_rpi_diagnostics_frequency", _read_cpu_frequency);
+    }
+    else
+    {
+        ROS_INFO("CPU Interface - No params found. Init with default value");
+        _nh.getParam("/niryo_robot_hardware_interface/read_rpi_diagnostics_frequency", _read_cpu_frequency);
+        _nh.getParam("/niryo_robot_hardware_interface/temperature_warn_threshold", _temperature_warn_threshold);
+        _nh.getParam("/niryo_robot_hardware_interface/temperature_shutdown_threshold", _temperature_shutdown_threshold);
+    }
+    ROS_DEBUG("CPU Interface - Read temperature frequency %f", _read_cpu_frequency);
+}
+
+
+int CpuInterfaceCore::getCpuTemperature()
+{
+    return _cpu_temperature;
+}
+
+void CpuInterfaceCore::_readCpuTemperature()
+{
+#if defined __arm__ || defined __aarch64__
+    std::fstream cpu_temp_file("/sys/class/thermal/thermal_zone0/temp", std::ios_base::in);
+    
+    int read_temp;
+    cpu_temp_file >> read_temp;
+    if (read_temp > 0) {
+        _cpu_temperature = read_temp / 1000;
+    }
+#endif
+}
+
+void CpuInterfaceCore::startReadingData()
+{
+   _read_hardware_data_thread.reset(new std::thread(boost::bind(&CpuInterfaceCore::_readHardwareDataLoop, this))); 
+}
+
+void CpuInterfaceCore::_readHardwareDataLoop()
+{
+    ros::Rate read_rpi_diagnostics_rate = ros::Rate(_read_cpu_frequency);
+
+    while (ros::ok()) {
+        _readCpuTemperature();
+
+        // check if Rpi is too hot
+        if (_cpu_temperature > _temperature_warn_threshold) {
+            ROS_WARN("CPU Interface - Rpi temperature is really high !");
+        }
+        if (_cpu_temperature > _temperature_shutdown_threshold) {
+            ROS_ERROR("CPU Interface - Rpi is too hot, shutdown to avoid any damage");
+            std::system("sudo shutdown now");
+        }
+
+        read_rpi_diagnostics_rate.sleep();
+    }
+}
diff --git a/niryo_robot_hardware_stack/cpu_interface/src/cpu_interface_node.cpp b/niryo_robot_hardware_stack/cpu_interface/src/cpu_interface_node.cpp
new file mode 100644
index 000000000..20002b85c
--- /dev/null
+++ b/niryo_robot_hardware_stack/cpu_interface/src/cpu_interface_node.cpp
@@ -0,0 +1,35 @@
+#include <ros/ros.h>
+#include <thread> 
+#include "cpu_interface/cpu_interface_core.hpp"
+
+boost::shared_ptr<CpuInterfaceCore> cpu;
+
+void readTemperature()
+{
+    ros::Rate read_rpi_diagnostics_rate = ros::Rate(1);
+    int temperature = 0;
+    while (ros::ok())
+    {
+        temperature = cpu->getCpuTemperature();
+        ROS_INFO("cpu temperature = %d", temperature);
+        read_rpi_diagnostics_rate.sleep();
+    }
+}
+
+int main(int argc, char **argv) 
+{
+    ros::init(argc, argv, "cpu_interface_node");
+  
+    ros::AsyncSpinner spinner(4);
+    spinner.start();
+    
+    ros::NodeHandle nh;
+   
+    cpu.reset(new CpuInterfaceCore());
+
+    std::thread readTempThread(readTemperature);
+    readTempThread.join();
+    ros::waitForShutdown();
+    
+    ROS_INFO("shutdown node");
+}
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/CMakeLists.txt b/niryo_robot_hardware_stack/dynamixel_driver/CMakeLists.txt
new file mode 100644
index 000000000..f923391d9
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/CMakeLists.txt
@@ -0,0 +1,111 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(dynamixel_driver)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+find_package(catkin REQUIRED
+    COMPONENTS
+        roscpp
+        dynamixel_sdk
+        niryo_robot_msgs
+        message_generation
+)
+
+find_package(Boost REQUIRED COMPONENTS system)
+
+add_message_files(
+  FILES
+    DxlArrayMotorHardwareStatus.msg
+    DxlMotorCommand.msg
+    DxlMotorHardwareStatus.msg
+)
+
+add_service_files(
+  DIRECTORY
+    srv
+  FILES
+    SendCustomDxlValue.srv
+)
+
+generate_messages(
+  DEPENDENCIES
+    std_msgs
+    niryo_robot_msgs
+)
+
+catkin_package(
+    INCLUDE_DIRS
+        include
+    LIBRARIES
+        ${PROJECT_NAME}
+        ${PROJECT_NAME}_core
+    CATKIN_DEPENDS
+        roscpp
+        dynamixel_sdk
+        niryo_robot_msgs
+)
+
+include_directories(
+    include
+    ${catkin_INCLUDE_DIRS}
+)
+
+add_library(${PROJECT_NAME}
+    src/xl320_driver.cpp
+    src/xl430_driver.cpp
+    src/dxl_motor_state.cpp
+    src/single_motor_cmd.cpp
+    src/synchronize_motor_cmd.cpp
+)
+
+add_library(${PROJECT_NAME}_core
+  src/dxl_driver_core.cpp
+  src/dxl_driver.cpp
+)
+
+add_executable(${PROJECT_NAME}_node
+  src/dxl_driver_node.cpp
+)
+
+add_executable(${PROJECT_NAME}_test
+  test/test_dynamixel_driver_node.cpp
+)
+
+add_dependencies(${PROJECT_NAME}_node
+  ${catkin_EXPORTED_TARGETS}
+)
+
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+)
+
+target_link_libraries(${PROJECT_NAME}_core
+  ${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+)
+
+target_link_libraries(${PROJECT_NAME}_node
+  ${PROJECT_NAME}_core
+  ${catkin_LIBRARIES}
+)
+
+target_link_libraries(${PROJECT_NAME}_test
+  ${PROJECT_NAME}_core
+  ${catkin_LIBRARIES}
+)
+
+install(
+  TARGETS ${PROJECT_NAME}_core
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
+
+install(
+  DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+add_dependencies(${PROJECT_NAME} niryo_robot_msgs_generate_messages_cpp)
+add_dependencies(${PROJECT_NAME} dynamixel_driver_generate_messages_cpp)
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/config/default.yaml b/niryo_robot_hardware_stack/dynamixel_driver/config/default.yaml
new file mode 100644
index 000000000..6f4ec7523
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/config/default.yaml
@@ -0,0 +1,6 @@
+dxl_hardware_control_loop_frequency: 100.0
+dxl_hardware_write_frequency: 50.0
+dxl_hardware_read_data_frequency: 15.0
+dxl_hardware_read_status_frequency: 0.5
+dxl_hardware_check_connection_frequency: 2.0
+dxl_end_effector_frequency:  2.0
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/config/motors_config.yaml b/niryo_robot_hardware_stack/dynamixel_driver/config/motors_config.yaml
new file mode 100644
index 000000000..46b2fd2e0
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/config/motors_config.yaml
@@ -0,0 +1,3 @@
+motors_params:
+    dxl_motor_id_list: [2,3,6]
+    dxl_motor_type_list: ["xl430","xl430","xl320"]
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/config/ned/dxl_bus_config.yaml b/niryo_robot_hardware_stack/dynamixel_driver/config/ned/dxl_bus_config.yaml
new file mode 100644
index 000000000..44450316d
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/config/ned/dxl_bus_config.yaml
@@ -0,0 +1,3 @@
+dxl_bus:
+    dxl_baudrate: 1000000
+    dxl_uart_device_name: "/dev/ttyAMA0"
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/config/one/dxl_bus_config.yaml b/niryo_robot_hardware_stack/dynamixel_driver/config/one/dxl_bus_config.yaml
new file mode 100644
index 000000000..34a46deed
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/config/one/dxl_bus_config.yaml
@@ -0,0 +1,3 @@
+dxl_bus:
+    dxl_baudrate: 1000000
+    dxl_uart_device_name: "/dev/serial0"
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/dxl_driver.hpp b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/dxl_driver.hpp
new file mode 100644
index 000000000..87e4d2138
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/dxl_driver.hpp
@@ -0,0 +1,189 @@
+/*
+    dxl_driver.hpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef DXL_DRIVER_HPP
+#define DXL_DRIVER_HPP
+
+#include <boost/shared_ptr.hpp>
+#include <ros/ros.h>
+#include <string>
+#include <thread>
+#include <queue>
+#include <functional>
+#include <algorithm>
+
+#include "dynamixel_sdk/dynamixel_sdk.h"
+
+#include "dynamixel_driver/DxlMotorCommand.h"
+#include "niryo_robot_msgs/MotorHeader.h"
+#include "niryo_robot_msgs/SetInt.h"
+#include "niryo_robot_msgs/CommandStatus.h"
+#include "dynamixel_driver/xl320_driver.hpp"
+#include "dynamixel_driver/xl430_driver.hpp"
+#include "dynamixel_driver/dxl_motor_state.hpp"
+#include "dynamixel_driver/synchronize_motor_cmd.hpp"
+#include "dynamixel_driver/single_motor_cmd.hpp"
+
+#define DXL_BUS_PROTOCOL_VERSION 2.0
+
+#define DXL_FAIL_OPEN_PORT -4500
+#define DXL_FAIL_PORT_SET_BAUDRATE -4501
+#define DXL_FAIL_SETUP_GPIO -4502
+
+#define RADIAN_TO_DEGREE 57.295779513082320876798154814105
+
+#define TIME_TO_WAIT_IF_BUSY 0.0005
+
+#define DXL_SCAN_OK 0
+#define DXL_SCAN_MISSING_MOTOR -50
+#define DXL_SCAN_UNALLOWED_MOTOR -51
+#define DXL_WRONG_TYPE -52
+
+namespace DynamixelDriver
+{
+    struct DxlCustomCommand {
+    
+        DxlCustomCommand(DxlMotorType m, uint8_t i, uint32_t v, uint32_t r, uint32_t b)
+            : motor_type(m), id(i), value(v), reg_address(r), byte_number(b) {}
+
+        DxlMotorType motor_type;
+        uint8_t id;
+        uint32_t value;
+        uint32_t reg_address;
+        uint32_t byte_number;
+
+    };
+
+    class DxlDriver
+    {
+        public:
+
+            DxlDriver();
+
+            int init();
+            void initParameters();
+
+            int setupCommunication();
+            bool isConnectionOk();
+
+            std::vector<DxlMotorState>& getMotorsState();
+            void getBusState(bool& connection_state, std::vector<uint8_t>& motor_id, std::string& debug_msg);
+
+            void executeJointTrajectoryCmd(std::vector<uint32_t> &cmd);
+
+            void addDynamixel(uint8_t id, DxlMotorType type);
+            void removeDynamixel(uint8_t id, DxlMotorType type);
+
+            uint32_t getPosition(DxlMotorState& motor_state);
+            void readPositionState();
+            void readHwStatus();
+            void readSynchronizeCommand(SynchronizeMotorCmd cmd);
+            void readSingleCommand(SingleMotorCmd cmd);
+
+            void fillPositionState(void);
+            void fillVoltageStatus(void);
+            void fillTemperatureStatus(void);
+            void fillErrorStatus(void);
+            void interpreteErrorState(void);
+
+            void readAndFillStateXL320(
+                int (XL320Driver::*readFunction)(std::vector<uint8_t> &, std::vector<uint32_t> &),
+                void (DxlMotorState::*setFunction)(uint32_t));
+
+            void readAndFillStateXL430(
+                int (XL430Driver::*readFunction)(std::vector<uint8_t> &, std::vector<uint32_t> &),
+                void (DxlMotorState::*setFunction)(uint32_t));
+
+            void FillMotorsState(void (DxlMotorState::*setFunction)(uint32_t), uint32_t (DxlMotorState::*getFunction)());
+
+            int setTorqueEnable(DxlMotorState& targeted_dxl, uint32_t torque_enable);
+            int setGoalPosition(DxlMotorState& targeted_dxl, uint32_t position);
+            int setGoalTorque(DxlMotorState& targeted_dxl, uint32_t torque);
+            
+            int setGoalVelocity(DxlMotorState& targeted_dxl, uint32_t velocity);
+            void syncWriteTorqueEnable(std::vector<uint8_t>& motor_list, std::vector<uint32_t>& torque_enable);
+            void syncWriteEffortCommand(std::vector<uint8_t>& motor_list, std::vector<uint32_t>& param_list);
+            void syncWriteVelocityCommand(std::vector<uint8_t>& motor_list, std::vector<uint32_t>& param_list);
+            void syncWritePositionCommand(std::vector<uint8_t>& motor_list, std::vector<uint32_t>& param_list);
+
+            int scanAndCheck();
+            int checkCommPortAvailable();
+            int getAllIdsOnDxlBus(std::vector<uint8_t> &id_list);
+            void checkRemovedMotors();
+            std::vector<int>& getRemovedMotorList();
+
+            int ping(DxlMotorState& targeted_dxl);
+            int ping_id(int dxl_id);
+            int type_ping_id(uint8_t id, DxlMotorType type);
+
+            int rebootMotors();
+            void updateMotorTypeList(void);
+            void addCustomDxlCommand(DxlMotorType motor_type, uint8_t id, uint32_t value,
+                                    uint32_t reg_address, uint32_t byte_number);
+            std::string getErrorMessage();
+
+            int sendCustomDxlCommand(DxlMotorType motor_type, uint8_t id, uint32_t value, uint32_t reg_address, uint32_t byte_number);
+
+            int getledstate(void);
+            int setLeds(int led);
+
+        private:
+            ros::NodeHandle _nh;
+
+            std::vector<uint8_t> _xl430_arm_id_list;
+            uint8_t _xl320_arm_id;
+            std::vector<int> _motor_id_list;
+            std::vector<std::string> _motor_type_list;
+            std::vector<int> _removed_motor_id_list;
+
+            std::vector<DxlMotorState> _motor_list;
+            std::vector<DxlMotorState> _xl430_motor_list;
+            std::vector<DxlMotorState> _xl320_motor_list;
+
+            std::string _device_name;
+            int _uart_baudrate;
+
+            boost::shared_ptr<dynamixel::PortHandler> _dxlPortHandler;
+            boost::shared_ptr<dynamixel::PacketHandler> _dxlPacketHandler;
+
+            std::vector<uint8_t> _all_motor_connected;
+
+            std::vector<uint8_t> _xl320_id_list;
+            std::vector<uint8_t> _xl430_id_list;
+
+            boost::shared_ptr<XL320Driver> _xl320;
+            boost::shared_ptr<XL430Driver> _xl430;
+
+            // for hardware control
+
+            bool _is_dxl_connection_ok;
+            std::string _debug_error_message;
+
+            int _xl320_hw_fail_counter_read;
+            int _xl430_hw_fail_counter_read;
+
+            int _led_state;
+
+            int _hw_fail_counter_read;
+
+            std::queue<DxlCustomCommand> _custom_command_queue;
+    };
+}
+
+#endif
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/dxl_driver_core.hpp b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/dxl_driver_core.hpp
new file mode 100644
index 000000000..37022ee44
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/dxl_driver_core.hpp
@@ -0,0 +1,121 @@
+/*
+    dxl_driver.hpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef DXL_DRIVER_CORE_HPP
+#define DXL_DRIVER_CORE_HPP
+
+#include <boost/shared_ptr.hpp>
+#include <ros/ros.h>
+#include <string>
+#include <thread>
+#include <queue>
+#include <functional>
+#include <vector>
+#include <mutex>
+
+#include "dynamixel_driver/dxl_driver.hpp"
+#include "dynamixel_driver/DxlArrayMotorHardwareStatus.h"
+#include "dynamixel_driver/SendCustomDxlValue.h"
+
+#include "niryo_robot_msgs/BusState.h"
+#include "niryo_robot_msgs/SetInt.h"
+#include "niryo_robot_msgs/CommandStatus.h"
+
+#include <std_msgs/Int64MultiArray.h>
+
+#define DXL_VOLTAGE_DIVISOR 10.0
+
+namespace DynamixelDriver
+{
+    class DynamixelDriverCore
+    {
+    public:
+
+        DynamixelDriverCore();
+
+        void init();
+
+        void initParameters();
+
+        void startControlLoop();
+        void resetHardwareControlLoopRates();
+        void controlLoop();
+
+        dynamixel_driver::DxlArrayMotorHardwareStatus getHwStatus();
+        niryo_robot_msgs::BusState getDxlBusState();
+
+        void setTrajectoryControllerCommands(std::vector<uint32_t>& cmd);
+
+        std::vector<DxlMotorState>& getDxlStates();
+
+        void setDxlCommands(SynchronizeMotorCmd &cmd);
+
+        int ping_id(uint8_t id, DxlMotorType type);
+        std::vector<uint8_t> scanTools();
+        int setEndEffector(uint8_t id, DxlMotorType type);
+        void unsetEndEffector(uint8_t id, DxlMotorType type);
+        void setEndEffectorCommands(std::vector<SingleMotorCmd> &cmd);
+        uint32_t getEndEffectorState(uint8_t id, DxlMotorType type);
+        std::vector<int>& getRemovedMotorList(); 
+        
+        int update_leds(void);
+
+        void activeDebugMode(bool mode);
+        int launchMotorsReport();
+        int motorScanReport(uint8_t motor_id, DxlMotorType motor_type);
+        int motorCmdReport(uint8_t motor_id, DxlMotorType motor_type);
+        int rebootMotors();
+
+    private:
+        ros::NodeHandle _nh;
+        bool _control_loop_flag;
+        bool _debug_flag;
+
+        std::mutex _control_loop_mutex;
+
+        boost::shared_ptr<std::thread> _control_loop_thread;
+
+        double _control_loop_frequency;
+        double _write_frequency;
+        double _read_data_frequency;            
+        double _read_status_frequency;
+        double _check_connection_frequency;
+        double _check_end_effector_frequency;
+
+        double _time_hw_data_last_write;
+        double _time_hw_data_last_read;
+        double _time_hw_status_last_read;
+        double _time_check_connection_last_read;
+        double _time_check_end_effector_last_read;
+
+        boost::shared_ptr<DxlDriver> _dynamixel;
+
+        void _executeCommand();
+
+        std::vector<uint32_t> _joint_trajectory_controller_cmd;
+        boost::shared_ptr<SynchronizeMotorCmd> _dxl_cmd;
+        std::vector<SingleMotorCmd> _end_effector_cmd;
+
+        ros::ServiceServer _activate_leds_server;
+        ros::ServiceServer _custom_cmd_server;
+        bool callbackActivateLeds(niryo_robot_msgs::SetInt::Request &req, niryo_robot_msgs::SetInt::Response &res);
+        bool callbackSendCustomDxlValue(dynamixel_driver::SendCustomDxlValue::Request &req, dynamixel_driver::SendCustomDxlValue::Response &res);
+    };
+}
+#endif
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/dxl_enum.hpp b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/dxl_enum.hpp
new file mode 100644
index 000000000..213b084ca
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/dxl_enum.hpp
@@ -0,0 +1,23 @@
+#ifndef DXL_ENUM_HPP
+#define DXL_ENUM_HPP
+
+namespace DynamixelDriver
+{
+    enum class DxlCommandType
+    {
+        CMD_TYPE_POSITION=1,
+        CMD_TYPE_VELOCITY=2,
+        CMD_TYPE_EFFORT=3,
+        CMD_TYPE_TORQUE=4,
+        CMD_TYPE_PING=5,
+        CMD_TYPE_LEARNING_MODE=6,
+    };
+
+    enum class DxlMotorType
+    {
+        MOTOR_TYPE_XL430=2,
+        MOTOR_TYPE_XL320=3
+    };
+}
+
+#endif
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/dxl_motor_state.hpp b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/dxl_motor_state.hpp
new file mode 100644
index 000000000..524012c57
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/dxl_motor_state.hpp
@@ -0,0 +1,78 @@
+/*
+    dxl_motor_state.h
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef DXL_MOTOR_STATE_H
+#define DXL_MOTOR_STATE_H
+
+#include <string>
+#include "dynamixel_driver/dxl_enum.hpp"
+
+#define TOOL_STATE_PING_OK       0x01
+#define TOOL_STATE_PING_ERROR    0x02
+#define TOOL_STATE_WRONG_ID      0x03
+#define TOOL_STATE_TIMEOUT       0x04
+
+#define GRIPPER_STATE_OPEN       0x10 
+#define GRIPPER_STATE_CLOSE      0x11
+
+#define VACUUM_PUMP_STATE_PULLED 0x20
+#define VACUUM_PUMP_STATE_PUSHED 0x21
+
+namespace DynamixelDriver
+{
+    class DxlMotorState
+    {
+        public:
+            DxlMotorState(uint8_t id, DxlMotorType type);
+            uint8_t getId();
+            void setId(uint8_t motor_id);
+            DxlMotorType getType();
+            void setType(DxlMotorType type);
+            
+            // getters - state
+            uint32_t getPositionState();
+            void setPositionState(uint32_t pos);
+
+            uint32_t getTemperatureState();
+            void setTemperatureState(uint32_t temp);
+            uint32_t getVoltageState();
+            void setVoltageState(uint32_t volt);
+            uint32_t getHardwareErrorState();
+            void setHardwareError(uint32_t hw_error);
+            std::string getHardwareErrorMessageState();
+            void setHardwareError(std::string hw_error_msg);
+
+            bool operator==(const DxlMotorState& other);
+
+
+        private:
+            uint8_t _id;
+            DxlMotorType _type;
+
+            // read variables
+            
+            uint32_t _state_pos=0; 
+            uint32_t _state_temperature=0;
+            uint32_t _state_voltage=0;
+            uint32_t _state_hw_error=0;
+            std::string _state_hw_error_msg="";
+    };
+}
+
+#endif
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/single_motor_cmd.hpp b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/single_motor_cmd.hpp
new file mode 100644
index 000000000..230fe720c
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/single_motor_cmd.hpp
@@ -0,0 +1,55 @@
+/*
+    single_motor_cmd.hpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef DXL_SINGLE_MOTOR_CMD_H
+#define DXL_SINGLE_MOTOR_CMD_H
+
+#include <string>
+#include <vector>
+
+#include "dynamixel_driver/dxl_enum.hpp"
+
+namespace DynamixelDriver
+{
+    class SingleMotorCmd {
+
+        public:
+
+            SingleMotorCmd( );
+            SingleMotorCmd(DxlCommandType type, uint8_t motor_id, uint32_t param);
+
+            DxlCommandType getType();
+            void setType(DxlCommandType type);
+
+            void setId(uint8_t id);
+            uint8_t getId();
+
+            uint32_t getParam();
+            void setParam(uint32_t param);            
+
+        private:
+
+            uint8_t _id;
+            DxlCommandType _type;
+            uint32_t _param;
+
+    };
+}
+
+#endif
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/synchronize_motor_cmd.hpp b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/synchronize_motor_cmd.hpp
new file mode 100644
index 000000000..ceed9fb8b
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/synchronize_motor_cmd.hpp
@@ -0,0 +1,53 @@
+/*
+    synchronize_motor_cmd.hpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef DXL_SYNCHRONIZE_MOTOR_CMD_H
+#define DXL_SYNCHRONIZE_MOTOR_CMD_H
+
+#include <string>
+#include <vector>
+
+#include "dynamixel_driver/dxl_enum.hpp"
+namespace DynamixelDriver
+{
+    class SynchronizeMotorCmd {
+
+        public:
+
+            SynchronizeMotorCmd( );
+            SynchronizeMotorCmd(DxlCommandType type, std::vector<uint8_t> motor_id, std::vector<uint32_t> params);
+            
+            DxlCommandType getType();
+            void setType(DxlCommandType type);
+            
+            std::vector<uint8_t>& getMotorsId();
+            void setMotorsId(std::vector<uint8_t> motor_id);
+
+            std::vector<uint32_t>& getParams();
+            void setParams(std::vector<uint32_t> params);
+
+        private:
+
+            DxlCommandType _type;
+            std::vector<uint8_t> _motor_id_list;
+            std::vector<uint32_t> _param_list;
+    };
+}
+
+#endif
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/xl320_driver.hpp b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/xl320_driver.hpp
new file mode 100644
index 000000000..270f307b7
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/xl320_driver.hpp
@@ -0,0 +1,159 @@
+/*
+    xl320_driver.hpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef XL320_DRIVER_HPP
+#define XL320_DRIVER_HPP
+
+#include <boost/shared_ptr.hpp>
+#include <vector>
+
+#include "dynamixel_sdk/dynamixel_sdk.h"
+
+#define DXL_LEN_ONE_BYTE 1
+#define DXL_LEN_TWO_BYTES 2
+#define DXL_LEN_FOUR_BYTES 4
+
+#define GROUP_SYNC_REDONDANT_ID 10
+#define GROUP_SYNC_READ_RX_FAIL 11
+#define LEN_ID_DATA_NOT_SAME 20
+
+#define PING_WRONG_MODEL_NUMBER 30
+
+#define XL320_PROTOCOL_VERSION 2.0
+#define XL320_MODEL_NUMBER 350
+
+// Table here : http://support.robotis.com/en/product/actuator/dynamixel_x/xl_series/xl-320.htm
+#define XL320_ADDR_MODEL_NUMBER 0
+#define XL320_ADDR_FIRMWARE_VERSION 2
+#define XL320_ADDR_ID 3
+#define XL320_ADDR_BAUDRATE 4
+#define XL320_ADDR_RETURN_DELAY_TIME 5
+#define XL320_ADDR_CW_ANGLE_LIMIT 6
+#define XL320_ADDR_CCW_ANGLE_LIMIT 8 // EEPROM
+#define XL320_ADDR_CONTROL_MODE 11
+#define XL320_ADDR_LIMIT_TEMPERATURE 12
+#define XL320_ADDR_LOWER_LIMIT_VOLTAGE 13
+#define XL320_ADDR_UPPER_LIMIT_VOLTAGE 14
+#define XL320_ADDR_MAX_TORQUE 15
+#define XL320_ADDR_RETURN_LEVEL 17
+#define XL320_ADDR_ALARM_SHUTDOWN 18
+
+#define XL320_ADDR_TORQUE_ENABLE 24
+#define XL320_ADDR_LED 25
+#define XL320_ADDR_D_GAIN 27
+#define XL320_ADDR_I_GAIN 28
+#define XL320_ADDR_P_GAIN 29
+#define XL320_ADDR_GOAL_POSITION 30
+#define XL320_ADDR_GOAL_SPEED 32
+#define XL320_ADDR_GOAL_TORQUE 35
+#define XL320_ADDR_PRESENT_POSITION 37 // RAM
+#define XL320_ADDR_PRESENT_SPEED 39
+#define XL320_ADDR_PRESENT_LOAD 41
+#define XL320_ADDR_PRESENT_VOLTAGE 45
+#define XL320_ADDR_PRESENT_TEMPERATURE 46
+#define XL320_ADDR_REGISTERED 47
+#define XL320_ADDR_MOVING 49
+#define XL320_ADDR_HW_ERROR_STATUS 50
+#define XL320_ADDR_PUNCH 51
+
+// we stop at 1022 instead of 1023, to get an odd number of positions (1023)
+// --> so we can get a middle point (511)
+#define XL320_TOTAL_ANGLE 296.67
+#define XL320_MAX_POSITION 1022
+#define XL320_MIN_POSITION 0
+#define XL320_MIDDLE_POSITION 511
+#define XL320_TOTAL_RANGE_POSITION 1023
+
+// according to xl-320 datasheet : 1 speed ~ 0.111 rpm ~ 1.8944 dxl position per second
+#define XL320_STEPS_FOR_1_SPEED 1.8944 // 0.111 * 1024 / 60
+
+class XL320Driver
+{
+private:
+    boost::shared_ptr<dynamixel::PortHandler>& _dxlPortHandler;
+    boost::shared_ptr<dynamixel::PacketHandler>& _dxlPacketHandler;
+
+    int syncWrite1Byte(uint8_t address, std::vector<uint8_t> &id_list, std::vector<uint32_t> &data_list);
+    int syncWrite2Bytes(uint8_t address, std::vector<uint8_t> &id_list, std::vector<uint32_t> &data_list);
+    int syncWrite4Bytes(uint8_t address, std::vector<uint8_t> &id_list, std::vector<uint32_t> &data_list);
+
+    int read1Byte(uint8_t address, uint8_t id, uint32_t *data);
+    int read2Bytes(uint8_t address, uint8_t id, uint32_t *data);
+    int read4Bytes(uint8_t address, uint8_t id, uint32_t *data);
+    int syncRead(uint8_t address, uint8_t data_len, std::vector<uint8_t> &id_list, std::vector<uint32_t> &data_list);
+
+public:
+    XL320Driver(boost::shared_ptr<dynamixel::PortHandler>& portHandler, boost::shared_ptr<dynamixel::PacketHandler>& packetHandler);
+
+    int checkModelNumber(uint8_t id);
+
+    uint32_t rad_pos_to_xl320_pos(double position_rad);
+    double xl320_pos_to_rad_pos(int32_t position_dxl);
+
+    int scan(std::vector<uint8_t> &id_list);
+    int ping(uint8_t id);
+    int getModelNumber(uint8_t id, uint16_t *dxl_model_number);
+    int reboot(uint8_t id);
+
+    // eeprom write
+    int changeId(uint8_t id, uint8_t new_id);
+    int changeBaudRate(uint8_t id, uint32_t new_baudrate);
+    int setReturnDelayTime(uint8_t id, uint32_t return_delay_time);
+    int setLimitTemperature(uint8_t id, uint32_t temperature);
+    int setMaxTorque(uint8_t id, uint32_t torque);
+    int setReturnLevel(uint8_t id, uint32_t return_level);
+    int setAlarmShutdown(uint8_t id, uint32_t alarm_shutdown);
+
+    // eeprom read
+    int readReturnDelayTime(uint8_t id, uint32_t *return_delay_time);
+    int readLimitTemperature(uint8_t id, uint32_t *limit_temperature);
+    int readMaxTorque(uint8_t id, uint32_t *max_torque);
+    int readReturnLevel(uint8_t id, uint32_t *return_level);
+    int readAlarmShutdown(uint8_t id, uint32_t *alarm_shutdown);
+
+    // ram write
+    int setTorqueEnable(uint8_t id, uint32_t torque_enable);
+    int setLed(uint8_t id, uint32_t led_value);
+    int setGoalPosition(uint8_t id, uint32_t position);
+    int setGoalVelocity(uint8_t id, uint32_t velocity);
+    int setGoalTorque(uint8_t id, uint32_t torque);
+
+    int syncWriteLed(std::vector<uint8_t> &id_list, std::vector<uint32_t> &led_list);
+    int syncWriteTorqueEnable(std::vector<uint8_t> &id_list, std::vector<uint32_t> &torque_enable_list);
+    int syncWritePositionGoal(std::vector<uint8_t> &id_list, std::vector<uint32_t> &position_list);
+    int syncWriteVelocityGoal(std::vector<uint8_t> &id_list, std::vector<uint32_t> &velocity_list);
+    int syncWriteTorqueGoal(std::vector<uint8_t> &id_list, std::vector<uint32_t> &torque_list);
+
+    // ram read
+    int readPosition(uint8_t id, uint32_t *present_position);
+    int readVelocity(uint8_t id, uint32_t *present_velocity);
+    int readLoad(uint8_t id, uint32_t *present_load);
+    int readTemperature(uint8_t id, uint32_t *temperature);
+    int readVoltage(uint8_t id, uint32_t *voltage);
+    int readHardwareStatus(uint8_t id, uint32_t *hardware_status);
+
+    int syncReadPosition(std::vector<uint8_t> &id_list, std::vector<uint32_t> &position_list);
+    int syncReadVelocity(std::vector<uint8_t> &id_list, std::vector<uint32_t> &velocity_list);
+    int syncReadLoad(std::vector<uint8_t> &id_list, std::vector<uint32_t> &load_list);
+    int syncReadTemperature(std::vector<uint8_t> &id_list, std::vector<uint32_t> &temperature_list);
+    int syncReadVoltage(std::vector<uint8_t> &id_list, std::vector<uint32_t> &voltage_list);
+    int syncReadHwErrorStatus(std::vector<uint8_t> &id_list, std::vector<uint32_t> &hw_error_list);
+
+    // custom write
+    int customWrite(uint8_t id, uint32_t value, uint8_t reg_address, uint8_t byte_number);
+};
+
+#endif
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/xl430_driver.hpp b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/xl430_driver.hpp
new file mode 100644
index 000000000..7257bf56c
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/xl430_driver.hpp
@@ -0,0 +1,152 @@
+/*
+    xl430_driver.hpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef XL430_DRIVER_HPP
+#define XL430_DRIVER_HPP
+
+#include <boost/shared_ptr.hpp>
+#include <vector>
+#include <string>
+#include "dynamixel_sdk/dynamixel_sdk.h"
+#include <iostream>
+#define DXL_LEN_ONE_BYTE 1
+#define DXL_LEN_TWO_BYTES 2
+#define DXL_LEN_FOUR_BYTES 4
+
+#define GROUP_SYNC_REDONDANT_ID 10
+#define GROUP_SYNC_READ_RX_FAIL 11
+#define LEN_ID_DATA_NOT_SAME 20
+
+#define PING_WRONG_MODEL_NUMBER 30
+#define XL430_PROTOCOL_VERSION 2.0
+#define XL430_MODEL_NUMBER 1060
+
+// Table here : http://support.robotis.com/en/product/actuator/dynamixel_x/xl_series/xl430-w250.htm
+#define XL430_ADDR_MODEL_NUMBER 0
+#define XL430_ADDR_FIRMWARE_VERSION 6
+#define XL430_ADDR_ID 7
+#define XL430_ADDR_BAUDRATE 8
+#define XL430_ADDR_RETURN_DELAY_TIME 9
+#define XL430_ADDR_DRIVE_MODE 10
+#define XL430_ADDR_OPERATING_MODE 11
+#define XL430_ADDR_HOMING_OFFSET 20 // EEPROM (not all addresses)
+#define XL430_ADDR_TEMPERATURE_LIMIT 31
+#define XL430_ADDR_MAX_VOLTAGE_LIMIT 32
+#define XL430_ADDR_MIN_VOLTAGE_LIMIT 34
+#define XL430_ADDR_MAX_POSITION_LIMIT 48
+#define XL430_ADDR_MIN_POSITION_LIMIT 52
+#define XL430_ADDR_ALARM_SHUTDOWN 63
+
+#define XL430_ADDR_TORQUE_ENABLE 64
+#define XL430_ADDR_LED 65
+#define XL430_ADDR_STATUS_RETURN_LEVEL 68
+#define XL430_ADDR_HW_ERROR_STATUS 70
+#define XL430_ADDR_GOAL_PWM 100
+#define XL430_ADDR_GOAL_VELOCITY 104
+#define XL430_ADDR_GOAL_POSITION 116 // RAM (not all addresses)
+#define XL430_ADDR_MOVING 122
+#define XL430_ADDR_PRESENT_PWM 124
+#define XL430_ADDR_PRESENT_LOAD 126
+#define XL430_ADDR_PRESENT_VELOCITY 128
+#define XL430_ADDR_PRESENT_POSITION 132
+#define XL430_ADDR_PRESENT_VOLTAGE 144
+#define XL430_ADDR_PRESENT_TEMPERATURE 146
+
+// we stop at 4094 instead of 4095, to get an odd number of positions (4095)
+// --> so we can get a middle point (2047)
+#define XL430_TOTAL_ANGLE 360.36
+#define XL430_MAX_POSITION 4094
+#define XL430_MIN_POSITION 0
+#define XL430_MIDDLE_POSITION 2047
+#define XL430_TOTAL_RANGE_POSITION 4095
+
+class XL430Driver
+{
+private:
+    boost::shared_ptr<dynamixel::PortHandler>& _dxlPortHandler;
+    boost::shared_ptr<dynamixel::PacketHandler>& _dxlPacketHandler;
+
+    int syncWrite1Byte(uint8_t address, std::vector<uint8_t> &id_list, std::vector<uint32_t> &data_list);
+    int syncWrite2Bytes(uint8_t address, std::vector<uint8_t> &id_list, std::vector<uint32_t> &data_list);
+    int syncWrite4Bytes(uint8_t address, std::vector<uint8_t> &id_list, std::vector<uint32_t> &data_list);
+
+    int read1Byte(uint8_t address, uint8_t id, uint32_t *data);
+    int read2Bytes(uint8_t address, uint8_t id, uint32_t *data);
+    int read4Bytes(uint8_t address, uint8_t id, uint32_t *data);
+    int syncRead(uint8_t address, uint8_t data_len, std::vector<uint8_t> &id_list, std::vector<uint32_t> &data_list);
+
+public:
+    XL430Driver(boost::shared_ptr<dynamixel::PortHandler>& portHandler, boost::shared_ptr<dynamixel::PacketHandler>& packetHandler);
+
+    int checkModelNumber(uint8_t id);
+
+    uint32_t rad_pos_to_xl430_pos(double position_rad);
+    double xl430_pos_to_rad_pos(int32_t position_dxl);
+
+    int scan(std::vector<uint8_t> &id_list);
+    int ping(uint8_t id);
+    int getModelNumber(uint8_t id, uint16_t *dxl_model_number);
+    int reboot(uint8_t id);
+
+    // eeprom write
+    int changeId(uint8_t id, uint8_t new_id);
+    int changeBaudRate(uint8_t id, uint32_t new_baudrate);
+    int setReturnDelayTime(uint8_t id, uint32_t return_delay_time);
+    int setLimitTemperature(uint8_t id, uint32_t temperature);
+    int setMaxTorque(uint8_t id, uint32_t torque);
+    int setReturnLevel(uint8_t id, uint32_t return_level);
+    int setAlarmShutdown(uint8_t id, uint32_t alarm_shutdown);
+
+    // eeprom read
+    int readReturnDelayTime(uint8_t id, uint32_t *return_delay_time);
+    int readLimitTemperature(uint8_t id, uint32_t *limit_temperature);
+    int readMaxTorque(uint8_t id, uint32_t *max_torque);
+    int readReturnLevel(uint8_t id, uint32_t *return_level);
+    int readAlarmShutdown(uint8_t id, uint32_t *alarm_shutdown);
+
+    // ram write
+    int setTorqueEnable(uint8_t id, uint32_t torque_enable);
+    int setLed(uint8_t id, uint32_t led_value);
+    int setGoalPosition(uint8_t id, uint32_t position);
+    int setGoalVelocity(uint8_t id, uint32_t velocity);
+    int setGoalTorque(uint8_t id, uint32_t torque);
+
+    int syncWriteLed(std::vector<uint8_t> &id_list, std::vector<uint32_t> &led_list);
+    int syncWriteTorqueEnable(std::vector<uint8_t> &id_list, std::vector<uint32_t> &torque_enable_list);
+    int syncWritePositionGoal(std::vector<uint8_t> &id_list, std::vector<uint32_t> &position_list);
+    int syncWriteVelocityGoal(std::vector<uint8_t> &id_list, std::vector<uint32_t> &velocity_list);
+    int syncWriteTorqueGoal(std::vector<uint8_t> &id_list, std::vector<uint32_t> &torque_list);
+
+    // ram read
+    int readPosition(uint8_t id, uint32_t *present_position);
+    int readVelocity(uint8_t id, uint32_t *present_velocity);
+    int readLoad(uint8_t id, uint32_t *present_load);
+    int readTemperature(uint8_t id, uint32_t *temperature);
+    int readVoltage(uint8_t id, uint32_t *voltage);
+    int readHardwareStatus(uint8_t id, uint32_t *hardware_status);
+
+    int syncReadPosition(std::vector<uint8_t> &id_list, std::vector<uint32_t> &position_list);
+    int syncReadVelocity(std::vector<uint8_t> &id_list, std::vector<uint32_t> &velocity_list);
+    int syncReadLoad(std::vector<uint8_t> &id_list, std::vector<uint32_t> &load_list);
+    int syncReadTemperature(std::vector<uint8_t> &id_list, std::vector<uint32_t> &temperature_list);
+    int syncReadVoltage(std::vector<uint8_t> &id_list, std::vector<uint32_t> &voltage_list);
+    int syncReadHwErrorStatus(std::vector<uint8_t> &id_list, std::vector<uint32_t> &hw_error_list);
+
+    // custom write
+    int customWrite(uint8_t id, uint32_t value, uint8_t reg_address, uint8_t byte_number);
+};
+
+#endif
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/launch/dynamixel_driver.launch b/niryo_robot_hardware_stack/dynamixel_driver/launch/dynamixel_driver.launch
new file mode 100644
index 000000000..41f2ea6db
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/launch/dynamixel_driver.launch
@@ -0,0 +1,10 @@
+<launch>
+  <arg name="hardware_version" value="ned"/>
+
+  <node pkg="dynamixel_driver" type="dynamixel_driver_node" name="dynamixel_driver" output="screen">  
+    <rosparam file="$(find dynamixel_driver)/config/$(arg hardware_version)/dxl_bus_config.yaml" command="load"/>
+    <rosparam file="$(find dynamixel_driver)/config/motors_config.yaml" command="load"/>
+    <rosparam file="$(find dynamixel_driver)/config/default.yaml" command="load"/>
+  </node>
+  
+</launch>
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/launch/test.launch b/niryo_robot_hardware_stack/dynamixel_driver/launch/test.launch
new file mode 100644
index 000000000..a49903d71
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/launch/test.launch
@@ -0,0 +1,9 @@
+<launch>
+  <arg name="hardware_version" value="ned"/>
+
+  <node pkg="dynamixel_driver" type="dynamixel_driver_test" name="dynamixel_driver" output="screen">  
+    <rosparam file="$(find dynamixel_driver)/config/$(arg hardware_version)/dxl_bus_config.yaml" command="load"/>
+    <rosparam file="$(find dynamixel_driver)/config/motors_config.yaml" command="load"/>
+    <rosparam file="$(find dynamixel_driver)/config/default.yaml" command="load"/>
+  </node>
+</launch>
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/msg/DxlArrayMotorHardwareStatus.msg b/niryo_robot_hardware_stack/dynamixel_driver/msg/DxlArrayMotorHardwareStatus.msg
new file mode 100644
index 000000000..a7d1a58ac
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/msg/DxlArrayMotorHardwareStatus.msg
@@ -0,0 +1,2 @@
+std_msgs/Header header
+dynamixel_driver/DxlMotorHardwareStatus[] motors_hw_status
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/msg/DxlMotorCommand.msg b/niryo_robot_hardware_stack/dynamixel_driver/msg/DxlMotorCommand.msg
new file mode 100644
index 000000000..2b7ce7b54
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/msg/DxlMotorCommand.msg
@@ -0,0 +1,8 @@
+uint8 cmd_type
+uint8 CMD_TYPE_POSITION=1
+uint8 CMD_TYPE_VELOCITY=2
+uint8 CMD_TYPE_EFFORT=3
+uint8 CMD_TYPE_TORQUE=4
+
+uint8[] motors_id
+uint32[] params
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/msg/DxlMotorHardwareStatus.msg b/niryo_robot_hardware_stack/dynamixel_driver/msg/DxlMotorHardwareStatus.msg
new file mode 100644
index 000000000..ac6ae0084
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/msg/DxlMotorHardwareStatus.msg
@@ -0,0 +1,6 @@
+niryo_robot_msgs/MotorHeader motor_identity
+
+uint32 temperature
+float64 voltage
+uint32 error
+string error_msg
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/package.xml b/niryo_robot_hardware_stack/dynamixel_driver/package.xml
new file mode 100644
index 000000000..f5a4e6eac
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/package.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>dynamixel_driver</name>
+  <version>0.0.0</version>
+  <description>The dynamixel_driver package provides an interface bewteen high level ROS packages and dynamixels motors</description>
+  <author>Etienne Rey-Coquais</author>
+  <author>Edouard Renard</author>
+  <author>Valentin Pitre</author>
+  <maintainer email="e.rey-coquais@niryo.com">Etienne Rey-Coquais</maintainer>
+
+  <license>GPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>roscpp</build_depend>
+  <build_depend>dynamixel_sdk</build_depend>
+  <build_depend>niryo_robot_msgs</build_depend>
+
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>dynamixel_sdk</exec_depend>
+  <exec_depend>niryo_robot_msgs</exec_depend>
+</package>
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/src/dxl_driver.cpp b/niryo_robot_hardware_stack/dynamixel_driver/src/dxl_driver.cpp
new file mode 100644
index 000000000..b334e18f5
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/src/dxl_driver.cpp
@@ -0,0 +1,1134 @@
+/*
+    dxl_driver.cpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "dynamixel_driver/dxl_driver.hpp"
+namespace DynamixelDriver
+{
+    DxlDriver::DxlDriver()
+    {
+        bool debug_mode = false;
+        _nh.getParam("/niryo_robot_hardware_interface/debug", debug_mode);
+        if (debug_mode)
+        {
+            if (ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug))
+            {
+                ros::console::notifyLoggerLevelsChanged();
+            }
+        }
+
+        if (init() != COMM_SUCCESS)
+        {
+            ROS_WARN("Dxl Driver - Dynamixel Communication Failed");
+        }
+    }
+
+    int DxlDriver::init()
+    {
+        initParameters();
+
+        _dxlPortHandler.reset(dynamixel::PortHandler::getPortHandler(_device_name.c_str()));
+        _dxlPacketHandler.reset(dynamixel::PacketHandler::getPacketHandler(DXL_BUS_PROTOCOL_VERSION));
+
+        ROS_DEBUG("Dxl Driver - Dxl : set port name (%s), baudrate(%d)", _device_name.c_str(), _uart_baudrate);
+
+        _xl320.reset(new XL320Driver(_dxlPortHandler, _dxlPacketHandler));
+        _xl430.reset(new XL430Driver(_dxlPortHandler, _dxlPacketHandler));
+
+        _is_dxl_connection_ok = false;
+        _debug_error_message = "Dxl Driver - No connection with Dynamixel motors has been made yet";
+
+        updateMotorTypeList();
+
+        return setupCommunication();
+    }
+
+    void DxlDriver::initParameters()
+    {
+        // get params from rosparams
+        _nh.getParam("/niryo_robot_hardware_interface/dynamixel_driver/dxl_bus/dxl_uart_device_name", _device_name);
+        _nh.getParam("/niryo_robot_hardware_interface/dynamixel_driver/dxl_bus/dxl_baudrate", _uart_baudrate);
+
+        if (_nh.hasParam("/niryo_robot_hardware_interface/dynamixel_driver/motors_params/dxl_motor_id_list"))
+        {
+            _nh.getParam("/niryo_robot_hardware_interface/dynamixel_driver/motors_params/dxl_motor_id_list", _motor_id_list);
+        }
+        else
+        {
+            _nh.getParam("/niryo_robot_hardware_interface/motors_params/dxl_motor_id_list", _motor_id_list);
+        }
+
+        if (_nh.hasParam("/niryo_robot_hardware_interface/dynamixel_driver/motors_params/dxl_motor_type_list"))
+        {
+            _nh.getParam("/niryo_robot_hardware_interface/dynamixel_driver/motors_params/dxl_motor_type_list", _motor_id_list);
+        }
+        else
+        {
+            _nh.getParam("/niryo_robot_hardware_interface/motors_params/dxl_motor_type_list", _motor_type_list);
+        }
+
+        _xl430_arm_id_list.clear();
+        _xl430_arm_id_list.push_back(2);
+        _xl430_arm_id_list.push_back(3);
+        _xl320_arm_id = 6;
+        _removed_motor_id_list.clear();
+
+        std::string motor_string_list = "[";
+        for (int i = 0; i < _motor_id_list.size(); i++)
+        {
+            if (i != 0)
+                motor_string_list += ", ";
+            motor_string_list += "id " + std::to_string(_motor_id_list.at(i)) + ": " + _motor_type_list.at(i).c_str();
+        }
+        motor_string_list += "]";
+        ROS_INFO("Dxl Driver - Dxl motor list: %s ", motor_string_list.c_str());
+    }
+
+    int DxlDriver::setupCommunication()
+    {
+
+        // setup half-duplex direction GPIO
+        // see schema http://support.robotis.com/en/product/actuator/dynamixel_x/xl-series_main.htm
+        if (!_dxlPortHandler->setupGpio())
+        {
+            ROS_ERROR("Dxl Driver - Failed to setup direction GPIO pin for Dynamixel half-duplex serial");
+            _debug_error_message = "Dxl Driver -  Failed to setup direction GPIO pin for Dynamixel half-duplex serial";
+            return DXL_FAIL_SETUP_GPIO;
+        }
+
+        // Open port
+        if (!_dxlPortHandler->openPort())
+        {
+            ROS_ERROR("Dxl Driver - Failed to open Uart port for Dynamixel bus");
+            _debug_error_message = "Dxl Driver - Failed to open Uart port for Dynamixel bus";
+            return DXL_FAIL_OPEN_PORT;
+        }
+
+        // Set baudrate
+        if (!_dxlPortHandler->setBaudRate(_uart_baudrate))
+        {
+            ROS_ERROR("Dxl Driver - Failed to set baudrate for Dynamixel bus");
+            _debug_error_message = "Dxl Driver - Failed to set baudrate for Dynamixel bus";
+            return DXL_FAIL_PORT_SET_BAUDRATE;
+        }
+
+        ros::Duration(0.1).sleep();
+        return COMM_SUCCESS;
+    }
+
+    std::vector<DxlMotorState> &DxlDriver::getMotorsState()
+    {
+        return _motor_list;
+    }
+
+    void DxlDriver::getBusState(bool &connection_state, std::vector<uint8_t> &motor_id, std::string &debug_msg)
+    {
+        debug_msg = _debug_error_message;
+        motor_id = _all_motor_connected;
+        connection_state = isConnectionOk();
+    }
+
+    void DxlDriver::addDynamixel(uint8_t id, DxlMotorType type)
+    {
+        _motor_id_list.push_back(id);
+        if (type == DxlMotorType::MOTOR_TYPE_XL320)
+        {
+            _motor_type_list.push_back("xl320");
+        }
+        else if (type == DxlMotorType::MOTOR_TYPE_XL430)
+        {
+            _motor_type_list.push_back("xl430");
+        }
+        updateMotorTypeList();
+    }
+
+    void DxlDriver::removeDynamixel(uint8_t id, DxlMotorType type)
+    {
+        for (int i = 0; i < _motor_id_list.size(); i++)
+        {
+            if (_motor_id_list.at(i) == id)
+            {
+                _motor_id_list.erase(_motor_id_list.begin() + i);
+                _motor_type_list.erase(_motor_type_list.begin() + i);
+            }
+        }
+        for (int i = 0; i < _removed_motor_id_list.size(); i++)
+        {
+            if (_removed_motor_id_list.at(i) == id)
+            {
+                _removed_motor_id_list.erase(_removed_motor_id_list.begin() + i);
+            }
+        }
+        updateMotorTypeList();
+    }
+
+    void DxlDriver::updateMotorTypeList(void)
+    {
+        std::vector<uint8_t> new_xl430_id_list;
+        std::vector<uint8_t> new_xl320_id_list;
+
+        std::vector<DxlMotorState> new_motor_list;
+        std::vector<DxlMotorState> new_xl320_motor_list;
+        std::vector<DxlMotorState> new_xl430_motor_list;
+
+        for (int i = 0; i < _motor_id_list.size(); i++)
+        {
+            if (_motor_type_list.at(i) == "xl430")
+            {
+                std::vector<DxlMotorState>::iterator it = std::find_if(_motor_list.begin(), _motor_list.end(), [&](DxlMotorState &dxl_state) { return dxl_state.getId() == _motor_id_list.at(i); });
+                if (it != _motor_list.end())
+                {
+                    it->setType(DxlMotorType::MOTOR_TYPE_XL430);
+                    new_xl430_motor_list.push_back(*it);
+                    new_motor_list.push_back(*it);
+                }
+                else
+                {
+                    DxlMotorState motor(_motor_id_list.at(i), DxlMotorType::MOTOR_TYPE_XL430);
+                    new_xl430_motor_list.push_back(motor);
+                    new_motor_list.push_back(motor);
+                }
+                new_xl430_id_list.push_back(_motor_id_list.at(i));
+            }
+            else if (_motor_type_list.at(i) == "xl320")
+            {
+                std::vector<DxlMotorState>::iterator it = std::find_if(_motor_list.begin(), _motor_list.end(), [&](DxlMotorState &dxl_state) { return dxl_state.getId() == _motor_id_list.at(i); });
+                if (it != _motor_list.end())
+                {
+                    it->setType(DxlMotorType::MOTOR_TYPE_XL320);
+                    new_xl320_motor_list.push_back(*it);
+                    new_motor_list.push_back(*it);
+                }
+                else
+                {
+                    DxlMotorState motor(_motor_id_list.at(i), DxlMotorType::MOTOR_TYPE_XL320);
+                    new_xl320_motor_list.push_back(motor);
+                    new_motor_list.push_back(motor);
+                }
+                new_xl320_id_list.push_back(_motor_id_list.at(i));
+            }
+        }
+
+        _xl430_id_list = new_xl430_id_list;
+        _xl320_id_list = new_xl320_id_list;
+        _xl320_motor_list = new_xl320_motor_list;
+        _xl430_motor_list = new_xl430_motor_list;
+        _motor_list = new_motor_list;
+    }
+
+    void DxlDriver::fillPositionState()
+    {
+        readAndFillStateXL320(&XL320Driver::syncReadPosition, &DxlMotorState::setPositionState);
+        readAndFillStateXL430(&XL430Driver::syncReadPosition, &DxlMotorState::setPositionState);
+        FillMotorsState(&DxlMotorState::setPositionState, &DxlMotorState::getPositionState);
+    }
+
+    void DxlDriver::fillTemperatureStatus()
+    {
+        readAndFillStateXL320(&XL320Driver::syncReadTemperature, &DxlMotorState::setTemperatureState);
+        readAndFillStateXL430(&XL430Driver::syncReadTemperature, &DxlMotorState::setTemperatureState);
+        FillMotorsState(&DxlMotorState::setTemperatureState, &DxlMotorState::getTemperatureState);
+    }
+
+    void DxlDriver::fillVoltageStatus()
+    {
+        readAndFillStateXL320(&XL320Driver::syncReadVoltage, &DxlMotorState::setVoltageState);
+        readAndFillStateXL430(&XL430Driver::syncReadVoltage, &DxlMotorState::setVoltageState);
+        FillMotorsState(&DxlMotorState::setVoltageState, &DxlMotorState::getVoltageState);
+    }
+
+    void DxlDriver::fillErrorStatus()
+    {
+        readAndFillStateXL320(&XL320Driver::syncReadHwErrorStatus, &DxlMotorState::setHardwareError);
+        readAndFillStateXL430(&XL430Driver::syncReadHwErrorStatus, &DxlMotorState::setHardwareError);
+        FillMotorsState(&DxlMotorState::setHardwareError, &DxlMotorState::getHardwareErrorState);
+    }
+
+    void DxlDriver::FillMotorsState(void (DxlMotorState::*setFunction)(uint32_t), uint32_t (DxlMotorState::*getFunction)())
+    {
+        for (auto motor = _motor_list.begin(); motor != _motor_list.end(); ++motor)
+        {
+            for (auto xl430 = _xl430_motor_list.begin(); xl430 != _xl430_motor_list.end(); ++xl430)
+            {
+                if (motor->getId() == xl430->getId())
+                {
+                    ((*motor).*setFunction)(((*xl430).*getFunction)());
+                }
+            }
+            for (auto xl320 = _xl320_motor_list.begin(); xl320 != _xl320_motor_list.end(); ++xl320)
+            {
+                if (motor->getId() == xl320->getId())
+                {
+                    ((*motor).*setFunction)(((*xl320).*getFunction)());
+                }
+            }
+        }
+    }
+
+    void DxlDriver::readAndFillStateXL320(
+        int (XL320Driver::*readFunction)(std::vector<uint8_t> &, std::vector<uint32_t> &),
+        void (DxlMotorState::*setFunction)(uint32_t))
+    {
+        std::vector<uint32_t> read_elements_list;
+        int read_result = (_xl320.get()->*readFunction)(_xl320_id_list, read_elements_list);
+        if (read_result == COMM_SUCCESS)
+        {
+            _xl320_hw_fail_counter_read = 0;
+            for (int i = 0; i < _xl320_motor_list.size(); i++)
+            {
+                (_xl320_motor_list.at(i).*setFunction)(read_elements_list.at(i));
+            }
+        }
+        else
+        {
+            _xl320_hw_fail_counter_read++;
+        }
+    }
+
+    void DxlDriver::readAndFillStateXL430(
+        int (XL430Driver::*readFunction)(std::vector<uint8_t> &, std::vector<uint32_t> &),
+        void (DxlMotorState::*setFunction)(uint32_t))
+    {
+        std::vector<uint32_t> read_elements_list;
+        int read_result = (_xl430.get()->*readFunction)(_xl430_id_list, read_elements_list);
+        if (read_result == COMM_SUCCESS)
+        {
+            _xl430_hw_fail_counter_read = 0;
+            for (int i = 0; i < _xl430_motor_list.size(); i++)
+            {
+                (_xl430_motor_list.at(i).*setFunction)(read_elements_list.at(i));
+            }
+        }
+        else
+        {
+            _xl430_hw_fail_counter_read++;
+        }
+    }
+
+    void DxlDriver::readPositionState()
+    {
+        bool can_read_dxl = (_motor_list.size() > 0);
+        if (!can_read_dxl)
+        {
+            ROS_ERROR_THROTTLE(1, "Dxl Driver - No motor");
+            _debug_error_message = "Dxl Driver -  No motor";
+            return;
+        }
+        fillPositionState();
+        if (_xl320_hw_fail_counter_read > 25 || _xl430_hw_fail_counter_read > 25)
+        {
+            ROS_ERROR_THROTTLE(1, "Dxl Driver - Dxl connection problem - Failed to read from Dxl bus");
+            _xl320_hw_fail_counter_read = 0;
+            _xl430_hw_fail_counter_read = 0;
+            _is_dxl_connection_ok = false;
+            _debug_error_message = "Dxl Driver - Connection problem with Dynamixel Bus.";
+        }
+    }
+
+    void DxlDriver::readHwStatus()
+    {
+        bool can_read_dxl = (_motor_list.size() > 0);
+        if (!can_read_dxl)
+        {
+            ROS_ERROR_THROTTLE(1, "Dxl Driver - No motor");
+            _debug_error_message = "Dxl Driver - No motor";
+            return;
+        }
+        fillTemperatureStatus();
+        fillVoltageStatus();
+        fillErrorStatus();
+        interpreteErrorState();
+
+        if (_xl320_hw_fail_counter_read > 25 || _xl430_hw_fail_counter_read > 25)
+        {
+            ROS_ERROR_THROTTLE(1, "Dxl Driver - Dxl connection problem - Failed to read from Dxl bus");
+            _xl320_hw_fail_counter_read = 0;
+            _xl430_hw_fail_counter_read = 0;
+            _is_dxl_connection_ok = false;
+            _debug_error_message = "Dxl Driver - Connection problem with Dynamixel Bus.";
+        }
+    }
+
+    void DxlDriver::interpreteErrorState()
+    {
+
+        for (auto motor = _motor_list.begin(); motor != _motor_list.end(); ++motor)
+        {
+            uint32_t hw_state = motor->getHardwareErrorState();
+            std::string hardware_message = "";
+            DxlMotorType motor_type = motor->getType();
+            if(motor_type == DxlMotorType::MOTOR_TYPE_XL430)
+            {
+                if (hw_state & 0b00000001)
+                {
+                    hardware_message += "Input Voltage";
+                }
+                if (hw_state & 0b00000100)
+                {
+                    if (hardware_message != "")
+                        hardware_message += ", ";
+                    hardware_message += "OverHeating";
+                }
+                if (hw_state & 0b00001000)
+                {
+                    if (hardware_message != "")
+                        hardware_message += ", ";
+                    hardware_message += "Motor Encoder";
+                }
+                if (hw_state & 0b00010000)
+                {
+                    if (hardware_message != "")
+                        hardware_message += ", ";
+                    hardware_message += "Electrical Shock";
+                }
+                if (hw_state & 0b00100000)
+                {
+                    if (hardware_message != "")
+                        hardware_message += ", ";
+                    hardware_message += "Overload";
+                }
+                if (hardware_message != "")
+                    hardware_message += " Error";
+            }
+            else if (motor_type == DxlMotorType::MOTOR_TYPE_XL320)
+            {
+                if (hw_state & 0b00000001)
+                {
+                    hardware_message += "Overload";
+                }
+                if (hw_state & 0b00000010)
+                {
+                    if (hardware_message != "")
+                        hardware_message += ", ";
+                    hardware_message += "OverHeating";
+                }
+                if (hw_state & 0b00000100)
+                {
+                    if (hardware_message != "")
+                        hardware_message += ", ";
+                    hardware_message += "Input voltage out of range";
+                }
+            }
+    
+            motor->setHardwareError(hardware_message);
+        }
+    }
+
+    void DxlDriver::executeJointTrajectoryCmd(std::vector<uint32_t> &cmd)
+    {
+        std::string cmd_string;
+        std::for_each(std::begin(cmd), std::end(cmd),
+                      [&cmd_string](const uint32_t &x) {
+                          cmd_string += std::to_string(x) + " ";
+                      });
+        // ROS_DEBUG_THROTTLE(0.5, "Dxl Driver - execute JointTrajectoryCmd called with %s", cmd_string.c_str());
+        int counter = 0;
+        std::vector<uint32_t> xl430_cmd;
+        uint32_t xl320_cmd;
+        xl430_cmd.push_back(cmd.at(0));
+        xl430_cmd.push_back(cmd.at(1));
+        xl320_cmd = cmd.at(2);
+        int result_xl430 = _xl430->syncWritePositionGoal(_xl430_arm_id_list, xl430_cmd);
+        int result_xl320 = _xl320->setGoalPosition(_xl320_arm_id, xl320_cmd);
+        if (result_xl320 != COMM_SUCCESS || result_xl430 != COMM_SUCCESS)
+        {
+            ROS_WARN("Dxl Driver - Failed to write position");
+            _debug_error_message = "Dxl Driver - Failed to write position";
+        }
+    }
+
+    void DxlDriver::readSynchronizeCommand(SynchronizeMotorCmd cmd)
+    {
+        ROS_DEBUG("Dxl Driver - Received dxl syncronized cmd with type %d", int(cmd.getType()));
+
+        std::string ids_string = "";
+        for (int i = 0; i < cmd.getMotorsId().size(); i++)
+            ids_string += std::to_string(cmd.getMotorsId().at(i)) + " ";
+        ROS_DEBUG("Dxl Driver - Received syncronized dxl cmd with ids %s", ids_string.c_str());
+
+        std::string params_string = "";
+        for (int i = 0; i < cmd.getParams().size(); i++)
+            params_string += std::to_string(cmd.getParams().at(i)) + " ";
+        ROS_DEBUG("Dxl Driver - Received syncronized dxl cmd with params %s", params_string.c_str());
+
+        if (cmd.getType() == DxlCommandType::CMD_TYPE_POSITION)
+        {
+            syncWritePositionCommand(cmd.getMotorsId(), cmd.getParams());
+        }
+        else if (cmd.getType() == DxlCommandType::CMD_TYPE_VELOCITY)
+        {
+            syncWriteVelocityCommand(cmd.getMotorsId(), cmd.getParams());
+        }
+        else if (cmd.getType() == DxlCommandType::CMD_TYPE_EFFORT)
+        {
+            syncWriteEffortCommand(cmd.getMotorsId(), cmd.getParams());
+        }
+        else if (cmd.getType() == DxlCommandType::CMD_TYPE_TORQUE)
+        {
+            syncWriteTorqueEnable(cmd.getMotorsId(), cmd.getParams());
+        }
+        else if (cmd.getType() == DxlCommandType::CMD_TYPE_LEARNING_MODE)
+        {
+            std::vector<uint32_t> cmd_param(_motor_id_list.size(), cmd.getParams()[0]);
+            std::vector<uint8_t> id_list(_motor_id_list.begin(), _motor_id_list.end());
+            syncWriteTorqueEnable(id_list, cmd_param);
+        }
+    }
+
+    void DxlDriver::readSingleCommand(SingleMotorCmd cmd)
+    {
+        int result = -1;
+        int counter = 0;
+
+        ROS_DEBUG("Dxl Driver - Received dxl cmd with type %d", int(cmd.getType()));
+
+        ROS_DEBUG("Dxl Driver - Received dxl cmd with ids %s", std::to_string(cmd.getId()).c_str());
+
+        ROS_DEBUG("Dxl Driver - Received dxl cmd with params %s", std::to_string(cmd.getParam()).c_str());
+
+        while ((result != COMM_SUCCESS) && (counter < 50))
+        {
+            auto xl320 = std::find(_xl320_id_list.begin(), _xl320_id_list.end(), cmd.getId());
+            if (xl320 != _xl320_id_list.end())
+            {
+                if (cmd.getType() == DxlCommandType::CMD_TYPE_VELOCITY)
+                {
+                    result = _xl320->setGoalVelocity(cmd.getId(), cmd.getParam());
+                }
+                else if (cmd.getType() == DxlCommandType::CMD_TYPE_POSITION)
+                {
+                    result = _xl320->setGoalPosition(cmd.getId(), cmd.getParam());
+                }
+                else if (cmd.getType() == DxlCommandType::CMD_TYPE_EFFORT)
+                {
+                    result = _xl320->setGoalTorque(cmd.getId(), cmd.getParam());
+                }
+                else if (cmd.getType() == DxlCommandType::CMD_TYPE_TORQUE)
+                {
+                    result = _xl320->setTorqueEnable(cmd.getId(), cmd.getParam());
+                }
+                else if (cmd.getType() == DxlCommandType::CMD_TYPE_PING)
+                {
+                    result = _xl320->ping(cmd.getId());
+                }
+                counter += 1;
+            }
+
+            auto xl430 = std::find(_xl430_id_list.begin(), _xl430_id_list.end(), cmd.getId());
+            if (xl430 != _xl430_id_list.end())
+            {
+                if (cmd.getType() == DxlCommandType::CMD_TYPE_VELOCITY)
+                {
+                    result = _xl430->setGoalVelocity(cmd.getId(), cmd.getParam());
+                }
+                else if (cmd.getType() == DxlCommandType::CMD_TYPE_POSITION)
+                {
+                    result = _xl430->setGoalPosition(cmd.getId(), cmd.getParam());
+                }
+                else if (cmd.getType() == DxlCommandType::CMD_TYPE_EFFORT)
+                {
+                    result = _xl430->setGoalTorque(cmd.getId(), cmd.getParam());
+                }
+                else if (cmd.getType() == DxlCommandType::CMD_TYPE_TORQUE)
+                {
+                    result = _xl430->setTorqueEnable(cmd.getId(), cmd.getParam());
+                }
+                else if (cmd.getType() == DxlCommandType::CMD_TYPE_PING)
+                {
+                    result = _xl430->ping(cmd.getId());
+                }
+                counter += 1;
+            }
+            ros::Duration(TIME_TO_WAIT_IF_BUSY).sleep();
+        }
+
+        if (result != COMM_SUCCESS)
+        {
+            ROS_WARN("Dxl Driver - Failed to write a single command on dxl motor id : %d", cmd.getId());
+            _debug_error_message = "Dxl Driver - Failed to write a single command";
+        }
+    }
+
+    void DxlDriver::syncWritePositionCommand(std::vector<uint8_t> &motor_list, std::vector<uint32_t> &param_list)
+    {
+        std::vector<uint8_t> xl320_motor;
+        std::vector<uint32_t> xl320_cmd;
+        std::vector<uint8_t> xl430_motor;
+        std::vector<uint32_t> xl430_cmd;
+        for (int i = 0; i < motor_list.size(); i++)
+        {
+            auto xl320 = std::find(_xl320_id_list.begin(), _xl320_id_list.end(), motor_list.at(i));
+            if (xl320 != _xl320_id_list.end())
+            {
+                xl320_motor.push_back(*xl320);
+                xl320_cmd.push_back(param_list.at(i));
+            }
+            auto xl430 = std::find(_xl430_id_list.begin(), _xl430_id_list.end(), motor_list.at(i));
+            if (xl430 != _xl430_id_list.end())
+            {
+                xl430_motor.push_back(*xl430);
+                xl430_cmd.push_back(param_list.at(i));
+            }
+        }
+
+        int counter = 0;
+        int result_xl320 = _xl320->syncWritePositionGoal(xl320_motor, xl320_cmd);
+        int result_xl430 = _xl430->syncWritePositionGoal(xl430_motor, xl430_cmd);
+
+        while ((result_xl320 != COMM_SUCCESS && result_xl430 != COMM_SUCCESS) && (counter < 50))
+        {
+            if (result_xl320 != COMM_SUCCESS)
+            {
+                result_xl320 = _xl320->syncWritePositionGoal(xl320_motor, xl320_cmd);
+                counter += 1;
+            }
+            if (result_xl430 != COMM_SUCCESS)
+            {
+                result_xl430 = _xl430->syncWritePositionGoal(xl430_motor, xl430_cmd);
+                counter += 1;
+            }
+            ros::Duration(TIME_TO_WAIT_IF_BUSY).sleep();
+        }
+
+        if (result_xl320 != COMM_SUCCESS || result_xl430 != COMM_SUCCESS)
+        {
+            ROS_WARN("Dxl Driver - Failed to write synchronize position");
+            _debug_error_message = "Dxl Driver - Failed to write synchronize position";
+        }
+    }
+
+    void DxlDriver::syncWriteEffortCommand(std::vector<uint8_t> &motor_list, std::vector<uint32_t> &param_list)
+    {
+        std::vector<uint8_t> xl320_motor;
+        std::vector<uint32_t> xl320_cmd;
+        std::vector<uint8_t> xl430_motor;
+        std::vector<uint32_t> xl430_cmd;
+        for (int i = 0; i < motor_list.size(); i++)
+        {
+            auto xl320 = std::find(_xl320_id_list.begin(), _xl320_id_list.end(), motor_list.at(i));
+            if (xl320 != _xl320_id_list.end())
+            {
+                xl320_motor.push_back(*xl320);
+                xl320_cmd.push_back(param_list.at(i));
+            }
+            auto xl430 = std::find(_xl430_id_list.begin(), _xl430_id_list.end(), motor_list.at(i));
+            if (xl430 != _xl430_id_list.end())
+            {
+                xl430_motor.push_back(*xl430);
+                xl430_cmd.push_back(param_list.at(i));
+            }
+        }
+
+        int counter = 0;
+        int result_xl320 = _xl320->syncWriteTorqueGoal(xl320_motor, xl320_cmd);
+        int result_xl430 = _xl430->syncWriteTorqueGoal(xl430_motor, xl430_cmd);
+
+        while ((result_xl320 != COMM_SUCCESS && result_xl430 != COMM_SUCCESS) && (counter < 50))
+        {
+            if (result_xl320 != COMM_SUCCESS)
+            {
+                result_xl320 = _xl320->syncWriteTorqueGoal(xl320_motor, xl320_cmd);
+                counter += 1;
+            }
+            if (result_xl430 != COMM_SUCCESS)
+            {
+                result_xl430 = _xl430->syncWriteTorqueGoal(xl430_motor, xl430_cmd);
+                counter += 1;
+            }
+            ros::Duration(TIME_TO_WAIT_IF_BUSY).sleep();
+        }
+
+        if (result_xl320 != COMM_SUCCESS || result_xl430 != COMM_SUCCESS)
+        {
+            ROS_WARN("Dxl Driver - Failed to write synchronize effort");
+            _debug_error_message = "Dxl Driver - Failed to write synchronize effort";
+        }
+    }
+
+    void DxlDriver::syncWriteVelocityCommand(std::vector<uint8_t> &motor_list, std::vector<uint32_t> &param_list)
+    {
+        std::vector<uint8_t> xl320_motor;
+        std::vector<uint32_t> xl320_cmd;
+        std::vector<uint8_t> xl430_motor;
+        std::vector<uint32_t> xl430_cmd;
+        for (int i = 0; i < motor_list.size(); i++)
+        {
+            auto xl320 = std::find(_xl320_id_list.begin(), _xl320_id_list.end(), motor_list.at(i));
+            if (xl320 != _xl320_id_list.end())
+            {
+                xl320_motor.push_back(*xl320);
+                xl320_cmd.push_back(param_list.at(i));
+            }
+            auto xl430 = std::find(_xl430_id_list.begin(), _xl430_id_list.end(), motor_list.at(i));
+            if (xl430 != _xl430_id_list.end())
+            {
+                xl430_motor.push_back(*xl430);
+                xl430_cmd.push_back(param_list.at(i));
+            }
+        }
+
+        int counter = 0;
+        int result_xl320 = _xl320->syncWriteVelocityGoal(xl320_motor, xl320_cmd);
+        int result_xl430 = _xl430->syncWriteVelocityGoal(xl430_motor, xl430_cmd);
+
+        while ((result_xl320 != COMM_SUCCESS && result_xl430 != COMM_SUCCESS) && (counter < 50))
+        {
+            if (result_xl320 != COMM_SUCCESS)
+            {
+                result_xl320 = _xl320->syncWriteVelocityGoal(xl320_motor, xl320_cmd);
+                counter += 1;
+            }
+            if (result_xl430 != COMM_SUCCESS)
+            {
+                result_xl430 = _xl430->syncWriteVelocityGoal(xl430_motor, xl430_cmd);
+                counter += 1;
+            }
+            ros::Duration(TIME_TO_WAIT_IF_BUSY).sleep();
+        }
+
+        if (result_xl320 != COMM_SUCCESS || result_xl430 != COMM_SUCCESS)
+        {
+            ROS_WARN("Dxl Driver - Failed to write synchronize velocity");
+            _debug_error_message = "Dxl Driver - Failed to write synchronize velocity";
+        }
+    }
+
+    void DxlDriver::syncWriteTorqueEnable(std::vector<uint8_t> &motor_list, std::vector<uint32_t> &torque_enable)
+    {
+        std::vector<uint8_t> xl320_motor;
+        std::vector<uint32_t> xl320_cmd;
+        std::vector<uint8_t> xl430_motor;
+        std::vector<uint32_t> xl430_cmd;
+        for (int i = 0; i < motor_list.size(); i++)
+        {
+            auto xl320 = std::find(_xl320_id_list.begin(), _xl320_id_list.end(), motor_list.at(i));
+            if (xl320 != _xl320_id_list.end())
+            {
+                xl320_motor.push_back(*xl320);
+                xl320_cmd.push_back(torque_enable.at(i));
+            }
+            auto xl430 = std::find(_xl430_id_list.begin(), _xl430_id_list.end(), motor_list.at(i));
+            if (xl430 != _xl430_id_list.end())
+            {
+                xl430_motor.push_back(*xl430);
+                xl430_cmd.push_back(torque_enable.at(i));
+            }
+        }
+
+        int counter = 0;
+        int result_xl320 = _xl320->syncWriteTorqueEnable(xl320_motor, xl320_cmd);
+        ros::Duration(0.05).sleep();
+        int result_xl430 = _xl430->syncWriteTorqueEnable(xl430_motor, xl430_cmd);
+
+        while ((result_xl320 != COMM_SUCCESS && result_xl430 != COMM_SUCCESS) && (counter < 50))
+        {
+            if (result_xl320 != COMM_SUCCESS)
+            {
+                result_xl320 = _xl320->syncWriteTorqueEnable(xl320_motor, xl320_cmd);
+                counter += 1;
+            }
+            if (result_xl430 != COMM_SUCCESS)
+            {
+                result_xl430 = _xl430->syncWriteTorqueEnable(xl430_motor, xl430_cmd);
+                counter += 1;
+            }
+            ros::Duration(TIME_TO_WAIT_IF_BUSY).sleep();
+        }
+
+        if (result_xl320 != COMM_SUCCESS || result_xl430 != COMM_SUCCESS)
+        {
+            ROS_WARN("Dxl Driver - Failed to write synchronize torque enable");
+            _debug_error_message = "Dxl Driver - Failed to write synchronize torque";
+        }
+    }
+
+    int DxlDriver::setGoalPosition(DxlMotorState &targeted_dxl, uint32_t position)
+    {
+        DxlMotorType dxl_type = targeted_dxl.getType();
+        int result;
+
+        if (dxl_type == DxlMotorType::MOTOR_TYPE_XL320)
+        {
+            result = _xl320->setGoalPosition(targeted_dxl.getId(), position);
+        }
+        else if (dxl_type == DxlMotorType::MOTOR_TYPE_XL430)
+        {
+            result = _xl430->setGoalPosition(targeted_dxl.getId(), position);
+        }
+        else
+        {
+            result = -1;
+            ROS_ERROR_THROTTLE(1, "Dxl Driver - Wrong dxl type detected: %d", (int)dxl_type);
+            _debug_error_message = "Dxl Driver - Wrong dxl type detected";
+        }
+        return result;
+    }
+
+    uint32_t DxlDriver::getPosition(DxlMotorState &targeted_dxl)
+    {
+        uint32_t result;
+        int read_result;
+        DxlMotorType dxl_type = targeted_dxl.getType();
+        while (_hw_fail_counter_read < 25)
+        {
+            if (dxl_type == DxlMotorType::MOTOR_TYPE_XL320)
+            {
+                read_result = _xl320->readPosition(targeted_dxl.getId(), &result);
+            }
+            else if (dxl_type == DxlMotorType::MOTOR_TYPE_XL430)
+            {
+                read_result = _xl430->readPosition(targeted_dxl.getId(), &result);
+            }
+            if (read_result == COMM_SUCCESS)
+            {
+                _hw_fail_counter_read = 0;
+                break;
+            }
+            else
+            {
+                _hw_fail_counter_read++;
+            }
+        }
+        if (_hw_fail_counter_read != 0)
+        {
+            ROS_ERROR_THROTTLE(1, "Dxl Driver - Dxl connection problem - Failed to read from Dxl bus");
+            _debug_error_message = "Dxl Driver - Connection problem with Dynamixel Bus.";
+            _hw_fail_counter_read = 0;
+            _is_dxl_connection_ok = false;
+            result = COMM_RX_FAIL;
+        }
+
+        return result;
+    }
+
+    int DxlDriver::setTorqueEnable(DxlMotorState &targeted_dxl, uint32_t torque_enable)
+    {
+        DxlMotorType dxl_type = targeted_dxl.getType();
+        int result;
+
+        if (dxl_type == DxlMotorType::MOTOR_TYPE_XL320)
+        {
+            result = _xl320->setTorqueEnable(targeted_dxl.getId(), torque_enable);
+        }
+        else if (dxl_type == DxlMotorType::MOTOR_TYPE_XL430)
+        {
+            result = _xl430->setTorqueEnable(targeted_dxl.getId(), torque_enable);
+        }
+        else
+        {
+            result = -1;
+            ROS_ERROR_THROTTLE(1, "Dxl Driver - Wrong dxl type detected: %d", (int)dxl_type);
+            _debug_error_message = "Dxl Driver - Wrong dxl type detected";
+        }
+        return result;
+    }
+
+    int DxlDriver::setGoalVelocity(DxlMotorState &targeted_dxl, uint32_t velocity)
+    {
+        DxlMotorType dxl_type = targeted_dxl.getType();
+        int result;
+
+        if (dxl_type == DxlMotorType::MOTOR_TYPE_XL320)
+        {
+            result = _xl320->setGoalVelocity(targeted_dxl.getId(), velocity);
+        }
+        else if (dxl_type == DxlMotorType::MOTOR_TYPE_XL430)
+        {
+            result = _xl430->setGoalVelocity(targeted_dxl.getId(), velocity);
+        }
+        else
+        {
+            result = -1;
+            ROS_ERROR_THROTTLE(1, "Dxl Driver - Wrong dxl type detected: %d", (int)dxl_type);
+            _debug_error_message = "Dxl Driver - Wrong dxl type detected";
+        }
+        return result;
+    }
+
+    int DxlDriver::setGoalTorque(DxlMotorState &targeted_dxl, uint32_t torque)
+    {
+        DxlMotorType dxl_type = targeted_dxl.getType();
+        int result;
+
+        if (dxl_type == DxlMotorType::MOTOR_TYPE_XL320)
+        {
+            result = _xl320->setGoalTorque(targeted_dxl.getId(), torque);
+        }
+        else if (dxl_type == DxlMotorType::MOTOR_TYPE_XL430)
+        {
+            result = _xl430->setGoalTorque(targeted_dxl.getId(), torque);
+        }
+        else
+        {
+            result = -1;
+            ROS_ERROR_THROTTLE(1, "Dxl Driver - Wrong dxl type detected: %d", (int)dxl_type);
+            _debug_error_message = "Dxl Driver - Wrong dxl type detected";
+        }
+        return result;
+    }
+
+    bool DxlDriver::isConnectionOk()
+    {
+        return _is_dxl_connection_ok;
+    }
+
+    int DxlDriver::scanAndCheck()
+    {
+        int counter = 0;
+        _all_motor_connected.clear();
+        int result = getAllIdsOnDxlBus(_all_motor_connected);
+        while (result != COMM_SUCCESS && counter < 50)
+        {
+            result = getAllIdsOnDxlBus(_all_motor_connected);
+            counter += 1;
+            ros::Duration(TIME_TO_WAIT_IF_BUSY).sleep();
+        }
+
+        if (result != COMM_SUCCESS)
+        {
+            _debug_error_message = "Dxl Driver - Failed to scan motors, Dynamixel bus is too busy. Will retry...";
+            ROS_WARN("Dxl Driver - Failed to scan motors, dxl bus is too busy (counter max : %d)", counter);
+            return result;
+        }
+
+        checkRemovedMotors();
+        if (_removed_motor_id_list.begin() == _removed_motor_id_list.end())
+        {
+            _is_dxl_connection_ok = true;
+            _debug_error_message = "";
+            return DXL_SCAN_OK;
+        }
+        _is_dxl_connection_ok = false;
+
+        _debug_error_message = "Dynamixel(s):";
+        for (std::vector<int>::iterator it = _removed_motor_id_list.begin(); it != _removed_motor_id_list.end(); ++it)
+        {
+            _debug_error_message += " ";
+            _debug_error_message += std::to_string(*it);
+        }
+        _debug_error_message += " do not seem to be connected";
+
+        return DXL_SCAN_MISSING_MOTOR;
+    }
+
+    void DxlDriver::checkRemovedMotors()
+    {
+        std::vector<int> motor_list;
+        for (int i = 0; i < _motor_id_list.size(); i++)
+        {
+            auto it = std::find(_all_motor_connected.begin(), _all_motor_connected.end(), _motor_id_list.at(i));
+            if (it == _all_motor_connected.end())
+            {
+                motor_list.push_back(_motor_id_list.at(i));
+            }
+        }
+        _removed_motor_id_list = motor_list;
+    }
+
+    std::vector<int> &DxlDriver::getRemovedMotorList()
+    {
+        return _removed_motor_id_list;
+    }
+
+    int DxlDriver::checkCommPortAvailable()
+    {
+        int counter = 0;
+
+        while (counter < 100)
+        {
+            ros::Duration(TIME_TO_WAIT_IF_BUSY).sleep();
+            counter++;
+        }
+
+        if (counter == 100)
+        {
+            _debug_error_message = "Dxl Driver - Failed to scan motors, Dynamixel bus is too busy. Will retry...";
+            ROS_WARN("Dxl Driver - Failed to scan motors, dxl bus is too busy (counter max : %d)", counter);
+            return COMM_PORT_BUSY;
+        }
+        return 0;
+    }
+
+    int DxlDriver::getAllIdsOnDxlBus(std::vector<uint8_t> &id_list)
+    {
+
+        // 1. Get all ids from dxl bus
+        int result = _xl320->scan(id_list);
+
+        if (result != COMM_SUCCESS)
+        {
+            if (result == COMM_RX_TIMEOUT)
+            { // -3001
+                _debug_error_message = "Dxl Driver - No Dynamixel motor found. Make sure that motors are correctly connected and powered on.";
+            }
+            else
+            { // -3002 or other
+                _debug_error_message = "Dxl Driver - Failed to scan Dynamixel bus.";
+            }
+            ROS_WARN("Dxl Driver - Broadcast ping failed , result : %d (-3001: timeout, -3002: corrupted packet)", result);
+            return result;
+        }
+        return result;
+    }
+
+    int DxlDriver::ping(DxlMotorState &targeted_dxl)
+    {
+        DxlMotorType dxl_type = targeted_dxl.getType();
+        int result = 0;
+
+        if (dxl_type == DxlMotorType::MOTOR_TYPE_XL320)
+        {
+            result = _xl320->ping(targeted_dxl.getId());
+        }
+        else if (dxl_type == DxlMotorType::MOTOR_TYPE_XL430)
+        {
+            result = _xl430->ping(targeted_dxl.getId());
+        }
+        else
+        {
+            ROS_ERROR_THROTTLE(1, "Dxl Driver - Wrong dxl type detected: %d", (int)dxl_type);
+        }
+        return result;
+    }
+
+    int DxlDriver::ping_id(int dxl_id)
+    {
+        auto xl320 = std::find(_xl320_id_list.begin(), _xl320_id_list.end(), dxl_id);
+        if (xl320 != _xl320_id_list.end())
+        {
+            return _xl320->ping(dxl_id);
+        }
+
+        auto xl430 = std::find(_xl430_id_list.begin(), _xl430_id_list.end(), dxl_id);
+        if (xl430 != _xl430_id_list.end())
+        {
+            return _xl430->ping(dxl_id);
+        }
+
+        ROS_ERROR_THROTTLE(1, "Dxl Driver - Wrong dxl type ");
+        return TOOL_STATE_PING_ERROR;
+    }
+
+    int DxlDriver::type_ping_id(uint8_t id, DxlMotorType type)
+    {
+        if (type == DxlMotorType::MOTOR_TYPE_XL320)
+            return _xl320->ping(id);
+        else if (type == DxlMotorType::MOTOR_TYPE_XL430)
+            return _xl430->ping(id);
+
+        ROS_ERROR_THROTTLE(1, "Dxl Driver - Wrong dxl type ");
+        return TOOL_STATE_PING_ERROR;
+    }
+
+    int DxlDriver::rebootMotors()
+    {
+        int result;
+        int return_value = COMM_SUCCESS;
+        for (int i = 0; i < _xl430_motor_list.size(); i++)
+        {
+            ROS_DEBUG("Dxl Driver - Reboot Dxl motor with ID: %d", (int)_xl430_motor_list.at(i).getId());
+            result = _xl430->reboot(_xl430_motor_list.at(i).getId());
+            // if (result != COMM_SUCCESS)
+            // {
+            //     ROS_WARN("Dxl Driver - Failed to reboot motor: %d", result);
+            //     return_value = result;
+            // }
+            ROS_INFO("Dxl Driver - Reboot motor: %d", _motor_list.at(i).getId());
+        }
+        for (int i = 0; i < _xl320_motor_list.size(); i++)
+        {
+            ROS_DEBUG("Dxl Driver - Reboot Dxl motor with ID: %d", (int)_xl320_motor_list.at(i).getId());
+            result = _xl320->reboot(_xl320_motor_list.at(i).getId());
+            // if (result != COMM_SUCCESS)
+            // {
+            //     ROS_WARN("Dxl Driver - Failed to reboot motor: %d", result);
+            //     return_value = result;
+            // }
+            ROS_INFO("Dxl Driver - Reboot motor: %d", _xl320_motor_list.at(i).getId());
+        }
+        return return_value;
+    }
+
+    int DxlDriver::sendCustomDxlCommand(DxlMotorType motor_type, uint8_t id, uint32_t value, uint32_t reg_address, uint32_t byte_number)
+    {
+        DxlCustomCommand cmd = DxlCustomCommand(motor_type, id, value, reg_address, byte_number);
+        int result;
+        ROS_DEBUG("Dxl Driver - Sending custom command to Dynamixel:\n"
+                  "Motor type: %d, ID: %d, Value: %d, Address: %d, Size: %d",
+                  (int)cmd.motor_type, (int)cmd.id, (int)cmd.value,
+                  (int)cmd.reg_address, (int)cmd.byte_number);
+
+        if (cmd.motor_type == DxlMotorType::MOTOR_TYPE_XL320)
+        {
+            result = _xl320->customWrite(cmd.id, cmd.value, cmd.reg_address, cmd.byte_number);
+            if (result != COMM_SUCCESS)
+            {
+                ROS_WARN("Dxl Driver - Failed to write custom command: %d", result);
+                result = niryo_robot_msgs::CommandStatus::DXL_WRITE_ERROR;
+            }
+        }
+        else if (cmd.motor_type == DxlMotorType::MOTOR_TYPE_XL430)
+        {
+            result = _xl430->customWrite(cmd.id, cmd.value, cmd.reg_address, cmd.byte_number);
+            if (result != COMM_SUCCESS)
+            {
+                ROS_WARN("Dxl Driver - Failed to write custom command: %d", result);
+                result = niryo_robot_msgs::CommandStatus::DXL_WRITE_ERROR;
+            }
+        }
+        else
+        {
+            ROS_ERROR_THROTTLE(1, "Dxl Driver - Wrong motor type, should be 1 (XL-320) or 2 (XL-430).");
+            result = niryo_robot_msgs::CommandStatus::WRONG_MOTOR_TYPE;
+        }
+        ros::Duration(0.005).sleep();
+        return result;
+    }
+
+    std::string DxlDriver::getErrorMessage()
+    {
+        return _debug_error_message;
+    }
+
+    int DxlDriver::getledstate(void)
+    {
+        return _led_state;
+    }
+
+    int DxlDriver::setLeds(int led)
+    {
+        _led_state = led;
+        std::vector<uint32_t> command_led_id(_xl320_id_list.size(), (uint32_t)led);
+        if (led >= 0 && led <= 7)
+        {
+            int error_counter = 0;
+            int result = _xl320->syncWriteLed(_xl320_id_list, command_led_id);
+            while (result != COMM_SUCCESS && error_counter < 5)
+            {
+                ros::Duration(TIME_TO_WAIT_IF_BUSY).sleep();
+                result = _xl320->syncWriteLed(_xl320_id_list, command_led_id);
+                error_counter++;
+            }
+
+            if (result != COMM_SUCCESS)
+            {
+                ROS_WARN("Dxl Driver - Failed to write LED");
+                return niryo_robot_msgs::CommandStatus::DXL_WRITE_ERROR;
+            }
+        }
+        return niryo_robot_msgs::CommandStatus::SUCCESS;
+    }
+
+} // namespace DynamixelDriver
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/src/dxl_driver_core.cpp b/niryo_robot_hardware_stack/dynamixel_driver/src/dxl_driver_core.cpp
new file mode 100644
index 000000000..4b711c4cc
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/src/dxl_driver_core.cpp
@@ -0,0 +1,499 @@
+#include "dynamixel_driver/dxl_driver_core.hpp"
+#include <cstdlib>
+#include <algorithm>
+#include <cmath>
+
+namespace DynamixelDriver
+{
+    DynamixelDriverCore::DynamixelDriverCore()
+    {
+        // if( ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug) ) {
+        //     ros::console::notifyLoggerLevelsChanged();
+        // }
+        init();
+    }
+
+    void DynamixelDriverCore::init()
+    {
+        _control_loop_flag = false;
+        _debug_flag = false;
+        _joint_trajectory_controller_cmd.clear();
+        _dxl_cmd.reset(new SynchronizeMotorCmd());
+        _end_effector_cmd.clear();
+        initParameters();
+        _dynamixel.reset(new DxlDriver());
+        _dynamixel->scanAndCheck();
+        startControlLoop();
+
+        _activate_leds_server = _nh.advertiseService("niryo_robot/dynamixel_driver/set_dxl_leds", &DynamixelDriverCore::callbackActivateLeds, this);
+        _custom_cmd_server = _nh.advertiseService("niryo_robot/dynamixel_driver/send_custom_dxl_value", &DynamixelDriverCore::callbackSendCustomDxlValue, this);
+    }
+
+    void DynamixelDriverCore::initParameters()
+    {
+
+
+        _nh.getParam("/niryo_robot_hardware_interface/dynamixel_driver/dxl_hardware_control_loop_frequency", _control_loop_frequency);
+        _nh.getParam("/niryo_robot_hardware_interface/dynamixel_driver/dxl_hardware_write_frequency", _write_frequency);
+        _nh.getParam("/niryo_robot_hardware_interface/dynamixel_driver/dxl_hardware_read_data_frequency", _read_data_frequency);
+        _nh.getParam("/niryo_robot_hardware_interface/dynamixel_driver/dxl_hardware_read_status_frequency", _read_status_frequency);
+        _nh.getParam("/niryo_robot_hardware_interface/dynamixel_driver/dxl_hardware_check_connection_frequency", _check_connection_frequency);
+        _nh.getParam("/niryo_robot_hardware_interface/dynamixel_driver/dxl_end_effector_frequency", _check_end_effector_frequency);
+
+        ROS_DEBUG("Dynamixel Driver Core - dxl_hardware_control_loop_frequency : %f", _control_loop_frequency);
+        ROS_DEBUG("Dynamixel Driver Core - dxl_hardware_write_frequency : %f", _write_frequency);
+        ROS_DEBUG("Dynamixel Driver Core - dxl_hardware_read_data_frequency : %f", _read_data_frequency);
+        ROS_DEBUG("Dynamixel Driver Core - dxl_hardware_read_status_frequency : %f", _read_status_frequency);
+        ROS_DEBUG("Dynamixel Driver Core - dxl_hardware_check_connection_frequency : %f", _check_connection_frequency);
+        ROS_DEBUG("Dynamixel Driver Core - dxl_end_effector_frequency : %f", _check_end_effector_frequency);
+    }
+
+    void DynamixelDriverCore::startControlLoop()
+    {
+        resetHardwareControlLoopRates();
+        if (!_control_loop_thread)
+        {
+            ROS_INFO("Dynamixel Driver Core - Start control loop");
+            _control_loop_flag = true;
+            _control_loop_thread.reset(new std::thread(boost::bind(&DynamixelDriverCore::controlLoop, this)));
+        }
+    }
+
+    void DynamixelDriverCore::resetHardwareControlLoopRates()
+    {
+        ROS_DEBUG("Dynamixel Driver Core - Reset control loop rates");
+        double now = ros::Time::now().toSec();
+        _time_hw_data_last_write = now;
+        _time_hw_data_last_read = now;
+        _time_hw_status_last_read = now;
+        _time_check_connection_last_read = now;
+        _time_check_end_effector_last_read = now;
+    }
+
+    void DynamixelDriverCore::activeDebugMode(bool mode)
+    {
+        ROS_INFO("Dynamixel Driver Core - Activate debug mode for dynamixel driver core: %d", mode);
+        _debug_flag = mode;
+        _control_loop_flag = !mode;
+
+        if (mode)
+        {
+            _control_loop_mutex.lock();
+        }
+        else
+        {
+            _control_loop_mutex.unlock();
+        }
+    }
+
+    int DynamixelDriverCore::rebootMotors()
+    {
+        ROS_INFO("Dynamixel Driver Core - Reboot motors");
+        std::lock_guard<std::mutex> lck(_control_loop_mutex);
+        int result = _dynamixel->rebootMotors();
+        ros::Duration(1.5).sleep();
+        return result;
+    }
+
+    int DynamixelDriverCore::motorScanReport(uint8_t motor_id, DxlMotorType motor_type)
+    {
+        if (_debug_flag)
+        {
+            int result;
+
+            ros::Duration(1.0).sleep();
+            result = _dynamixel->type_ping_id(motor_id, motor_type);
+            if (result == COMM_SUCCESS)
+            {
+                ROS_INFO("Dynamixel Driver Core - Debug - Dynamixel Motor %d found", motor_id);
+            }
+            else
+            {
+                ROS_ERROR("Dynamixel Driver Core - Debug - Dynamixel Motor %d not found", motor_id);
+                ROS_ERROR("Dynamixel Driver Core - Debug - code error : %d ", result);
+                return niryo_robot_msgs::CommandStatus::FAILURE;
+            }
+            return niryo_robot_msgs::CommandStatus::SUCCESS;
+        }
+        ROS_ERROR("Dynamixel Driver Core - Debug mode not enabled");
+        return niryo_robot_msgs::CommandStatus::ABORTED;
+    }
+
+    int DynamixelDriverCore::motorCmdReport(uint8_t motor_id, DxlMotorType motor_type)
+    {
+        if (_debug_flag)
+        {
+
+            int result;
+            uint32_t old_position;
+            uint32_t new_position;
+            DxlMotorState dynamixel_motor = DxlMotorState(motor_id, motor_type);
+
+            ros::Duration(0.5).sleep();
+            ROS_INFO("Dynamixel Driver Core - Debug - Send torque on command on dxl %d", int(motor_id));
+            _dynamixel->setTorqueEnable(dynamixel_motor, 1);
+            ros::Duration(0.5).sleep();
+
+
+            old_position = _dynamixel->getPosition(dynamixel_motor);
+            ROS_INFO("Dynamixel Driver Core - Debug - get dxl %d pose: %d ", int(motor_id), int(old_position));
+            ros::Duration(0.5).sleep();
+            ROS_INFO("Dynamixel Driver Core - Debug - Send dxl %d pose: %d ", int(motor_id), int(old_position + 200));
+            result = _dynamixel->setGoalPosition(dynamixel_motor, old_position + 200);
+            ros::Duration(2).sleep();
+            new_position = _dynamixel->getPosition(dynamixel_motor);
+            ROS_INFO("Dynamixel Driver Core - Debug - get dxl %d pose: %d ", int(motor_id), int(new_position));
+            int rest = new_position - old_position;
+
+            ROS_INFO("Dynamixel Driver Core - Debug - Send dxl %d pose: %d ", int(motor_id), int(old_position));
+            result = _dynamixel->setGoalPosition(dynamixel_motor, old_position);
+            ros::Duration(2).sleep();
+            uint32_t new_position2 = _dynamixel->getPosition(dynamixel_motor);
+            ROS_INFO("Dynamixel Driver Core - Debug - get dxl %d pose: %d ", int(motor_id), int(new_position2));
+            int rest2 = new_position2 - new_position;
+
+            _dynamixel->setTorqueEnable(dynamixel_motor, 0);
+
+            if (std::abs(rest) < 50 or std::abs(rest2) < 50)
+            {
+                ROS_WARN("Dynamixel Driver Core - Debug - Dynamixel Motor %d problem: %d", motor_id, result);
+                return niryo_robot_msgs::CommandStatus::FAILURE;
+            }
+            else
+            {
+                ROS_INFO("Dynamixel Driver Core - Debug - Dynamixel Motor %d OK", motor_id);
+            }
+            return niryo_robot_msgs::CommandStatus::SUCCESS;
+        }
+        ROS_ERROR("Dynamixel Driver Core - Debug - Debug mode not enabled");
+        return niryo_robot_msgs::CommandStatus::ABORTED;
+    }
+
+    int DynamixelDriverCore::launchMotorsReport()
+    {
+        if (_debug_flag)
+        {
+            int motor_found;
+            int response = niryo_robot_msgs::CommandStatus::SUCCESS;
+
+            ROS_INFO("Dynamixel Driver Core - Debug - Start Dynamixel Motor Report");
+            ros::Duration(1.0).sleep();
+            ROS_INFO("Dynamixel Driver Core - Debug - Motor 4 report start :");
+            if (motorScanReport(2, DxlMotorType::MOTOR_TYPE_XL430) != niryo_robot_msgs::CommandStatus::SUCCESS)
+                response = niryo_robot_msgs::CommandStatus::FAILURE;
+            if (!_debug_flag)
+                return niryo_robot_msgs::CommandStatus::ABORTED;
+            if (motorCmdReport(2, DxlMotorType::MOTOR_TYPE_XL430) != niryo_robot_msgs::CommandStatus::SUCCESS)
+                response = niryo_robot_msgs::CommandStatus::FAILURE;
+            if (!_debug_flag)
+                return niryo_robot_msgs::CommandStatus::ABORTED;
+            ROS_INFO("Dynamixel Driver Core - Debug - Motor 5 report start :");
+            if (motorScanReport(3, DxlMotorType::MOTOR_TYPE_XL430) != niryo_robot_msgs::CommandStatus::SUCCESS)
+                response = niryo_robot_msgs::CommandStatus::FAILURE;
+            if (!_debug_flag)
+                return niryo_robot_msgs::CommandStatus::ABORTED;
+            if (motorCmdReport(3, DxlMotorType::MOTOR_TYPE_XL430) != niryo_robot_msgs::CommandStatus::SUCCESS)
+                response = niryo_robot_msgs::CommandStatus::FAILURE;
+            if (!_debug_flag)
+                return niryo_robot_msgs::CommandStatus::ABORTED;
+            ROS_INFO("Dynamixel Driver Core - Debug - Motor 6 report start :");
+            if (motorScanReport(6, DxlMotorType::MOTOR_TYPE_XL320) != niryo_robot_msgs::CommandStatus::SUCCESS)
+                response = niryo_robot_msgs::CommandStatus::FAILURE;
+            if (!_debug_flag)
+                return niryo_robot_msgs::CommandStatus::ABORTED;
+            if (motorCmdReport(6, DxlMotorType::MOTOR_TYPE_XL320) != niryo_robot_msgs::CommandStatus::SUCCESS)
+                response = niryo_robot_msgs::CommandStatus::FAILURE;
+
+            ros::Duration(1.0).sleep();
+            ROS_INFO("Dynamixel Driver Core - Debug - Check for unflash dynamixel motors");
+            motor_found = _dynamixel->type_ping_id(1, DxlMotorType::MOTOR_TYPE_XL430);
+            if (motor_found == COMM_SUCCESS)
+            {
+                ROS_ERROR("Dynamixel Driver Core - Debug - Find a dynamixel motor unflash");
+                response = niryo_robot_msgs::CommandStatus::FAILURE;
+            }
+            motor_found = _dynamixel->type_ping_id(1, DxlMotorType::MOTOR_TYPE_XL320);
+            if (motor_found == COMM_SUCCESS)
+            {
+                ROS_ERROR("Dynamixel Driver Core - Debug - Find a dynamixel motor unflash");
+                response = niryo_robot_msgs::CommandStatus::FAILURE;
+            }
+            return response;
+        }
+        ROS_ERROR("Dynamixel Driver Core - Debug - Debug mode not enabled");
+        return niryo_robot_msgs::CommandStatus::ABORTED;
+    }
+
+    void DynamixelDriverCore::setDxlCommands(SynchronizeMotorCmd &cmd)
+    {
+        _dxl_cmd.reset(new SynchronizeMotorCmd(cmd));
+    }
+
+    void DynamixelDriverCore::setTrajectoryControllerCommands(std::vector<uint32_t> &cmd)
+    {
+        _joint_trajectory_controller_cmd = cmd;
+    }
+
+    std::vector<uint8_t> DynamixelDriverCore::scanTools()
+    {
+        std::vector<uint8_t> motor_list;
+        std::lock_guard<std::mutex> lck(_control_loop_mutex);
+        ROS_INFO("Dynamixel Driver Core - Scan tools...");
+        int result = _dynamixel->getAllIdsOnDxlBus(motor_list);
+        ROS_DEBUG("Dynamixel Driver Core - Result getAllIdsOnDxlBus: %d", result);
+        std::string motor_id_list_string;
+        std::for_each(std::begin(motor_list), std::end(motor_list),
+                      [&motor_id_list_string](int x) {
+                          motor_id_list_string += std::to_string(x) + " ";
+                      });
+        ROS_DEBUG("Dynamixel Driver Core - All id on dxl bus: [%s]", motor_id_list_string.c_str());
+        return motor_list;
+    }
+
+    int DynamixelDriverCore::setEndEffector(uint8_t id, DxlMotorType type)
+    {
+        int result = this->ping_id(id, type);
+
+        if (result != COMM_SUCCESS)
+        {
+            ROS_WARN("Dynamixel Driver Core - End effector dxl error: %d with motor id %d", result, id);
+            result = niryo_robot_msgs::CommandStatus::DXL_READ_ERROR;
+        }
+        else
+        {
+            _dynamixel->addDynamixel(id, type);
+            result = niryo_robot_msgs::CommandStatus::SUCCESS;
+        }
+        return result;
+    }
+
+    int DynamixelDriverCore::ping_id(uint8_t id, DxlMotorType type)
+    {
+        std::lock_guard<std::mutex> lck(_control_loop_mutex);
+        int result = _dynamixel->type_ping_id(id, type);
+        ROS_DEBUG("Dynamixel Driver Core - Ping_id result: %d", result);
+        return result;
+    }
+
+    void DynamixelDriverCore::unsetEndEffector(uint8_t id, DxlMotorType type)
+    {
+        ROS_DEBUG("Dynamixel Driver Core - UnsetEndEffector: id %d with type %d", id, static_cast<int>(type));
+        std::lock_guard<std::mutex> lck(_control_loop_mutex);
+        _dynamixel->removeDynamixel(id, type);
+    }
+
+    void DynamixelDriverCore::setEndEffectorCommands(std::vector<SingleMotorCmd> &cmd)
+    {
+        _end_effector_cmd = cmd;
+    }
+
+    uint32_t DynamixelDriverCore::getEndEffectorState(uint8_t id, DxlMotorType type)
+    {
+        DxlMotorState motor(id, type);
+        uint32_t result = 0;
+        std::vector<DxlMotorState> list_motor_states = _dynamixel->getMotorsState();
+        auto it = std::find_if(list_motor_states.begin(), list_motor_states.end(), [&](DxlMotorState &dms) {
+            return dms.getId() == motor.getId();
+        });
+        if (it != list_motor_states.end())
+        {
+            result = it->getPositionState();
+        }
+        return result;
+    }
+
+    std::vector<DxlMotorState> &DynamixelDriverCore::getDxlStates()
+    {
+        return _dynamixel->getMotorsState();
+    }
+
+    std::vector<int> &DynamixelDriverCore::getRemovedMotorList()
+    {
+        return _dynamixel->getRemovedMotorList();
+    }
+
+    dynamixel_driver::DxlArrayMotorHardwareStatus DynamixelDriverCore::getHwStatus()
+    {
+        dynamixel_driver::DxlMotorHardwareStatus data;
+        dynamixel_driver::DxlArrayMotorHardwareStatus hw_state;
+        std::vector<DxlMotorState> motor_states = _dynamixel->getMotorsState();
+
+        for (int i = 0; i < motor_states.size(); i++)
+        {
+            data.motor_identity.motor_id = motor_states.at(i).getId();
+            data.motor_identity.motor_type = (uint8_t)motor_states.at(i).getType();
+            data.temperature = motor_states.at(i).getTemperatureState();
+            data.voltage = double(motor_states.at(i).getVoltageState()) / DXL_VOLTAGE_DIVISOR;
+            data.error = motor_states.at(i).getHardwareErrorState();
+            data.error_msg = motor_states.at(i).getHardwareErrorMessageState();
+            hw_state.motors_hw_status.push_back(data);
+        }
+        return hw_state;
+    }
+
+    niryo_robot_msgs::BusState DynamixelDriverCore::getDxlBusState()
+    {
+        niryo_robot_msgs::BusState dxl_bus_state;
+        std::string error;
+        bool connection;
+        std::vector<uint8_t> motor_id;
+        _dynamixel->getBusState(connection, motor_id, error);
+        dxl_bus_state.connection_status = connection;
+        dxl_bus_state.motor_id_connected = motor_id;
+        dxl_bus_state.error = error;
+        return dxl_bus_state;
+    }
+
+    void DynamixelDriverCore::_executeCommand()
+    {
+        bool need_sleep = false;
+        if (_joint_trajectory_controller_cmd.size() != 0)
+        {
+            _dynamixel->executeJointTrajectoryCmd(_joint_trajectory_controller_cmd);
+            _joint_trajectory_controller_cmd.clear();
+            need_sleep = true;
+        }
+        if (_dxl_cmd.get() != nullptr)
+        {
+            if (need_sleep)
+                ros::Duration(0.01).sleep();
+            _dynamixel->readSynchronizeCommand(*_dxl_cmd.get());
+            _dxl_cmd.reset();
+            need_sleep = true;
+        }
+        if (_end_effector_cmd.size() != 0)
+        {
+            if (need_sleep)
+                ros::Duration(0.01).sleep();
+            _dynamixel->readSingleCommand(_end_effector_cmd.at(0));
+            _end_effector_cmd.erase (_end_effector_cmd.begin());
+        }
+    }
+
+    void DynamixelDriverCore::controlLoop()
+    {
+        ros::Rate control_loop_rate = ros::Rate(_control_loop_frequency);
+        resetHardwareControlLoopRates();
+        while (ros::ok())
+        {
+            if (!_debug_flag)
+            {
+                if (!_dynamixel->isConnectionOk())
+                {
+                    ROS_WARN("Dynamixel Driver Core - Dynamixel connection error");
+                    ros::Duration(0.1).sleep();
+
+                    std::vector<int> missing_ids;
+                    ROS_DEBUG("Dynamixel Driver Core - Scan to find Dxl motors");
+
+                    int bus_state;
+                    {
+                        std::lock_guard<std::mutex> lck(_control_loop_mutex);
+                        bus_state = _dynamixel->scanAndCheck();
+                    }
+                    while (bus_state != DXL_SCAN_OK)
+                    { // wait for connection to be up
+                        missing_ids = getRemovedMotorList();
+                        for(std::vector<int>::iterator it = missing_ids.begin(); it != missing_ids.end(); ++it) {
+                            ROS_WARN_THROTTLE(2, "Dynamixel Driver Core - Dynamixel %d do not seem to be connected", *it);
+                        }
+                        ros::Duration(0.25).sleep();
+                        {
+                            std::lock_guard<std::mutex> lck(_control_loop_mutex);
+                            bus_state = _dynamixel->scanAndCheck();
+                        }
+                    }
+                    ROS_INFO("Dynamixel Driver Core - Dxl Bus ok");
+                }
+                if (_control_loop_flag)
+                {
+                    {
+                        std::lock_guard<std::mutex> lck(_control_loop_mutex);
+                        if (ros::Time::now().toSec() - _time_hw_data_last_read > 1.0 / _read_data_frequency)
+                        {
+                            _time_hw_data_last_read += 1.0 / _read_data_frequency;
+                            _dynamixel->readPositionState();
+                        }
+                        if (ros::Time::now().toSec() - _time_hw_status_last_read > 1.0 / _read_status_frequency)
+                        {
+                            _time_hw_status_last_read += 1.0 / _read_status_frequency;
+                            _dynamixel->readHwStatus();
+                        }
+                        if (ros::Time::now().toSec() - _time_hw_data_last_write > 1.0 / _write_frequency)
+                        {
+                            _time_hw_data_last_write += 1.0 / _write_frequency;
+                            _executeCommand();
+                        }
+                    }
+                    control_loop_rate.sleep();
+                }
+                else
+                {
+                    ros::Duration(TIME_TO_WAIT_IF_BUSY).sleep();
+                    resetHardwareControlLoopRates();
+                }
+            }
+            else
+            {
+                ros::Duration(0.5).sleep();
+            }
+        }
+    }
+
+    bool DynamixelDriverCore::callbackSendCustomDxlValue(dynamixel_driver::SendCustomDxlValue::Request &req,
+                                                         dynamixel_driver::SendCustomDxlValue::Response &res)
+    {
+        int result;
+        DxlMotorType motor_type;
+        if (req.motor_type == (uint8_t)DxlMotorType::MOTOR_TYPE_XL430)
+        {
+            motor_type = DxlMotorType::MOTOR_TYPE_XL430;
+        }
+        else if (req.motor_type == (uint8_t)DxlMotorType::MOTOR_TYPE_XL320)
+        {
+            motor_type = DxlMotorType::MOTOR_TYPE_XL320;
+        }
+        else
+        {
+            res.status = niryo_robot_msgs::CommandStatus::WRONG_MOTOR_TYPE;
+            res.message = "Dynamixel Driver Core - Invalid motor type: should be 1 (XL-320) or 2 (XL-430)";
+            return true;
+        }
+
+        std::lock_guard<std::mutex> lck(_control_loop_mutex);
+        result = _dynamixel->sendCustomDxlCommand(motor_type, req.id, req.value, req.reg_address, req.byte_number);
+
+        if (result != COMM_SUCCESS)
+        {
+            res.message = "Dynamixel Driver Core - Send custom command failed";
+        }
+        else
+        {
+            res.message = "Dynamixel Driver Core - Send custom command done";
+            result = niryo_robot_msgs::CommandStatus::SUCCESS;
+        }
+        res.status = result;
+        return true;
+    }
+
+    bool DynamixelDriverCore::callbackActivateLeds(niryo_robot_msgs::SetInt::Request &req, niryo_robot_msgs::SetInt::Response &res)
+    {
+        int led = req.value;
+        std::string message = "";
+
+        std::lock_guard<std::mutex> lck(_control_loop_mutex);
+        int result = _dynamixel->setLeds(led);
+
+        res.status = result;
+        res.message = message;
+        return true;
+    }
+
+    int DynamixelDriverCore::update_leds(void)
+    {
+        std::lock_guard<std::mutex> lck(_control_loop_mutex);
+        int result = _dynamixel->setLeds(_dynamixel->getledstate());
+        return result;
+    }
+} // namespace DynamixelDriver
+// namespace DynamixelDriver
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/src/dxl_driver_node.cpp b/niryo_robot_hardware_stack/dynamixel_driver/src/dxl_driver_node.cpp
new file mode 100644
index 000000000..f765fc757
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/src/dxl_driver_node.cpp
@@ -0,0 +1,13 @@
+#include <ros/ros.h>
+#include "dynamixel_driver/dxl_driver_core.hpp"
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "dynamixel_driver_node");
+  ros::NodeHandle nodeHandle("~");
+
+  DynamixelDriver::DynamixelDriverCore dxl_node();
+
+  ros::spin();
+  return 0;
+}
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/src/dxl_motor_state.cpp b/niryo_robot_hardware_stack/dynamixel_driver/src/dxl_motor_state.cpp
new file mode 100644
index 000000000..c60ef3dc6
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/src/dxl_motor_state.cpp
@@ -0,0 +1,106 @@
+/*
+    dxl_motor_state.cpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "dynamixel_driver/dxl_motor_state.hpp"
+
+namespace DynamixelDriver
+{
+    bool DxlMotorState::operator==(const DxlMotorState &m)
+    {
+        return ((this->_type == m._type) && (this->_id == m._id));
+    }
+
+    DxlMotorState::DxlMotorState(uint8_t id, DxlMotorType type)
+        : _id(id), _type(type)
+    {
+    }
+
+    uint8_t DxlMotorState::getId()
+    {
+        return _id;
+    }
+
+    void DxlMotorState::setId(uint8_t motor_id)
+    {
+        _id = motor_id;
+    }
+
+    DxlMotorType DxlMotorState::getType()
+    {
+        return _type;
+    }
+
+    void DxlMotorState::setType(DxlMotorType type)
+    {
+        _type = type;
+    }
+
+
+    // DxlMotorState::getters - state
+    uint32_t DxlMotorState::getPositionState()
+    {
+        return _state_pos;
+    }
+
+    void DxlMotorState::setPositionState(uint32_t pos)
+    {
+        _state_pos = pos;
+    }
+
+    uint32_t DxlMotorState::getTemperatureState()
+    {
+        return _state_temperature;
+    }
+
+    void DxlMotorState::setTemperatureState(uint32_t temp)
+    {
+        _state_temperature = temp;
+    }
+
+    uint32_t DxlMotorState::getVoltageState()
+    {
+        return _state_voltage;
+    }
+
+    void DxlMotorState::setVoltageState(uint32_t volt)
+    {
+        _state_voltage = volt;
+    }
+
+    uint32_t DxlMotorState::getHardwareErrorState()
+    {
+        return _state_hw_error;
+    }
+
+    void DxlMotorState::setHardwareError(uint32_t hw_error)
+    {
+        _state_hw_error = hw_error;
+    }
+
+    std::string DxlMotorState::getHardwareErrorMessageState()
+    {
+        return _state_hw_error_msg;
+    }
+
+    void DxlMotorState::setHardwareError(std::string hw_error_msg)
+    {
+        _state_hw_error_msg = hw_error_msg;
+    }
+
+} // namespace DynamixelDriver
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/src/single_motor_cmd.cpp b/niryo_robot_hardware_stack/dynamixel_driver/src/single_motor_cmd.cpp
new file mode 100644
index 000000000..d4e8dbd6c
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/src/single_motor_cmd.cpp
@@ -0,0 +1,46 @@
+#include "dynamixel_driver/single_motor_cmd.hpp"
+
+namespace DynamixelDriver
+{
+    SingleMotorCmd::SingleMotorCmd()
+    {
+    }
+
+    SingleMotorCmd::SingleMotorCmd(DxlCommandType type, uint8_t motor_id, uint32_t param)
+    {
+        _type = type;
+        _id = motor_id;
+        _param = param;
+    }
+
+    DxlCommandType SingleMotorCmd::getType()
+    {
+        return _type;
+    }
+
+    void SingleMotorCmd::setType(DxlCommandType type)
+    {
+        _type = type;
+    }
+
+    void SingleMotorCmd::setId(uint8_t id)
+    {
+        _id = id;
+    }
+
+    uint8_t SingleMotorCmd::getId()
+    {
+        return _id;
+    }
+
+    void SingleMotorCmd::setParam(uint32_t param)
+    {
+        _param = param;
+    }
+
+    uint32_t SingleMotorCmd::getParam()
+    {
+        return _param;
+    }
+
+} // namespace DynamixelDriver
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/src/synchronize_motor_cmd.cpp b/niryo_robot_hardware_stack/dynamixel_driver/src/synchronize_motor_cmd.cpp
new file mode 100644
index 000000000..4d8c386e1
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/src/synchronize_motor_cmd.cpp
@@ -0,0 +1,62 @@
+/*
+    synchronize_motor_cmd.cpp
+    Copyright (C) 2017 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "dynamixel_driver/synchronize_motor_cmd.hpp"
+
+namespace DynamixelDriver
+{
+    SynchronizeMotorCmd::SynchronizeMotorCmd()
+    {
+    }
+
+    SynchronizeMotorCmd::SynchronizeMotorCmd(DxlCommandType type, std::vector<uint8_t> motor_id, std::vector<uint32_t> params)
+        : _type(type), _motor_id_list(motor_id), _param_list(params)
+    {
+    }
+
+    DxlCommandType SynchronizeMotorCmd::getType()
+    {
+        return _type;
+    }
+
+    void SynchronizeMotorCmd::setType(DxlCommandType type)
+    {
+        _type = type;
+    }
+
+    std::vector<uint8_t> &SynchronizeMotorCmd::getMotorsId()
+    {
+        return _motor_id_list;
+    }
+    void SynchronizeMotorCmd::setMotorsId(std::vector<uint8_t> motor_id)
+    {
+        _motor_id_list = motor_id;
+    }
+
+    std::vector<uint32_t> &SynchronizeMotorCmd::getParams()
+    {
+        return _param_list;
+    }
+
+    void SynchronizeMotorCmd::setParams(std::vector<uint32_t> params)
+    {
+        _param_list = params;
+    }
+
+} // namespace DynamixelDriver
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/src/xl320_driver.cpp b/niryo_robot_hardware_stack/dynamixel_driver/src/xl320_driver.cpp
new file mode 100644
index 000000000..2c8f3c89a
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/src/xl320_driver.cpp
@@ -0,0 +1,502 @@
+/*
+    xl320_driver.cpp
+    Copyright (C) 2018 Niryo
+    All rights reserved.
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "dynamixel_driver/xl320_driver.hpp"
+
+XL320Driver::XL320Driver(boost::shared_ptr<dynamixel::PortHandler> &portHandler, boost::shared_ptr<dynamixel::PacketHandler> &packetHandler)
+    : _dxlPortHandler(portHandler), _dxlPacketHandler(packetHandler)
+{
+}
+
+int XL320Driver::checkModelNumber(uint8_t id)
+{
+    uint16_t model_number;
+    int ping_result = getModelNumber(id, &model_number);
+
+    if (ping_result == COMM_SUCCESS)
+    {
+        if (model_number && model_number != XL320_MODEL_NUMBER)
+        {
+            return PING_WRONG_MODEL_NUMBER;
+        }
+    }
+
+    return ping_result;
+}
+
+int XL320Driver::ping(uint8_t id)
+{
+    uint8_t dxl_error = 0;
+
+    int result = _dxlPacketHandler->ping(_dxlPortHandler.get(), id, &dxl_error);
+
+    if (dxl_error != 0)
+    {
+        return dxl_error;
+    }
+
+    return result;
+}
+
+int XL320Driver::getModelNumber(uint8_t id, uint16_t *dxl_model_number)
+{
+    uint8_t dxl_error = 0;
+
+    int result = _dxlPacketHandler->ping(_dxlPortHandler.get(), id, dxl_model_number, &dxl_error);
+
+    if (dxl_error != 0)
+    {
+        return dxl_error;
+    }
+
+    return result;
+}
+
+int XL320Driver::scan(std::vector<uint8_t> &id_list)
+{
+    return _dxlPacketHandler->broadcastPing(_dxlPortHandler.get(), id_list);
+}
+
+int XL320Driver::reboot(uint8_t id)
+{
+    uint8_t dxl_error = 0;
+
+    int result = _dxlPacketHandler->reboot(_dxlPortHandler.get(), id, &dxl_error);
+
+    if (dxl_error != 0)
+    {
+        return dxl_error;
+    }
+
+    return result;
+}
+
+/*
+ *  -----------------   SYNC WRITE   --------------------
+ */
+
+int XL320Driver::syncWrite1Byte(uint8_t address, std::vector<uint8_t> &id_list, std::vector<uint32_t> &data_list)
+{
+    dynamixel::GroupSyncWrite groupSyncWrite(_dxlPortHandler.get(), _dxlPacketHandler.get(), address, DXL_LEN_ONE_BYTE);
+
+    if (id_list.size() != data_list.size())
+    {
+        return LEN_ID_DATA_NOT_SAME;
+    }
+
+    if (id_list.size() == 0)
+    {
+        return COMM_SUCCESS;
+    }
+
+    std::vector<uint8_t>::iterator it_id;
+    std::vector<uint32_t>::iterator it_data;
+
+    for (it_id = id_list.begin(), it_data = data_list.begin();
+         it_id < id_list.end() && it_data < data_list.end();
+         it_id++, it_data++)
+    {
+        uint8_t params[1] = {(uint8_t)(*it_data)};
+        if (!groupSyncWrite.addParam(*it_id, params))
+        {
+            groupSyncWrite.clearParam();
+            return GROUP_SYNC_REDONDANT_ID;
+        }
+    }
+
+    int dxl_comm_result = groupSyncWrite.txPacket();
+    groupSyncWrite.clearParam();
+    return dxl_comm_result;
+}
+
+int XL320Driver::syncWrite2Bytes(uint8_t address, std::vector<uint8_t> &id_list, std::vector<uint32_t> &data_list)
+{
+    dynamixel::GroupSyncWrite groupSyncWrite(_dxlPortHandler.get(), _dxlPacketHandler.get(), address, DXL_LEN_TWO_BYTES);
+
+    if (id_list.size() != data_list.size())
+    {
+        return LEN_ID_DATA_NOT_SAME;
+    }
+
+    if (id_list.size() == 0)
+    {
+        return COMM_SUCCESS;
+    }
+
+    std::vector<uint8_t>::iterator it_id;
+    std::vector<uint32_t>::iterator it_data;
+
+    for (it_id = id_list.begin(), it_data = data_list.begin();
+         it_id < id_list.end() && it_data < data_list.end();
+         it_id++, it_data++)
+    {
+        uint8_t params[2] = {DXL_LOBYTE((uint16_t)(*it_data)), DXL_HIBYTE((uint16_t)(*it_data))};
+        if (!groupSyncWrite.addParam(*it_id, params))
+        {
+            groupSyncWrite.clearParam();
+            return GROUP_SYNC_REDONDANT_ID;
+        }
+    }
+
+    int dxl_comm_result = groupSyncWrite.txPacket();
+    groupSyncWrite.clearParam();
+    return dxl_comm_result;
+}
+
+int XL320Driver::syncWrite4Bytes(uint8_t address, std::vector<uint8_t> &id_list, std::vector<uint32_t> &data_list)
+{
+    dynamixel::GroupSyncWrite groupSyncWrite(_dxlPortHandler.get(), _dxlPacketHandler.get(), address, DXL_LEN_FOUR_BYTES);
+
+    if (id_list.size() != data_list.size())
+    {
+        return LEN_ID_DATA_NOT_SAME;
+    }
+
+    if (id_list.size() == 0)
+    {
+        return COMM_SUCCESS;
+    }
+
+    std::vector<uint8_t>::iterator it_id;
+    std::vector<uint32_t>::iterator it_data;
+
+    for (it_id = id_list.begin(), it_data = data_list.begin();
+         it_id < id_list.end() && it_data < data_list.end();
+         it_id++, it_data++)
+    {
+        uint8_t params[4] = {DXL_LOBYTE(DXL_LOWORD(*it_data)), DXL_HIBYTE(DXL_LOWORD(*it_data)),
+                             DXL_LOBYTE(DXL_HIWORD(*it_data)), DXL_HIBYTE(DXL_HIWORD(*it_data))};
+        if (!groupSyncWrite.addParam(*it_id, params))
+        {
+            groupSyncWrite.clearParam();
+            return GROUP_SYNC_REDONDANT_ID;
+        }
+    }
+
+    int dxl_comm_result = groupSyncWrite.txPacket();
+    groupSyncWrite.clearParam();
+    return dxl_comm_result;
+}
+
+/*
+ *  -----------------   READ   --------------------
+ */
+
+int XL320Driver::read1Byte(uint8_t address, uint8_t id, uint32_t *data)
+{
+    uint8_t dxl_error = 0;
+    int dxl_comm_result = COMM_TX_FAIL;
+
+    uint8_t read_data;
+    dxl_comm_result = _dxlPacketHandler->read1ByteTxRx(_dxlPortHandler.get(), id, address, &read_data, &dxl_error);
+    (*data) = read_data;
+
+    if (dxl_error != 0)
+    {
+        return dxl_error;
+    }
+
+    return dxl_comm_result;
+}
+
+int XL320Driver::read2Bytes(uint8_t address, uint8_t id, uint32_t *data)
+{
+    uint8_t dxl_error = 0;
+    int dxl_comm_result = COMM_TX_FAIL;
+
+    uint16_t read_data;
+    dxl_comm_result = _dxlPacketHandler->read2ByteTxRx(_dxlPortHandler.get(), id, address, &read_data, &dxl_error);
+    (*data) = read_data;
+
+    if (dxl_error != 0)
+    {
+        return dxl_error;
+    }
+
+    return dxl_comm_result;
+}
+
+int XL320Driver::read4Bytes(uint8_t address, uint8_t id, uint32_t *data)
+{
+    uint8_t dxl_error = 0;
+    int dxl_comm_result = COMM_TX_FAIL;
+
+    uint32_t read_data;
+    dxl_comm_result = _dxlPacketHandler->read4ByteTxRx(_dxlPortHandler.get(), id, address, &read_data, &dxl_error);
+    (*data) = read_data;
+
+    if (dxl_error != 0)
+    {
+        return dxl_error;
+    }
+
+    return dxl_comm_result;
+}
+
+/*
+ *  -----------------   SYNC READ   --------------------
+ */
+
+int XL320Driver::syncRead(uint8_t address, uint8_t data_len, std::vector<uint8_t> &id_list, std::vector<uint32_t> &data_list)
+{
+    data_list.clear();
+
+    dynamixel::GroupSyncRead groupSyncRead(_dxlPortHandler.get(), _dxlPacketHandler.get(), address, data_len);
+    bool dxl_getdata_result = false;
+    int dxl_comm_result = COMM_TX_FAIL;
+
+    std::vector<uint8_t>::iterator it_id;
+
+    for (it_id = id_list.begin(); it_id < id_list.end(); it_id++)
+    {
+        if (!groupSyncRead.addParam(*it_id))
+        {
+            groupSyncRead.clearParam();
+            return GROUP_SYNC_REDONDANT_ID;
+        }
+    }
+
+    dxl_comm_result = groupSyncRead.txRxPacket();
+
+    if (dxl_comm_result != COMM_SUCCESS)
+    {
+        groupSyncRead.clearParam();
+        return dxl_comm_result;
+    }
+
+    for (it_id = id_list.begin(); it_id < id_list.end(); it_id++)
+    {
+        dxl_getdata_result = groupSyncRead.isAvailable(*it_id, address, data_len);
+        if (!dxl_getdata_result)
+        {
+            groupSyncRead.clearParam();
+            return GROUP_SYNC_READ_RX_FAIL;
+        }
+        if (data_len == DXL_LEN_ONE_BYTE)
+        {
+            data_list.push_back((uint8_t)groupSyncRead.getData(*it_id, address, data_len));
+        }
+        else if (data_len == DXL_LEN_TWO_BYTES)
+        {
+            data_list.push_back((uint16_t)groupSyncRead.getData(*it_id, address, data_len));
+        }
+        else if (data_len == DXL_LEN_FOUR_BYTES)
+        {
+            data_list.push_back((uint32_t)groupSyncRead.getData(*it_id, address, data_len));
+        }
+    }
+
+    groupSyncRead.clearParam();
+    return dxl_comm_result;
+}
+
+/*
+ *  -----------------   WRITE   --------------------
+ */
+
+int XL320Driver::changeId(uint8_t id, uint8_t new_id)
+{
+    return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL320_ADDR_ID, new_id);
+}
+
+int XL320Driver::changeBaudRate(uint8_t id, uint32_t new_baudrate)
+{
+    return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL320_ADDR_BAUDRATE, (uint8_t)new_baudrate);
+}
+
+int XL320Driver::setLed(uint8_t id, uint32_t led_value)
+{
+    return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL320_ADDR_LED, (uint8_t)led_value);
+}
+
+int XL320Driver::setTorqueEnable(uint8_t id, uint32_t torque_enable)
+{
+    return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL320_ADDR_TORQUE_ENABLE, (uint8_t)torque_enable);
+}
+
+int XL320Driver::setGoalPosition(uint8_t id, uint32_t position)
+{
+    return _dxlPacketHandler->write2ByteTxOnly(_dxlPortHandler.get(), id, XL320_ADDR_GOAL_POSITION, (uint16_t)position);
+}
+
+int XL320Driver::setGoalVelocity(uint8_t id, uint32_t velocity)
+{
+    return _dxlPacketHandler->write2ByteTxOnly(_dxlPortHandler.get(), id, XL320_ADDR_GOAL_SPEED, (uint16_t)velocity);
+}
+
+int XL320Driver::setGoalTorque(uint8_t id, uint32_t torque)
+{
+    return _dxlPacketHandler->write2ByteTxOnly(_dxlPortHandler.get(), id, XL320_ADDR_GOAL_TORQUE, (uint16_t)torque);
+}
+
+int XL320Driver::setReturnDelayTime(uint8_t id, uint32_t return_delay_time)
+{
+    return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL320_ADDR_RETURN_DELAY_TIME, (uint8_t)return_delay_time);
+}
+
+int XL320Driver::setLimitTemperature(uint8_t id, uint32_t temperature)
+{
+    return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL320_ADDR_LIMIT_TEMPERATURE, (uint8_t)temperature);
+}
+
+int XL320Driver::setMaxTorque(uint8_t id, uint32_t torque)
+{
+    return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL320_ADDR_MAX_TORQUE, (uint8_t)torque);
+}
+
+int XL320Driver::setReturnLevel(uint8_t id, uint32_t return_level)
+{
+    return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL320_ADDR_RETURN_LEVEL, (uint8_t)return_level);
+}
+
+int XL320Driver::setAlarmShutdown(uint8_t id, uint32_t alarm_shutdown)
+{
+    return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL320_ADDR_ALARM_SHUTDOWN, (uint8_t)alarm_shutdown);
+}
+
+int XL320Driver::customWrite(uint8_t id, uint32_t value, uint8_t reg_address, uint8_t byte_number)
+{
+    if (byte_number == 1)
+    {
+        return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, reg_address, (uint8_t)value);
+    }
+    else if (byte_number == 2)
+    {
+        return _dxlPacketHandler->write2ByteTxOnly(_dxlPortHandler.get(), id, reg_address, (uint16_t)value);
+    }
+    else
+    {
+        return -1;
+    }
+}
+
+/*
+ *  -----------------   SYNC WRITE   --------------------
+ */
+
+int XL320Driver::syncWritePositionGoal(std::vector<uint8_t> &id_list, std::vector<uint32_t> &position_list)
+{
+    return syncWrite2Bytes(XL320_ADDR_GOAL_POSITION, id_list, position_list);
+}
+int XL320Driver::syncWriteVelocityGoal(std::vector<uint8_t> &id_list, std::vector<uint32_t> &velocity_list)
+{
+    return syncWrite2Bytes(XL320_ADDR_GOAL_SPEED, id_list, velocity_list);
+}
+int XL320Driver::syncWriteTorqueGoal(std::vector<uint8_t> &id_list, std::vector<uint32_t> &torque_list)
+{
+    return syncWrite2Bytes(XL320_ADDR_GOAL_TORQUE, id_list, torque_list);
+}
+
+int XL320Driver::syncWriteTorqueEnable(std::vector<uint8_t> &id_list, std::vector<uint32_t> &torque_enable_list)
+{
+    return syncWrite1Byte(XL320_ADDR_TORQUE_ENABLE, id_list, torque_enable_list);
+}
+
+int XL320Driver::syncWriteLed(std::vector<uint8_t> &id_list, std::vector<uint32_t> &led_list)
+{
+    return syncWrite1Byte(XL320_ADDR_LED, id_list, led_list);
+}
+
+/*
+ *  -----------------   READ   --------------------
+ */
+
+int XL320Driver::readPosition(uint8_t id, uint32_t *present_position)
+{
+    return read2Bytes(XL320_ADDR_PRESENT_POSITION, id, present_position);
+}
+
+int XL320Driver::readVelocity(uint8_t id, uint32_t *present_velocity)
+{
+    return read2Bytes(XL320_ADDR_PRESENT_SPEED, id, present_velocity);
+}
+
+int XL320Driver::readLoad(uint8_t id, uint32_t *present_load)
+{
+    return read2Bytes(XL320_ADDR_PRESENT_LOAD, id, present_load);
+}
+
+int XL320Driver::readTemperature(uint8_t id, uint32_t *temperature)
+{
+    return read1Byte(XL320_ADDR_PRESENT_TEMPERATURE, id, temperature);
+}
+
+int XL320Driver::readVoltage(uint8_t id, uint32_t *voltage)
+{
+    return read1Byte(XL320_ADDR_PRESENT_VOLTAGE, id, voltage);
+}
+
+int XL320Driver::readHardwareStatus(uint8_t id, uint32_t *hardware_status)
+{
+    return read1Byte(XL320_ADDR_HW_ERROR_STATUS, id, hardware_status);
+}
+int XL320Driver::readReturnDelayTime(uint8_t id, uint32_t *return_delay_time)
+{
+    return read1Byte(XL320_ADDR_RETURN_DELAY_TIME, id, return_delay_time);
+}
+
+int XL320Driver::readLimitTemperature(uint8_t id, uint32_t *limit_temperature)
+{
+    return read1Byte(XL320_ADDR_LIMIT_TEMPERATURE, id, limit_temperature);
+}
+
+int XL320Driver::readMaxTorque(uint8_t id, uint32_t *max_torque)
+{
+    return read2Bytes(XL320_ADDR_MAX_TORQUE, id, max_torque);
+}
+
+int XL320Driver::readReturnLevel(uint8_t id, uint32_t *return_level)
+{
+    return read1Byte(XL320_ADDR_RETURN_LEVEL, id, return_level);
+}
+
+int XL320Driver::readAlarmShutdown(uint8_t id, uint32_t *alarm_shutdown)
+{
+    return read1Byte(XL320_ADDR_ALARM_SHUTDOWN, id, alarm_shutdown);
+}
+
+/*
+ *  -----------------   SYNC READ   --------------------
+ */
+
+int XL320Driver::syncReadPosition(std::vector<uint8_t> &id_list, std::vector<uint32_t> &position_list)
+{
+    return syncRead(XL320_ADDR_PRESENT_POSITION, DXL_LEN_TWO_BYTES, id_list, position_list);
+}
+
+int XL320Driver::syncReadVelocity(std::vector<uint8_t> &id_list, std::vector<uint32_t> &velocity_list)
+{
+    return syncRead(XL320_ADDR_PRESENT_SPEED, DXL_LEN_TWO_BYTES, id_list, velocity_list);
+}
+int XL320Driver::syncReadLoad(std::vector<uint8_t> &id_list, std::vector<uint32_t> &load_list)
+{
+    return syncRead(XL320_ADDR_PRESENT_LOAD, DXL_LEN_TWO_BYTES, id_list, load_list);
+}
+
+int XL320Driver::syncReadTemperature(std::vector<uint8_t> &id_list, std::vector<uint32_t> &temperature_list)
+{
+    return syncRead(XL320_ADDR_PRESENT_TEMPERATURE, DXL_LEN_ONE_BYTE, id_list, temperature_list);
+}
+
+int XL320Driver::syncReadVoltage(std::vector<uint8_t> &id_list, std::vector<uint32_t> &voltage_list)
+{
+    return syncRead(XL320_ADDR_PRESENT_VOLTAGE, DXL_LEN_ONE_BYTE, id_list, voltage_list);
+}
+
+int XL320Driver::syncReadHwErrorStatus(std::vector<uint8_t> &id_list, std::vector<uint32_t> &hw_error_list)
+{
+    return syncRead(XL320_ADDR_HW_ERROR_STATUS, DXL_LEN_ONE_BYTE, id_list, hw_error_list);
+}
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/src/xl430_driver.cpp b/niryo_robot_hardware_stack/dynamixel_driver/src/xl430_driver.cpp
new file mode 100644
index 000000000..1932d3480
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/src/xl430_driver.cpp
@@ -0,0 +1,509 @@
+/*
+    xl430_driver.cpp
+    Copyright (C) 2018 Niryo
+    All rights reserved.
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "dynamixel_driver/xl430_driver.hpp"
+
+XL430Driver::XL430Driver(boost::shared_ptr<dynamixel::PortHandler> &portHandler, boost::shared_ptr<dynamixel::PacketHandler> &packetHandler)
+    : _dxlPortHandler(portHandler), _dxlPacketHandler(packetHandler)
+{
+}
+
+int XL430Driver::checkModelNumber(uint8_t id)
+{
+    uint16_t model_number;
+    int ping_result = getModelNumber(id, &model_number);
+
+    if (ping_result == COMM_SUCCESS)
+    {
+        if (model_number && model_number != XL430_MODEL_NUMBER)
+        {
+            return PING_WRONG_MODEL_NUMBER;
+        }
+    }
+
+    return ping_result;
+}
+
+int XL430Driver::ping(uint8_t id)
+{
+    uint8_t dxl_error = 0;
+
+    int result = _dxlPacketHandler->ping(_dxlPortHandler.get(), id, &dxl_error);
+
+    if (dxl_error != 0)
+    {
+        return dxl_error;
+    }
+
+    return result;
+}
+
+int XL430Driver::getModelNumber(uint8_t id, uint16_t *dxl_model_number)
+{
+    uint8_t dxl_error = 0;
+
+    int result = _dxlPacketHandler->ping(_dxlPortHandler.get(), id, dxl_model_number, &dxl_error);
+
+    if (dxl_error != 0)
+    {
+        return dxl_error;
+    }
+
+    return result;
+}
+
+int XL430Driver::scan(std::vector<uint8_t> &id_list)
+{
+    return _dxlPacketHandler->broadcastPing(_dxlPortHandler.get(), id_list);
+}
+
+int XL430Driver::reboot(uint8_t id)
+{
+    uint8_t dxl_error = 0;
+
+    int result = _dxlPacketHandler->reboot(_dxlPortHandler.get(), id, &dxl_error);
+
+    if (dxl_error != 0)
+    {
+        return dxl_error;
+    }
+
+    return result;
+}
+
+/*
+ *  -----------------   SYNC WRITE   --------------------
+ */
+
+int XL430Driver::syncWrite1Byte(uint8_t address, std::vector<uint8_t> &id_list, std::vector<uint32_t> &data_list)
+{
+    dynamixel::GroupSyncWrite groupSyncWrite(_dxlPortHandler.get(), _dxlPacketHandler.get(), address, DXL_LEN_ONE_BYTE);
+
+    if (id_list.size() != data_list.size())
+    {
+        return LEN_ID_DATA_NOT_SAME;
+    }
+
+    if (id_list.size() == 0)
+    {
+        return COMM_SUCCESS;
+    }
+
+    std::vector<uint8_t>::iterator it_id;
+    std::vector<uint32_t>::iterator it_data;
+
+    for (it_id = id_list.begin(), it_data = data_list.begin();
+         it_id < id_list.end() && it_data < data_list.end();
+         it_id++, it_data++)
+    {
+        uint8_t params[1] = {(uint8_t)(*it_data)};
+        if (!groupSyncWrite.addParam(*it_id, params))
+        {
+            groupSyncWrite.clearParam();
+            return GROUP_SYNC_REDONDANT_ID;
+        }
+    }
+
+    int dxl_comm_result = groupSyncWrite.txPacket();
+    groupSyncWrite.clearParam();
+    return dxl_comm_result;
+}
+
+int XL430Driver::syncWrite2Bytes(uint8_t address, std::vector<uint8_t> &id_list, std::vector<uint32_t> &data_list)
+{
+    dynamixel::GroupSyncWrite groupSyncWrite(_dxlPortHandler.get(), _dxlPacketHandler.get(), address, DXL_LEN_TWO_BYTES);
+
+    if (id_list.size() != data_list.size())
+    {
+        return LEN_ID_DATA_NOT_SAME;
+    }
+
+    if (id_list.size() == 0)
+    {
+        return COMM_SUCCESS;
+    }
+
+    std::vector<uint8_t>::iterator it_id;
+    std::vector<uint32_t>::iterator it_data;
+
+    for (it_id = id_list.begin(), it_data = data_list.begin();
+         it_id < id_list.end() && it_data < data_list.end();
+         it_id++, it_data++)
+    {
+        uint8_t params[2] = {DXL_LOBYTE((uint16_t)(*it_data)), DXL_HIBYTE((uint16_t)(*it_data))};
+        if (!groupSyncWrite.addParam(*it_id, params))
+        {
+            groupSyncWrite.clearParam();
+            return GROUP_SYNC_REDONDANT_ID;
+        }
+    }
+
+    int dxl_comm_result = groupSyncWrite.txPacket();
+    groupSyncWrite.clearParam();
+    return dxl_comm_result;
+}
+
+int XL430Driver::syncWrite4Bytes(uint8_t address, std::vector<uint8_t> &id_list, std::vector<uint32_t> &data_list)
+{
+    dynamixel::GroupSyncWrite groupSyncWrite(_dxlPortHandler.get(), _dxlPacketHandler.get(), address, DXL_LEN_FOUR_BYTES);
+
+    if (id_list.size() != data_list.size())
+    {
+        return LEN_ID_DATA_NOT_SAME;
+    }
+
+    if (id_list.size() == 0)
+    {
+        return COMM_SUCCESS;
+    }
+
+    std::vector<uint8_t>::iterator it_id;
+    std::vector<uint32_t>::iterator it_data;
+
+    for (it_id = id_list.begin(), it_data = data_list.begin();
+         it_id < id_list.end() && it_data < data_list.end();
+         it_id++, it_data++)
+    {
+        uint8_t params[4] = {DXL_LOBYTE(DXL_LOWORD(*it_data)), DXL_HIBYTE(DXL_LOWORD(*it_data)),
+                             DXL_LOBYTE(DXL_HIWORD(*it_data)), DXL_HIBYTE(DXL_HIWORD(*it_data))};
+        if (!groupSyncWrite.addParam(*it_id, params))
+        {
+            groupSyncWrite.clearParam();
+            return GROUP_SYNC_REDONDANT_ID;
+        }
+    }
+
+    int dxl_comm_result = groupSyncWrite.txPacket();
+    groupSyncWrite.clearParam();
+    return dxl_comm_result;
+}
+
+/*
+ *  -----------------   READ   --------------------
+ */
+
+int XL430Driver::read1Byte(uint8_t address, uint8_t id, uint32_t *data)
+{
+    uint8_t dxl_error = 0;
+    int dxl_comm_result = COMM_TX_FAIL;
+
+    uint8_t read_data;
+    dxl_comm_result = _dxlPacketHandler->read1ByteTxRx(_dxlPortHandler.get(), id, address, &read_data, &dxl_error);
+    (*data) = read_data;
+
+    if (dxl_error != 0)
+    {
+        return dxl_error;
+    }
+
+    return dxl_comm_result;
+}
+
+int XL430Driver::read2Bytes(uint8_t address, uint8_t id, uint32_t *data)
+{
+    uint8_t dxl_error = 0;
+    int dxl_comm_result = COMM_TX_FAIL;
+
+    uint16_t read_data;
+    dxl_comm_result = _dxlPacketHandler->read2ByteTxRx(_dxlPortHandler.get(), id, address, &read_data, &dxl_error);
+    (*data) = read_data;
+
+    if (dxl_error != 0)
+    {
+        return dxl_error;
+    }
+
+    return dxl_comm_result;
+}
+
+int XL430Driver::read4Bytes(uint8_t address, uint8_t id, uint32_t *data)
+{
+    uint8_t dxl_error = 0;
+    int dxl_comm_result = COMM_TX_FAIL;
+
+    uint32_t read_data;
+    dxl_comm_result = _dxlPacketHandler->read4ByteTxRx(_dxlPortHandler.get(), id, address, &read_data, &dxl_error);
+    (*data) = read_data;
+
+    if (dxl_error != 0)
+    {
+        return dxl_error;
+    }
+
+    return dxl_comm_result;
+}
+
+/*
+ *  -----------------   SYNC READ   --------------------
+ */
+
+int XL430Driver::syncRead(uint8_t address, uint8_t data_len, std::vector<uint8_t> &id_list, std::vector<uint32_t> &data_list)
+{
+    data_list.clear();
+
+    dynamixel::GroupSyncRead groupSyncRead(_dxlPortHandler.get(), _dxlPacketHandler.get(), address, data_len);
+    bool dxl_getdata_result = false;
+    int dxl_comm_result = COMM_TX_FAIL;
+
+    std::vector<uint8_t>::iterator it_id;
+
+    for (it_id = id_list.begin(); it_id < id_list.end(); it_id++)
+    {
+        if (!groupSyncRead.addParam(*it_id))
+        {
+            groupSyncRead.clearParam();
+            return GROUP_SYNC_REDONDANT_ID;
+        }
+    }
+
+    dxl_comm_result = groupSyncRead.txRxPacket();
+
+    if (dxl_comm_result != COMM_SUCCESS)
+    {
+        groupSyncRead.clearParam();
+        return dxl_comm_result;
+    }
+
+    for (it_id = id_list.begin(); it_id < id_list.end(); it_id++)
+    {
+        dxl_getdata_result = groupSyncRead.isAvailable(*it_id, address, data_len);
+        if (!dxl_getdata_result)
+        {
+            groupSyncRead.clearParam();
+            return GROUP_SYNC_READ_RX_FAIL;
+        }
+        if (data_len == DXL_LEN_ONE_BYTE)
+        {
+            data_list.push_back((uint8_t)groupSyncRead.getData(*it_id, address, data_len));
+        }
+        else if (data_len == DXL_LEN_TWO_BYTES)
+        {
+            data_list.push_back((uint16_t)groupSyncRead.getData(*it_id, address, data_len));
+        }
+        else if (data_len == DXL_LEN_FOUR_BYTES)
+        {
+            data_list.push_back((uint32_t)groupSyncRead.getData(*it_id, address, data_len));
+        }
+    }
+
+    groupSyncRead.clearParam();
+    return dxl_comm_result;
+}
+/*
+ *  -----------------   WRITE   --------------------
+ */
+
+int XL430Driver::changeId(uint8_t id, uint8_t new_id)
+{
+    return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL430_ADDR_ID, new_id);
+}
+
+int XL430Driver::changeBaudRate(uint8_t id, uint32_t new_baudrate)
+{
+    return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL430_ADDR_BAUDRATE, (uint8_t)new_baudrate);
+}
+
+int XL430Driver::setLed(uint8_t id, uint32_t led_value)
+{
+    return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL430_ADDR_LED, (uint8_t)led_value);
+}
+
+int XL430Driver::setTorqueEnable(uint8_t id, uint32_t torque_enable)
+{
+    return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL430_ADDR_TORQUE_ENABLE, (uint8_t)torque_enable);
+}
+
+int XL430Driver::setGoalPosition(uint8_t id, uint32_t position)
+{
+    return _dxlPacketHandler->write4ByteTxOnly(_dxlPortHandler.get(), id, XL430_ADDR_GOAL_POSITION, position);
+}
+
+int XL430Driver::setGoalVelocity(uint8_t id, uint32_t velocity)
+{
+    return _dxlPacketHandler->write4ByteTxOnly(_dxlPortHandler.get(), id, XL430_ADDR_GOAL_VELOCITY, velocity);
+}
+
+int XL430Driver::setGoalTorque(uint8_t id, uint32_t torque)
+{
+    // No goal torque for this motor ?
+    return COMM_TX_ERROR;
+}
+
+int XL430Driver::setReturnDelayTime(uint8_t id, uint32_t return_delay_time)
+{
+    return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL430_ADDR_RETURN_DELAY_TIME, (uint8_t)return_delay_time);
+}
+
+int XL430Driver::setLimitTemperature(uint8_t id, uint32_t temperature)
+{
+    return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL430_ADDR_TEMPERATURE_LIMIT, (uint8_t)temperature);
+}
+
+int XL430Driver::setMaxTorque(uint8_t id, uint32_t torque)
+{
+    // No max torque setting for this motor ?
+    return COMM_TX_ERROR;
+}
+
+int XL430Driver::setReturnLevel(uint8_t id, uint32_t return_level)
+{
+    return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL430_ADDR_STATUS_RETURN_LEVEL, (uint8_t)return_level);
+}
+
+int XL430Driver::setAlarmShutdown(uint8_t id, uint32_t alarm_shutdown)
+{
+    return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL430_ADDR_ALARM_SHUTDOWN, (uint8_t)alarm_shutdown);
+}
+
+int XL430Driver::customWrite(uint8_t id, uint32_t value, uint8_t reg_address, uint8_t byte_number)
+{
+    if (byte_number == 1)
+    {
+        return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, reg_address, (uint8_t)value);
+    }
+    else if (byte_number == 2)
+    {
+        return _dxlPacketHandler->write2ByteTxOnly(_dxlPortHandler.get(), id, reg_address, (uint16_t)value);
+    }
+    else if (byte_number == 4)
+    {
+        return _dxlPacketHandler->write4ByteTxOnly(_dxlPortHandler.get(), id, reg_address, value);
+    }
+    else
+    {
+        return -1;
+    }
+}
+
+/*
+ *  -----------------   SYNC WRITE   --------------------
+ */
+
+int XL430Driver::syncWritePositionGoal(std::vector<uint8_t> &id_list, std::vector<uint32_t> &position_list)
+{
+    return syncWrite4Bytes(XL430_ADDR_GOAL_POSITION, id_list, position_list);
+}
+int XL430Driver::syncWriteVelocityGoal(std::vector<uint8_t> &id_list, std::vector<uint32_t> &velocity_list)
+{
+    return syncWrite4Bytes(XL430_ADDR_GOAL_VELOCITY, id_list, velocity_list);
+}
+int XL430Driver::syncWriteTorqueGoal(std::vector<uint8_t> &id_list, std::vector<uint32_t> &torque_list)
+{
+    // No goal torque for this motor ?
+    return COMM_TX_ERROR;
+}
+
+int XL430Driver::syncWriteTorqueEnable(std::vector<uint8_t> &id_list, std::vector<uint32_t> &torque_enable_list)
+{
+    return syncWrite1Byte(XL430_ADDR_TORQUE_ENABLE, id_list, torque_enable_list);
+}
+
+int XL430Driver::syncWriteLed(std::vector<uint8_t> &id_list, std::vector<uint32_t> &led_list)
+{
+    return syncWrite1Byte(XL430_ADDR_LED, id_list, led_list);
+}
+
+/*
+ *  -----------------   READ   --------------------
+ */
+
+int XL430Driver::readPosition(uint8_t id, uint32_t *present_position)
+{
+    return read4Bytes(XL430_ADDR_PRESENT_POSITION, id, present_position);
+}
+
+int XL430Driver::readVelocity(uint8_t id, uint32_t *present_velocity)
+{
+    return read4Bytes(XL430_ADDR_PRESENT_VELOCITY, id, present_velocity);
+}
+
+int XL430Driver::readLoad(uint8_t id, uint32_t *present_load)
+{
+    return read2Bytes(XL430_ADDR_PRESENT_LOAD, id, present_load);
+}
+
+int XL430Driver::readTemperature(uint8_t id, uint32_t *temperature)
+{
+    return read1Byte(XL430_ADDR_PRESENT_TEMPERATURE, id, temperature);
+}
+
+int XL430Driver::readVoltage(uint8_t id, uint32_t *voltage)
+{
+    return read2Bytes(XL430_ADDR_PRESENT_VOLTAGE, id, voltage);
+}
+
+int XL430Driver::readHardwareStatus(uint8_t id, uint32_t *hardware_status)
+{
+    return read1Byte(XL430_ADDR_HW_ERROR_STATUS, id, hardware_status);
+}
+int XL430Driver::readReturnDelayTime(uint8_t id, uint32_t *return_delay_time)
+{
+    return read1Byte(XL430_ADDR_RETURN_DELAY_TIME, id, return_delay_time);
+}
+
+int XL430Driver::readLimitTemperature(uint8_t id, uint32_t *limit_temperature)
+{
+    return read1Byte(XL430_ADDR_TEMPERATURE_LIMIT, id, limit_temperature);
+}
+
+int XL430Driver::readMaxTorque(uint8_t id, uint32_t *max_torque)
+{
+    // No max torque setting for this motor ?
+    return COMM_TX_ERROR;
+}
+
+int XL430Driver::readReturnLevel(uint8_t id, uint32_t *return_level)
+{
+    return read1Byte(XL430_ADDR_STATUS_RETURN_LEVEL, id, return_level);
+}
+
+int XL430Driver::readAlarmShutdown(uint8_t id, uint32_t *alarm_shutdown)
+{
+    return read1Byte(XL430_ADDR_ALARM_SHUTDOWN, id, alarm_shutdown);
+}
+
+/*
+ *  -----------------   SYNC READ   --------------------
+ */
+
+int XL430Driver::syncReadPosition(std::vector<uint8_t> &id_list, std::vector<uint32_t> &position_list)
+{
+    return syncRead(XL430_ADDR_PRESENT_POSITION, DXL_LEN_FOUR_BYTES, id_list, position_list);
+}
+
+int XL430Driver::syncReadVelocity(std::vector<uint8_t> &id_list, std::vector<uint32_t> &velocity_list)
+{
+    return syncRead(XL430_ADDR_PRESENT_VELOCITY, DXL_LEN_FOUR_BYTES, id_list, velocity_list);
+}
+int XL430Driver::syncReadLoad(std::vector<uint8_t> &id_list, std::vector<uint32_t> &load_list)
+{
+    return syncRead(XL430_ADDR_PRESENT_LOAD, DXL_LEN_TWO_BYTES, id_list, load_list);
+}
+
+int XL430Driver::syncReadTemperature(std::vector<uint8_t> &id_list, std::vector<uint32_t> &temperature_list)
+{
+    return syncRead(XL430_ADDR_PRESENT_TEMPERATURE, DXL_LEN_ONE_BYTE, id_list, temperature_list);
+}
+
+int XL430Driver::syncReadVoltage(std::vector<uint8_t> &id_list, std::vector<uint32_t> &voltage_list)
+{
+    return syncRead(XL430_ADDR_PRESENT_VOLTAGE, DXL_LEN_TWO_BYTES, id_list, voltage_list);
+}
+
+int XL430Driver::syncReadHwErrorStatus(std::vector<uint8_t> &id_list, std::vector<uint32_t> &hw_error_list)
+{
+    return syncRead(XL430_ADDR_HW_ERROR_STATUS, DXL_LEN_ONE_BYTE, id_list, hw_error_list);
+}
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/srv/SendCustomDxlValue.srv b/niryo_robot_hardware_stack/dynamixel_driver/srv/SendCustomDxlValue.srv
new file mode 100644
index 000000000..69ae80a0f
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/srv/SendCustomDxlValue.srv
@@ -0,0 +1,11 @@
+# Check XL-320 and XL-430 reference doc for
+# the complete register table
+
+int8 motor_type # 3 (XL-320) or 2 (XL-430)
+uint8 id
+int32 value
+int32 reg_address
+int32 byte_number
+---
+int32 status
+string message
diff --git a/niryo_robot_hardware_stack/dynamixel_driver/test/test_dynamixel_driver_node.cpp b/niryo_robot_hardware_stack/dynamixel_driver/test/test_dynamixel_driver_node.cpp
new file mode 100644
index 000000000..43545fa06
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_driver/test/test_dynamixel_driver_node.cpp
@@ -0,0 +1,119 @@
+#include <boost/shared_ptr.hpp>
+#include <ros/ros.h>
+#include <string>
+#include <thread>
+#include <queue>
+#include <functional>
+#include <vector>
+
+#include <dynamixel_driver/dxl_driver_core.hpp>
+
+class DxlDriverTest {
+
+    private:
+        ros::NodeHandle nh;
+
+        boost::shared_ptr<DynamixelDriver::DynamixelDriverCore> _dynamixel;
+
+        std::vector<uint32_t> dxl_home_pose{2000, 2047 , 511};
+        std::vector<uint32_t> dxl_pose_1{2047, 2047 , 511};
+        std::vector<uint32_t> dxl_pose_2{2047, 2047 , 511};
+
+        std::vector<uint8_t> id{2,3,6};
+
+    public:
+        DxlDriverTest()
+        {
+            ros::NodeHandle nodeHandle("~");
+
+            _dynamixel.reset(new DynamixelDriver::DynamixelDriverCore());
+
+            TestServiceActiveTorque();
+            TestPublishPoseCmd();
+
+            TestReceiveState();
+
+        }
+
+        void TestServiceActiveTorque()
+        {
+            ROS_INFO("active all arm motors");
+            DynamixelDriver::SynchronizeMotorCmd cmd;
+            cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_TORQUE);
+            cmd.setMotorsId(id);
+            cmd.setParams(std::vector<uint32_t> {true, true, true});
+            _dynamixel->setDxlCommands(cmd);
+            ros::Duration(1).sleep();
+            cmd.setParams(std::vector<uint32_t> {false, false, false});
+            _dynamixel->setDxlCommands(cmd);
+            ros::Duration(1).sleep();
+
+        }
+
+        void TestPublishPoseCmd()
+        {           
+            ROS_INFO("move all arm motors");
+            DynamixelDriver::SynchronizeMotorCmd cmd;
+
+            cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_TORQUE);
+            cmd.setMotorsId(id);
+            cmd.setParams(std::vector<uint32_t> {true, true, true});
+            ROS_INFO("Sending command 1");
+            _dynamixel->setDxlCommands(cmd);
+            ros::Duration(3).sleep();
+
+            cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_POSITION);
+            cmd.setParams(dxl_home_pose);
+            ROS_INFO("Sending command 2");
+            _dynamixel->setDxlCommands(cmd);
+            ros::Duration(3).sleep();
+
+            cmd.setParams(dxl_pose_1);
+            ROS_INFO("Sending command 3");
+            _dynamixel->setDxlCommands(cmd);
+            ros::Duration(3).sleep();
+
+            cmd.setParams(dxl_pose_2);
+            ROS_INFO("Sending command 4");
+            _dynamixel->setDxlCommands(cmd);
+            ros::Duration(3).sleep();
+
+            cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_TORQUE);
+            cmd.setParams(std::vector<uint32_t> {false, false, false});
+            ROS_INFO("Sending command 5");
+            _dynamixel->setDxlCommands(cmd);
+        }
+
+        void TestReceiveState()
+        {
+            ros::Duration r(0.1);
+            std::vector<DynamixelDriver::DxlMotorState> motor_state;
+            for(int i = 0 ; i < 100 ; i++)
+            {
+                motor_state = _dynamixel->getDxlStates();
+                for(int j = 0 ; j < motor_state.size() ; j++)
+                {
+                    std::cout << " " << motor_state.at(j).getId() << "    " << motor_state.at(j).getPositionState() << std::endl;
+                }
+                std::cout << " "  << std::endl;
+                r.sleep();
+            }
+        }
+
+};
+
+int main(int argc, char **argv) 
+{
+    ros::init(argc, argv, "dynamixel_driver_test");
+  
+    ros::AsyncSpinner spinner(4);
+    spinner.start();
+    
+    ros::NodeHandle nh;
+   
+    DxlDriverTest test; 
+
+    ros::waitForShutdown();
+    
+    ROS_INFO("shutdown node");
+}
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/CHANGELOG.rst b/niryo_robot_hardware_stack/dynamixel_sdk/CHANGELOG.rst
new file mode 100644
index 000000000..dd5a6e20f
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_sdk/CHANGELOG.rst
@@ -0,0 +1,89 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package dynamixel_sdk
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+3.4.7 (2017-07-18)
+-----------
+* hotfix - Bug in Dynamixel group control is solved temporarily
+* Contributors: Leon, Zerom
+
+3.4.6 (2017-07-07)
+-----------
+* hotfix - now DynamixelSDK for protocol1.0 supports read/write 4Byte (for XM series)
+* Contributors: Leon
+
+3.4.5 (2017-05-23)
+-----------
+* added option to check if the id of rxpacket is the same as the id of txpacket.
+* Contributors: Leon, Zerom
+
+3.4.4 (2017-04-26)
+-----------
+* hotfix - return delay time is changed from 4 into 8 due to the Ubuntu update 16.04.2
+* Contributors: Leon
+
+3.4.3 (2017-02-17)
+-----------
+* DynamixelSDK C++ ver. and ROS ver. in Windows platform now can use the port number of over then 10 #45
+* Contributors: Leon
+
+3.4.2 (2017-02-16)
+-----------
+* fprintf output in GrouBulkRead of C++ removed
+* MATLAB library compiler error solving
+* Makefile for build example sources in SBC added
+* build files of windows c and c++ SDK rebuilt by using renewed SDK libraries
+* example source of dxl_monitor - c and cpp ver modified #50
+* Solved issue : #31, #34, #36, #50
+* Contributors: Leon
+
+3.4.1 (2016-08-22)
+-----------
+* added ROS package folder for ROS users
+* modified original header files for ROS package
+* Contributors: Leon
+
+3.4.0 (2016-08-12)
+-----------
+* first public release for Kinetic
+* added package information for wrapping version for ROS
+* added ROS catkin package files.
+* linux build file for SBC
+* License marks for example codes
+* Resource Files comments Korean -> English
+* Update Makefile
+* Update Makefile
+* comments modified & aligned
+* Release folders in c++ example removed & dxl_monitor.cpp Capital function name modified as ROS c++ code style & included file paths of packet/port handler in dynamixel_sdk.h removed and added parent header file
+* Update dxl_monitor.cpp
+* file opened
+* folder name modification error solved
+* License specified
+* Code Style modified into ROS C++ coding style
+  Function & File Names changed into underscored
+* Group Bulk/Sync class ClearParam() function changed.
+* dll file name changed
+* dll file name changed
+* Comment modified
+* [Protocol1PacketHandler]
+  RxPacket packet length re-calculate bug fixed.
+* [Protocol2PacketHandler]
+  RxPacket packet length re-calculate bug fixed.
+* Makefile updated
+  Source reorganization
+* Windows version updated
+  Makefile modified
+  Source reorganization
+* GroupBulkRead : GetData function bug fixed.
+* [GroupBulkRead / GroupSyncRead]
+  added IsAvailable() function
+  modified GetData() function
+* GetData() function changed.
+* reducing the count of calling MakeParam function
+* added rxpacket error check
+* ReadTxRx function modified. (to use TxRxPacket function)
+* DXL Monitor program arguments added.
+* if the last bulk_read / sync_read result is failure -> GetData return false
+* communication result & rx packet error print function modified.
+* first release
+* Contributors: Leon, Zerom, Pyo
diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/CMakeLists.txt b/niryo_robot_hardware_stack/dynamixel_sdk/CMakeLists.txt
new file mode 100644
index 000000000..c5b2c6d7d
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_sdk/CMakeLists.txt
@@ -0,0 +1,84 @@
+################################################################################
+# CMake
+################################################################################
+cmake_minimum_required(VERSION 2.8.3)
+project(dynamixel_sdk)
+
+################################################################################
+# Packages
+################################################################################
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+)
+
+################################################################################
+# Declare ROS messages, services and actions
+################################################################################
+
+################################################################################
+# Declare ROS dynamic reconfigure parameters
+################################################################################
+
+################################################################################
+# Catkin specific configuration
+################################################################################
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES dynamixel_sdk
+)
+
+################################################################################
+# Build
+################################################################################
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_library(dynamixel_sdk
+  src/packet_handler.cpp
+  src/protocol1_packet_handler.cpp
+  src/protocol2_packet_handler.cpp
+  src/group_sync_read.cpp
+  src/group_sync_write.cpp
+  src/group_bulk_read.cpp
+  src/group_bulk_write.cpp
+  src/port_handler.cpp
+  src/port_handler_linux.cpp
+)
+add_dependencies(dynamixel_sdk ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+#target_link_libraries(dynamixel_sdk 
+#    ${catkin_LIBRARIES}
+#    -lwiringPi
+#)
+
+EXECUTE_PROCESS( COMMAND uname -m COMMAND tr -d '\n' OUTPUT_VARIABLE ARCHITECTURE )
+
+if (${ARCHITECTURE} MATCHES "^(arm.*|aarch64.*|arm64.*)$")
+    message(STATUS "wiringPi library is required - arm processor")
+    target_link_libraries(dynamixel_sdk
+        ${catkin_LIBRARIES} 
+        -lwiringPi -lrt
+    )
+else()
+    message(STATUS "wiringPi library not required")
+    target_link_libraries(dynamixel_sdk 
+        ${catkin_LIBRARIES} 
+    )
+endif()
+################################################################################
+# Install
+################################################################################
+install(TARGETS dynamixel_sdk
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+################################################################################
+# Test
+################################################################################
diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/README.md b/niryo_robot_hardware_stack/dynamixel_sdk/README.md
new file mode 100644
index 000000000..e072efc0f
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_sdk/README.md
@@ -0,0 +1,5 @@
+# Dynamixel SDK
+
+This package has been forked from the official [dynamixel_sdk](https://github.com/ROBOTIS-GIT/DynamixelSDK) package. 
+
+It has been adapted to work on Ned custom Raspberry Pi 4B shield, using the [wiringPi](http://wiringpi.com/) library.
diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/dynamixel_sdk.h b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/dynamixel_sdk.h
new file mode 100644
index 000000000..0450b3d80
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/dynamixel_sdk.h
@@ -0,0 +1,53 @@
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: zerom, Ryu Woon Jung (Leon) */
+
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_DYNAMIXELSDK_H_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_DYNAMIXELSDK_H_
+
+
+#include "dynamixel_sdk/group_bulk_read.h"
+#include "dynamixel_sdk/group_bulk_write.h"
+#include "dynamixel_sdk/group_sync_read.h"
+#include "dynamixel_sdk/group_sync_write.h"
+#include "dynamixel_sdk/protocol1_packet_handler.h"
+#include "dynamixel_sdk/protocol2_packet_handler.h"
+
+#ifdef __linux__
+  #include "dynamixel_sdk/port_handler_linux.h"
+#endif
+
+#if defined(_WIN32) || defined(_WIN64)
+  #include "dynamixel_sdk/port_handler_windows.h"
+#endif
+
+
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_DYNAMIXELSDK_H_ */
diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/group_bulk_read.h b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/group_bulk_read.h
new file mode 100644
index 000000000..43eb501fd
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/group_bulk_read.h
@@ -0,0 +1,85 @@
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: zerom, Ryu Woon Jung (Leon) */
+
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKREAD_H_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKREAD_H_
+
+
+#include <map>
+#include <vector>
+#include "dynamixel_sdk/port_handler.h"
+#include "dynamixel_sdk/packet_handler.h"
+
+namespace dynamixel
+{
+
+class WINDECLSPEC GroupBulkRead
+{
+ private:
+  PortHandler    *port_;
+  PacketHandler  *ph_;
+
+  std::vector<uint8_t>            id_list_;
+  std::map<uint8_t, uint16_t>     address_list_;  // <id, start_address>
+  std::map<uint8_t, uint16_t>     length_list_;   // <id, data_length>
+  std::map<uint8_t, uint8_t *>    data_list_;     // <id, data>
+
+  bool            last_result_;
+  bool            is_param_changed_;
+
+  uint8_t        *param_;
+
+  void    makeParam();
+
+ public:
+  GroupBulkRead(PortHandler *port, PacketHandler *ph);
+  ~GroupBulkRead() { clearParam(); }
+
+  PortHandler     *getPortHandler()   { return port_; }
+  PacketHandler   *getPacketHandler() { return ph_; }
+
+  bool    addParam    (uint8_t id, uint16_t start_address, uint16_t data_length);
+  void    removeParam (uint8_t id);
+  void    clearParam  ();
+
+  int     txPacket();
+  int     rxPacket();
+  int     txRxPacket();
+
+  bool        isAvailable (uint8_t id, uint16_t address, uint16_t data_length);
+  uint32_t    getData     (uint8_t id, uint16_t address, uint16_t data_length);
+};
+
+}
+
+
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKREAD_H_ */
diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/group_bulk_write.h b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/group_bulk_write.h
new file mode 100644
index 000000000..992db9c5a
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/group_bulk_write.h
@@ -0,0 +1,81 @@
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: zerom, Ryu Woon Jung (Leon) */
+
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKWRITE_H_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKWRITE_H_
+
+
+#include <map>
+#include <vector>
+#include "dynamixel_sdk/port_handler.h"
+#include "dynamixel_sdk/packet_handler.h"
+
+namespace dynamixel
+{
+
+class WINDECLSPEC GroupBulkWrite
+{
+ private:
+  PortHandler    *port_;
+  PacketHandler  *ph_;
+
+  std::vector<uint8_t>            id_list_;
+  std::map<uint8_t, uint16_t>     address_list_;  // <id, start_address>
+  std::map<uint8_t, uint16_t>     length_list_;   // <id, data_length>
+  std::map<uint8_t, uint8_t *>    data_list_;     // <id, data>
+
+  bool            is_param_changed_;
+
+  uint8_t        *param_;
+  uint16_t        param_length_;
+
+  void    makeParam();
+
+ public:
+  GroupBulkWrite(PortHandler *port, PacketHandler *ph);
+  ~GroupBulkWrite() { clearParam(); }
+
+  PortHandler     *getPortHandler()   { return port_; }
+  PacketHandler   *getPacketHandler() { return ph_; }
+
+  bool    addParam    (uint8_t id, uint16_t start_address, uint16_t data_length, uint8_t *data);
+  void    removeParam (uint8_t id);
+  bool    changeParam (uint8_t id, uint16_t start_address, uint16_t data_length, uint8_t *data);
+  void    clearParam  ();
+
+  int     txPacket();
+};
+
+}
+
+
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKWRITE_H_ */
diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/group_sync_read.h b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/group_sync_read.h
new file mode 100644
index 000000000..9539d66b9
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/group_sync_read.h
@@ -0,0 +1,85 @@
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: zerom, Ryu Woon Jung (Leon) */
+
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCREAD_H_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCREAD_H_
+
+
+#include <map>
+#include <vector>
+#include "dynamixel_sdk/port_handler.h"
+#include "dynamixel_sdk/packet_handler.h"
+
+namespace dynamixel
+{
+
+class WINDECLSPEC GroupSyncRead
+{
+ private:
+  PortHandler    *port_;
+  PacketHandler  *ph_;
+
+  std::vector<uint8_t>            id_list_;
+  std::map<uint8_t, uint8_t* >    data_list_; // <id, data>
+
+  bool            last_result_;
+  bool            is_param_changed_;
+
+  uint8_t        *param_;
+  uint16_t        start_address_;
+  uint16_t        data_length_;
+
+  void    makeParam();
+
+ public:
+  GroupSyncRead(PortHandler *port, PacketHandler *ph, uint16_t start_address, uint16_t data_length);
+  ~GroupSyncRead() { clearParam(); }
+
+  PortHandler     *getPortHandler()   { return port_; }
+  PacketHandler   *getPacketHandler() { return ph_; }
+
+  bool    addParam    (uint8_t id);
+  void    removeParam (uint8_t id);
+  void    clearParam  ();
+
+  int     txPacket();
+  int     rxPacket();
+  int     txRxPacket();
+
+  bool        isAvailable (uint8_t id, uint16_t address, uint16_t data_length);
+  uint32_t    getData     (uint8_t id, uint16_t address, uint16_t data_length);
+};
+
+}
+
+
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCREAD_H_ */
diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/group_sync_write.h b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/group_sync_write.h
new file mode 100644
index 000000000..54c78ed0b
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/group_sync_write.h
@@ -0,0 +1,80 @@
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: zerom, Ryu Woon Jung (Leon) */
+
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCWRITE_H_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCWRITE_H_
+
+
+#include <map>
+#include <vector>
+#include "dynamixel_sdk/port_handler.h"
+#include "dynamixel_sdk/packet_handler.h"
+
+namespace dynamixel
+{
+
+class WINDECLSPEC GroupSyncWrite
+{
+ private:
+  PortHandler    *port_;
+  PacketHandler  *ph_;
+
+  std::vector<uint8_t>            id_list_;
+  std::map<uint8_t, uint8_t* >    data_list_; // <id, data>
+
+  bool            is_param_changed_;
+
+  uint8_t        *param_;
+  uint16_t        start_address_;
+  uint16_t        data_length_;
+
+  void    makeParam();
+
+ public:
+  GroupSyncWrite(PortHandler *port, PacketHandler *ph, uint16_t start_address, uint16_t data_length);
+  ~GroupSyncWrite() { clearParam(); }
+
+  PortHandler     *getPortHandler()   { return port_; }
+  PacketHandler   *getPacketHandler() { return ph_; }
+
+  bool    addParam    (uint8_t id, uint8_t *data);
+  void    removeParam (uint8_t id);
+  bool    changeParam (uint8_t id, uint8_t *data);
+  void    clearParam  ();
+
+  int     txPacket();
+};
+
+}
+
+
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCWRITE_H_ */
diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/packet_handler.h b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/packet_handler.h
new file mode 100644
index 000000000..a3de440fa
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/packet_handler.h
@@ -0,0 +1,158 @@
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: zerom, Ryu Woon Jung (Leon) */
+
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PACKETHANDLER_H_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PACKETHANDLER_H_
+
+
+#include <stdio.h>
+#include <vector>
+#include "dynamixel_sdk/port_handler.h"
+
+#define BROADCAST_ID        0xFE    // 254
+#define MAX_ID              0xFC    // 252
+
+/* Macro for Control Table Value */
+#define DXL_MAKEWORD(a, b)  ((unsigned short)(((unsigned char)(((unsigned long)(a)) & 0xff)) | ((unsigned short)((unsigned char)(((unsigned long)(b)) & 0xff))) << 8))
+#define DXL_MAKEDWORD(a, b) ((unsigned int)(((unsigned short)(((unsigned long)(a)) & 0xffff)) | ((unsigned int)((unsigned short)(((unsigned long)(b)) & 0xffff))) << 16))
+#define DXL_LOWORD(l)       ((unsigned short)(((unsigned long)(l)) & 0xffff))
+#define DXL_HIWORD(l)       ((unsigned short)((((unsigned long)(l)) >> 16) & 0xffff))
+#define DXL_LOBYTE(w)       ((unsigned char)(((unsigned long)(w)) & 0xff))
+#define DXL_HIBYTE(w)       ((unsigned char)((((unsigned long)(w)) >> 8) & 0xff))
+
+/* Instruction for DXL Protocol */
+#define INST_PING               1
+#define INST_READ               2
+#define INST_WRITE              3
+#define INST_REG_WRITE          4
+#define INST_ACTION             5
+#define INST_FACTORY_RESET      6
+#define INST_SYNC_WRITE         131     // 0x83
+#define INST_BULK_READ          146     // 0x92
+// --- Only for 2.0 --- //
+#define INST_REBOOT             8
+#define INST_STATUS             85      // 0x55
+#define INST_SYNC_READ          130     // 0x82
+#define INST_BULK_WRITE         147     // 0x93
+
+// Communication Result
+#define COMM_SUCCESS        0       // tx or rx packet communication success
+#define COMM_PORT_BUSY      -1000   // Port is busy (in use)
+#define COMM_TX_FAIL        -1001   // Failed transmit instruction packet
+#define COMM_RX_FAIL        -1002   // Failed get status packet
+#define COMM_TX_ERROR       -2000   // Incorrect instruction packet
+#define COMM_RX_WAITING     -3000   // Now recieving status packet
+#define COMM_RX_TIMEOUT     -3001   // There is no status packet
+#define COMM_RX_CORRUPT     -3002   // Incorrect status packet
+#define COMM_NOT_AVAILABLE  -9000   //
+
+namespace dynamixel
+{
+
+class WINDECLSPEC PacketHandler
+{
+ protected:
+  PacketHandler() { }
+
+ public:
+  static PacketHandler *getPacketHandler(float protocol_version = 2.0);
+
+  virtual ~PacketHandler() { }
+
+  virtual float   getProtocolVersion() = 0;
+
+  virtual void    printTxRxResult(int result) = 0;
+  virtual void    printRxPacketError(uint8_t error) = 0;
+
+  virtual int txPacket        (PortHandler *port, uint8_t *txpacket) = 0;
+  virtual int rxPacket        (PortHandler *port, uint8_t *rxpacket) = 0;
+  virtual int txRxPacket      (PortHandler *port, uint8_t *txpacket, uint8_t *rxpacket, uint8_t *error = 0) = 0;
+
+  virtual int ping            (PortHandler *port, uint8_t id, uint8_t *error = 0) = 0;
+  virtual int ping            (PortHandler *port, uint8_t id, uint16_t *model_number, uint8_t *error = 0) = 0;
+
+  // broadcastPing
+  virtual int broadcastPing   (PortHandler *port, std::vector<uint8_t> &id_list) = 0;
+
+  virtual int action          (PortHandler *port, uint8_t id) = 0;
+  virtual int reboot          (PortHandler *port, uint8_t id, uint8_t *error = 0) = 0;
+  virtual int factoryReset    (PortHandler *port, uint8_t id, uint8_t option = 0, uint8_t *error = 0) = 0;
+
+
+  virtual int readTx          (PortHandler *port, uint8_t id, uint16_t address, uint16_t length) = 0;
+  virtual int readRx          (PortHandler *port, uint8_t id, uint16_t length, uint8_t *data, uint8_t *error = 0) = 0;
+  virtual int readTxRx        (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0) = 0;
+
+  virtual int read1ByteTx     (PortHandler *port, uint8_t id, uint16_t address) = 0;
+  virtual int read1ByteRx     (PortHandler *port, uint8_t id, uint8_t *data, uint8_t *error = 0) = 0;
+  virtual int read1ByteTxRx   (PortHandler *port, uint8_t id, uint16_t address, uint8_t *data, uint8_t *error = 0) = 0;
+
+  virtual int read2ByteTx     (PortHandler *port, uint8_t id, uint16_t address) = 0;
+  virtual int read2ByteRx     (PortHandler *port, uint8_t id, uint16_t *data, uint8_t *error = 0) = 0;
+  virtual int read2ByteTxRx   (PortHandler *port, uint8_t id, uint16_t address, uint16_t *data, uint8_t *error = 0) = 0;
+
+  virtual int read4ByteTx     (PortHandler *port, uint8_t id, uint16_t address) = 0;
+  virtual int read4ByteRx     (PortHandler *port, uint8_t id, uint32_t *data, uint8_t *error = 0) = 0;
+  virtual int read4ByteTxRx   (PortHandler *port, uint8_t id, uint16_t address, uint32_t *data, uint8_t *error = 0) = 0;
+
+  virtual int writeTxOnly     (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data) = 0;
+  virtual int writeTxRx       (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0) = 0;
+
+  virtual int write1ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint8_t data) = 0;
+  virtual int write1ByteTxRx  (PortHandler *port, uint8_t id, uint16_t address, uint8_t data, uint8_t *error = 0) = 0;
+
+  virtual int write2ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t data) = 0;
+  virtual int write2ByteTxRx  (PortHandler *port, uint8_t id, uint16_t address, uint16_t data, uint8_t *error = 0) = 0;
+
+  virtual int write4ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint32_t data) = 0;
+  virtual int write4ByteTxRx  (PortHandler *port, uint8_t id, uint16_t address, uint32_t data, uint8_t *error = 0) = 0;
+
+  virtual int regWriteTxOnly  (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data) = 0;
+  virtual int regWriteTxRx    (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0) = 0;
+
+  virtual int syncReadTx      (PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length) = 0;
+  // SyncReadRx   -> GroupSyncRead class
+  // SyncReadTxRx -> GroupSyncRead class
+
+  virtual int syncWriteTxOnly (PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length) = 0;
+
+  virtual int bulkReadTx      (PortHandler *port, uint8_t *param, uint16_t param_length) = 0;
+  // BulkReadRx   -> GroupBulkRead class
+  // BulkReadTxRx -> GroupBulkRead class
+
+  virtual int bulkWriteTxOnly (PortHandler *port, uint8_t *param, uint16_t param_length) = 0;
+};
+
+}
+
+
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PACKETHANDLER_H_ */
diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/port_handler.h b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/port_handler.h
new file mode 100644
index 000000000..9055a2e1f
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/port_handler.h
@@ -0,0 +1,89 @@
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: zerom, Ryu Woon Jung (Leon) */
+
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PORTHANDLER_H_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PORTHANDLER_H_
+
+#ifdef __linux__
+#define WINDECLSPEC
+#elif defined(_WIN32) || defined(_WIN64)
+#ifdef WINDLLEXPORT
+#define WINDECLSPEC __declspec(dllexport)
+#else
+#define WINDECLSPEC __declspec(dllimport)
+#endif
+#endif
+
+#include <stdint.h>
+
+namespace dynamixel
+{
+
+class WINDECLSPEC PortHandler
+{
+ public:
+  static const int DEFAULT_BAUDRATE_ = 1000000;
+
+  static PortHandler *getPortHandler(const char *port_name);
+
+  bool   is_using_;
+
+  virtual ~PortHandler() { }
+
+  virtual bool setupGpio() = 0;
+  virtual void gpioHigh() = 0;
+  virtual void gpioLow() = 0;
+
+  virtual bool    openPort() = 0;
+  virtual void    closePort() = 0;
+  virtual void    clearPort() = 0;
+
+  virtual void    setPortName(const char* port_name) = 0;
+  virtual char   *getPortName() = 0;
+
+  virtual bool    setBaudRate(const int baudrate) = 0;
+  virtual int     getBaudRate() = 0;
+
+  virtual int     getBytesAvailable() = 0;
+
+  virtual int     readPort(uint8_t *packet, int length) = 0;
+  virtual int     writePort(uint8_t *packet, int length) = 0;
+
+  virtual void    setPacketTimeout(uint16_t packet_length) = 0;
+  virtual void    setPacketTimeout(double msec) = 0;
+  virtual bool    isPacketTimeout() = 0;
+};
+
+}
+
+
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PORTHANDLER_H_ */
diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/port_handler_linux.h b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/port_handler_linux.h
new file mode 100644
index 000000000..bd1bc8f65
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/port_handler_linux.h
@@ -0,0 +1,100 @@
+/*
+ * port_handler.h
+ * Copyright (c) 2017, Niryo
+ * All rights reserved.
+ *
+ * This library is an adaptation of dynamixel_sdk library for Raspberry Pi 4b with wiringPi
+ * See license below
+ */
+
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: zerom, Ryu Woon Jung (Leon) */
+
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_LINUX_PORTHANDLERLINUX_H_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_LINUX_PORTHANDLERLINUX_H_
+
+
+#include "dynamixel_sdk/port_handler.h"
+
+namespace dynamixel
+{
+
+class PortHandlerLinux : public PortHandler
+{
+ private:
+  int     socket_fd_;
+  int     baudrate_;
+  char    port_name_[30];
+
+  double  packet_start_time_;
+  double  packet_timeout_;
+  double  tx_time_per_byte;
+
+  bool    setupPort(const int cflag_baud);
+  bool    setCustomBaudrate(int speed);
+  int     getCFlagBaud(const int baudrate);
+
+  double  getCurrentTime();
+  double  getTimeSinceStart();
+
+ public:
+  PortHandlerLinux(const char *port_name);
+  virtual ~PortHandlerLinux() { closePort(); }
+
+  bool    setupGpio();
+  void    gpioHigh();
+  void    gpioLow();
+
+  bool    openPort();
+  void    closePort();
+  void    clearPort();
+
+  void    setPortName(const char *port_name);
+  char   *getPortName();
+
+  bool    setBaudRate(const int baudrate);
+  int     getBaudRate();
+
+  int     getBytesAvailable();
+
+  int     readPort(uint8_t *packet, int length);
+  int     writePort(uint8_t *packet, int length);
+
+  void    setPacketTimeout(uint16_t packet_length);
+  void    setPacketTimeout(double msec);
+  bool    isPacketTimeout();
+};
+
+}
+
+
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_LINUX_PORTHANDLERLINUX_H_ */
diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/port_handler_windows.h b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/port_handler_windows.h
new file mode 100644
index 000000000..a3812dde3
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/port_handler_windows.h
@@ -0,0 +1,91 @@
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: Ryu Woon Jung (Leon) */
+
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_WINDOWS_PORTHANDLERWINDOWS_H_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_WINDOWS_PORTHANDLERWINDOWS_H_
+
+#include <Windows.h>
+
+#include "dynamixel_sdk/port_handler.h"
+
+namespace dynamixel
+{
+class WINDECLSPEC PortHandlerWindows : public PortHandler
+{
+ private:
+  HANDLE  serial_handle_;
+  LARGE_INTEGER freq_, counter_;
+
+  int     baudrate_;
+  char    port_name_[30];
+
+  double  packet_start_time_;
+  double  packet_timeout_;
+  double  tx_time_per_byte_;
+
+  bool    setupPort(const int baudrate);
+
+  double  getCurrentTime();
+  double  getTimeSinceStart();
+
+ public:
+  PortHandlerWindows(const char *port_name);
+  virtual ~PortHandlerWindows() { closePort(); }
+  
+  bool    setupGpio();
+  void    gpioHigh();
+  void    gpioLow();
+
+  bool    openPort();
+  void    closePort();
+  void    clearPort();
+
+  void    setPortName(const char *port_name);
+  char   *getPortName();
+
+  bool    setBaudRate(const int baudrate);
+  int     getBaudRate();
+
+  int     getBytesAvailable();
+
+  int     readPort(uint8_t *packet, int length);
+  int     writePort(uint8_t *packet, int length);
+
+  void    setPacketTimeout(uint16_t packet_length);
+  void    setPacketTimeout(double msec);
+  bool    isPacketTimeout();
+};
+
+}
+
+
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_LINUX_PORTHANDLERWINDOWS_H_ */
diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/protocol1_packet_handler.h b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/protocol1_packet_handler.h
new file mode 100644
index 000000000..d4ae3f16a
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/protocol1_packet_handler.h
@@ -0,0 +1,123 @@
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: zerom, Ryu Woon Jung (Leon) */
+
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL1PACKETHANDLER_H_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL1PACKETHANDLER_H_
+
+
+#include "dynamixel_sdk/packet_handler.h"
+
+namespace dynamixel
+{
+
+class WINDECLSPEC Protocol1PacketHandler : public PacketHandler
+{
+ private:
+  static Protocol1PacketHandler *unique_instance_;
+
+  Protocol1PacketHandler();
+
+ public:
+  static Protocol1PacketHandler *getInstance() { return unique_instance_; }
+
+  virtual ~Protocol1PacketHandler() { }
+
+  float   getProtocolVersion() { return 1.0; }
+
+  void    printTxRxResult(int result);
+  void    printRxPacketError(uint8_t error);
+
+  int txPacket        (PortHandler *port, uint8_t *txpacket);
+  int rxPacket        (PortHandler *port, uint8_t *rxpacket);
+  int txRxPacket      (PortHandler *port, uint8_t *txpacket, uint8_t *rxpacket, uint8_t *error = 0);
+
+  int ping            (PortHandler *port, uint8_t id, uint8_t *error = 0);
+  int ping            (PortHandler *port, uint8_t id, uint16_t *model_number, uint8_t *error = 0);
+
+  // broadcastPing
+  int broadcastPing   (PortHandler *port, std::vector<uint8_t> &id_list);
+
+  int action          (PortHandler *port, uint8_t id);
+  int reboot          (PortHandler *port, uint8_t id, uint8_t *error = 0);
+  int factoryReset    (PortHandler *port, uint8_t id, uint8_t option, uint8_t *error = 0);
+
+
+  int readTx          (PortHandler *port, uint8_t id, uint16_t address, uint16_t length);
+  int readRx          (PortHandler *port, uint8_t id, uint16_t length, uint8_t *data, uint8_t *error = 0);
+  int readTxRx        (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0);
+
+  int read1ByteTx     (PortHandler *port, uint8_t id, uint16_t address);
+  int read1ByteRx     (PortHandler *port, uint8_t id, uint8_t *data, uint8_t *error = 0);
+  int read1ByteTxRx   (PortHandler *port, uint8_t id, uint16_t address, uint8_t *data, uint8_t *error = 0);
+
+  int read2ByteTx     (PortHandler *port, uint8_t id, uint16_t address);
+  int read2ByteRx     (PortHandler *port, uint8_t id, uint16_t *data, uint8_t *error = 0);
+  int read2ByteTxRx   (PortHandler *port, uint8_t id, uint16_t address, uint16_t *data, uint8_t *error = 0);
+
+  int read4ByteTx     (PortHandler *port, uint8_t id, uint16_t address);
+  int read4ByteRx     (PortHandler *port, uint8_t id, uint32_t *data, uint8_t *error = 0);
+  int read4ByteTxRx   (PortHandler *port, uint8_t id, uint16_t address, uint32_t *data, uint8_t *error = 0);
+
+  int writeTxOnly     (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data);
+  int writeTxRx       (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0);
+
+  int write1ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint8_t data);
+  int write1ByteTxRx  (PortHandler *port, uint8_t id, uint16_t address, uint8_t data, uint8_t *error = 0);
+
+  int write2ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t data);
+  int write2ByteTxRx  (PortHandler *port, uint8_t id, uint16_t address, uint16_t data, uint8_t *error = 0);
+
+  int write4ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint32_t data);
+  int write4ByteTxRx  (PortHandler *port, uint8_t id, uint16_t address, uint32_t data, uint8_t *error = 0);
+
+  int regWriteTxOnly  (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data);
+  int regWriteTxRx    (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0);
+
+  int syncReadTx      (PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length);
+  // SyncReadRx   -> GroupSyncRead class
+  // SyncReadTxRx -> GroupSyncRead class
+
+  // param : ID1 DATA0 DATA1 ... DATAn ID2 DATA0 DATA1 ... DATAn ID3 DATA0 DATA1 ... DATAn
+  int syncWriteTxOnly (PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length);
+
+  // param : LEN1 ID1 ADDR1 LEN2 ID2 ADDR2 ...
+  int bulkReadTx      (PortHandler *port, uint8_t *param, uint16_t param_length);
+  // BulkReadRx   -> GroupBulkRead class
+  // BulkReadTxRx -> GroupBulkRead class
+
+  int bulkWriteTxOnly (PortHandler *port, uint8_t *param, uint16_t param_length);
+};
+
+}
+
+
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL1PACKETHANDLER_H_ */
diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/protocol2_packet_handler.h b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/protocol2_packet_handler.h
new file mode 100644
index 000000000..507b6f4a0
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/protocol2_packet_handler.h
@@ -0,0 +1,128 @@
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: zerom, Ryu Woon Jung (Leon) */
+
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL2PACKETHANDLER_H_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL2PACKETHANDLER_H_
+
+
+#include "dynamixel_sdk/packet_handler.h"
+
+namespace dynamixel
+{
+
+class WINDECLSPEC Protocol2PacketHandler : public PacketHandler
+{
+ private:
+  static Protocol2PacketHandler *unique_instance_;
+
+  Protocol2PacketHandler();
+
+  uint16_t    updateCRC(uint16_t crc_accum, uint8_t *data_blk_ptr, uint16_t data_blk_size);
+  void        addStuffing(uint8_t *packet);
+  void        removeStuffing(uint8_t *packet);
+
+ public:
+  static Protocol2PacketHandler *getInstance() { return unique_instance_; }
+
+  virtual ~Protocol2PacketHandler() { }
+
+  float   getProtocolVersion() { return 2.0; }
+
+  void    printTxRxResult(int result);
+  void    printRxPacketError(uint8_t error);
+
+  int txPacket        (PortHandler *port, uint8_t *txpacket);
+  int rxPacket        (PortHandler *port, uint8_t *rxpacket);
+  int txRxPacket      (PortHandler *port, uint8_t *txpacket, uint8_t *rxpacket, uint8_t *error = 0);
+
+  int ping            (PortHandler *port, uint8_t id, uint8_t *error = 0);
+  int ping            (PortHandler *port, uint8_t id, uint16_t *model_number, uint8_t *error = 0);
+
+  // broadcastPing
+  int broadcastPing   (PortHandler *port, std::vector<uint8_t> &id_list);
+
+  int action          (PortHandler *port, uint8_t id);
+  int reboot          (PortHandler *port, uint8_t id, uint8_t *error = 0);
+  int factoryReset    (PortHandler *port, uint8_t id, uint8_t option, uint8_t *error = 0);
+
+
+  int readTx          (PortHandler *port, uint8_t id, uint16_t address, uint16_t length);
+  int readRx          (PortHandler *port, uint8_t id, uint16_t length, uint8_t *data, uint8_t *error = 0);
+  int readTxRx        (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0);
+
+  int read1ByteTx     (PortHandler *port, uint8_t id, uint16_t address);
+  int read1ByteRx     (PortHandler *port, uint8_t id, uint8_t *data, uint8_t *error = 0);
+  int read1ByteTxRx   (PortHandler *port, uint8_t id, uint16_t address, uint8_t *data, uint8_t *error = 0);
+
+  int read2ByteTx     (PortHandler *port, uint8_t id, uint16_t address);
+  int read2ByteRx     (PortHandler *port, uint8_t id, uint16_t *data, uint8_t *error = 0);
+  int read2ByteTxRx   (PortHandler *port, uint8_t id, uint16_t address, uint16_t *data, uint8_t *error = 0);
+
+  int read4ByteTx     (PortHandler *port, uint8_t id, uint16_t address);
+  int read4ByteRx     (PortHandler *port, uint8_t id, uint32_t *data, uint8_t *error = 0);
+  int read4ByteTxRx   (PortHandler *port, uint8_t id, uint16_t address, uint32_t *data, uint8_t *error = 0);
+
+  int writeTxOnly     (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data);
+  int writeTxRx       (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0);
+
+  int write1ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint8_t data);
+  int write1ByteTxRx  (PortHandler *port, uint8_t id, uint16_t address, uint8_t data, uint8_t *error = 0);
+
+  int write2ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t data);
+  int write2ByteTxRx  (PortHandler *port, uint8_t id, uint16_t address, uint16_t data, uint8_t *error = 0);
+
+  int write4ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint32_t data);
+  int write4ByteTxRx  (PortHandler *port, uint8_t id, uint16_t address, uint32_t data, uint8_t *error = 0);
+
+  int regWriteTxOnly  (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data);
+  int regWriteTxRx    (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0);
+
+  int syncReadTx      (PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length);
+  // SyncReadRx   -> GroupSyncRead class
+  // SyncReadTxRx -> GroupSyncRead class
+
+  // param : ID1 DATA0 DATA1 ... DATAn ID2 DATA0 DATA1 ... DATAn ID3 DATA0 DATA1 ... DATAn
+  int syncWriteTxOnly (PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length);
+
+  // param : ID1 ADDR_L1 ADDR_H1 LEN_L1 LEN_H1 ID2 ADDR_L2 ADDR_H2 LEN_L2 LEN_H2 ...
+  int bulkReadTx      (PortHandler *port, uint8_t *param, uint16_t param_length);
+  // BulkReadRx   -> GroupBulkRead class
+  // BulkReadTxRx -> GroupBulkRead class
+
+  // param : ID1 START_ADDR_L START_ADDR_H DATA_LEN_L DATA_LEN_H DATA0 DATA1 ... DATAn ID2 START_ADDR_L START_ADDR_H DATA_LEN_L DATA_LEN_H DATA0 DATA1 ... DATAn
+  int bulkWriteTxOnly (PortHandler *port, uint8_t *param, uint16_t param_length);
+};
+
+}
+
+
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL2PACKETHANDLER_H_ */
diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/package.xml b/niryo_robot_hardware_stack/dynamixel_sdk/package.xml
new file mode 100644
index 000000000..d67799035
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_sdk/package.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<package>
+  <name>dynamixel_sdk</name>
+  <version>3.4.7</version>
+  <description>
+      (This package has been adapted to be used on the Ned custom RPI shield.)
+
+      This package is wrapping version of ROBOTIS Dynamxel SDK for ROS. The ROBOTIS Dynamixel SDK, or SDK, is a software development library that provides Dynamixel control functions for packet communication. The API is designed for Dynamixel actuators and Dynamixel-based platforms.</description>
+  <license>BSD</license>
+  <author email="zerom@robotis.com">Zerom</author>
+  <author email="rwjung@robotis.com">Leon</author>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
+  <url type="bugtracker">https://github.com/ROBOTIS-GIT/DynamixelSDK/issues</url>
+  <url type="repository">https://github.com/ROBOTIS-GIT/DynamixelSDK</url>
+  <url type="website">http://wiki.ros.org/dynamixel_sdk</url>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <run_depend>roscpp</run_depend>
+  <export/>
+</package>
diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/src/group_bulk_read.cpp b/niryo_robot_hardware_stack/dynamixel_sdk/src/group_bulk_read.cpp
new file mode 100644
index 000000000..a7a1d4e13
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_sdk/src/group_bulk_read.cpp
@@ -0,0 +1,229 @@
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: zerom, Ryu Woon Jung (Leon) */
+
+#if defined(_WIN32) || defined(_WIN64)
+#define WINDLLEXPORT
+#endif
+
+#include <stdio.h>
+#include <algorithm>
+#include "dynamixel_sdk/group_bulk_read.h"
+
+using namespace dynamixel;
+
+GroupBulkRead::GroupBulkRead(PortHandler *port, PacketHandler *ph)
+  : port_(port),
+    ph_(ph),
+    last_result_(false),
+    is_param_changed_(false),
+    param_(0)
+{
+  clearParam();
+}
+
+void GroupBulkRead::makeParam()
+{
+  if (id_list_.size() == 0)
+    return;
+
+  if (param_ != 0)
+    delete[] param_;
+  param_ = 0;
+
+  if (ph_->getProtocolVersion() == 1.0)
+  {
+    param_ = new uint8_t[id_list_.size() * 3];  // ID(1) + ADDR(1) + LENGTH(1)
+  }
+  else    // 2.0
+  {
+    param_ = new uint8_t[id_list_.size() * 5];  // ID(1) + ADDR(2) + LENGTH(2)
+  }
+
+  int idx = 0;
+  for (unsigned int i = 0; i < id_list_.size(); i++)
+  {
+    uint8_t id = id_list_[i];
+    if (ph_->getProtocolVersion() == 1.0)
+    {
+      param_[idx++] = (uint8_t)length_list_[id];    // LEN
+      param_[idx++] = id;                           // ID
+      param_[idx++] = (uint8_t)address_list_[id];   // ADDR
+    }
+    else    // 2.0
+    {
+      param_[idx++] = id;                               // ID
+      param_[idx++] = DXL_LOBYTE(address_list_[id]);    // ADDR_L
+      param_[idx++] = DXL_HIBYTE(address_list_[id]);    // ADDR_H
+      param_[idx++] = DXL_LOBYTE(length_list_[id]);     // LEN_L
+      param_[idx++] = DXL_HIBYTE(length_list_[id]);     // LEN_H
+    }
+  }
+}
+
+bool GroupBulkRead::addParam(uint8_t id, uint16_t start_address, uint16_t data_length)
+{
+  if (std::find(id_list_.begin(), id_list_.end(), id) != id_list_.end())   // id already exist
+    return false;
+
+  id_list_.push_back(id);
+  length_list_[id]    = data_length;
+  address_list_[id]   = start_address;
+  data_list_[id]      = new uint8_t[data_length];
+
+  is_param_changed_   = true;
+  return true;
+}
+
+void GroupBulkRead::removeParam(uint8_t id)
+{
+  std::vector<uint8_t>::iterator it = std::find(id_list_.begin(), id_list_.end(), id);
+  if (it == id_list_.end())    // NOT exist
+    return;
+
+  id_list_.erase(it);
+  address_list_.erase(id);
+  length_list_.erase(id);
+  delete[] data_list_[id];
+  data_list_.erase(id);
+
+  is_param_changed_   = true;
+}
+
+void GroupBulkRead::clearParam()
+{
+  if (id_list_.size() == 0)
+    return;
+
+  for (unsigned int i = 0; i < id_list_.size(); i++)
+    delete[] data_list_[id_list_[i]];
+
+  id_list_.clear();
+  address_list_.clear();
+  length_list_.clear();
+  data_list_.clear();
+  if (param_ != 0)
+    delete[] param_;
+  param_ = 0;
+}
+
+int GroupBulkRead::txPacket()
+{
+  if (id_list_.size() == 0)
+    return COMM_NOT_AVAILABLE;
+
+  if (is_param_changed_ == true || param_ == 0)
+    makeParam();
+
+  if (ph_->getProtocolVersion() == 1.0)
+  {
+    return ph_->bulkReadTx(port_, param_, id_list_.size() * 3);
+  }
+  else    // 2.0
+  {
+    return ph_->bulkReadTx(port_, param_, id_list_.size() * 5);
+  }
+}
+
+int GroupBulkRead::rxPacket()
+{
+  int cnt            = id_list_.size();
+  int result          = COMM_RX_FAIL;
+
+  last_result_ = false;
+
+  if (cnt == 0)
+    return COMM_NOT_AVAILABLE;
+
+  for (int i = 0; i < cnt; i++)
+  {
+    uint8_t id = id_list_[i];
+
+    result = ph_->readRx(port_, id, length_list_[id], data_list_[id]);
+    if (result != COMM_SUCCESS)
+      return result;
+  }
+
+  if (result == COMM_SUCCESS)
+    last_result_ = true;
+
+  return result;
+}
+
+int GroupBulkRead::txRxPacket()
+{
+  int result         = COMM_TX_FAIL;
+
+  result = txPacket();
+  if (result != COMM_SUCCESS)
+    return result;
+
+  return rxPacket();
+}
+
+bool GroupBulkRead::isAvailable(uint8_t id, uint16_t address, uint16_t data_length)
+{
+  uint16_t start_addr;
+
+  if (last_result_ == false || data_list_.find(id) == data_list_.end())
+    return false;
+
+  start_addr = address_list_[id];
+
+  if (address < start_addr || start_addr + length_list_[id] - data_length < address)
+    return false;
+
+  return true;
+}
+
+uint32_t GroupBulkRead::getData(uint8_t id, uint16_t address, uint16_t data_length)
+{
+  if (isAvailable(id, address, data_length) == false)
+    return 0;
+
+  uint16_t start_addr = address_list_[id];
+
+  switch(data_length)
+  {
+    case 1:
+      return data_list_[id][address - start_addr];
+
+    case 2:
+      return DXL_MAKEWORD(data_list_[id][address - start_addr], data_list_[id][address - start_addr + 1]);
+
+    case 4:
+      return DXL_MAKEDWORD(DXL_MAKEWORD(data_list_[id][address - start_addr + 0], data_list_[id][address - start_addr + 1]),
+                           DXL_MAKEWORD(data_list_[id][address - start_addr + 2], data_list_[id][address - start_addr + 3]));
+
+    default:
+      return 0;
+  }
+}
diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/src/group_bulk_write.cpp b/niryo_robot_hardware_stack/dynamixel_sdk/src/group_bulk_write.cpp
new file mode 100644
index 000000000..b142abdbd
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_sdk/src/group_bulk_write.cpp
@@ -0,0 +1,163 @@
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: zerom, Ryu Woon Jung (Leon) */
+
+#if defined(_WIN32) || defined(_WIN64)
+#define WINDLLEXPORT
+#endif
+
+#include <algorithm>
+#include "dynamixel_sdk/group_bulk_write.h"
+
+using namespace dynamixel;
+
+GroupBulkWrite::GroupBulkWrite(PortHandler *port, PacketHandler *ph)
+  : port_(port),
+    ph_(ph),
+    is_param_changed_(false),
+    param_(0),
+    param_length_(0)
+{
+  clearParam();
+}
+
+void GroupBulkWrite::makeParam()
+{
+  if (ph_->getProtocolVersion() == 1.0 || id_list_.size() == 0)
+    return;
+
+  if (param_ != 0)
+    delete[] param_;
+  param_ = 0;
+
+  param_length_ = 0;
+  for (unsigned int i = 0; i < id_list_.size(); i++)
+    param_length_ += 1 + 2 + 2 + length_list_[id_list_[i]];
+
+  param_ = new uint8_t[param_length_];
+
+  int idx = 0;
+  for (unsigned int i = 0; i < id_list_.size(); i++)
+  {
+    uint8_t id = id_list_[i];
+    if (data_list_[id] == 0)
+      return;
+
+    param_[idx++] = id;
+    param_[idx++] = DXL_LOBYTE(address_list_[id]);
+    param_[idx++] = DXL_HIBYTE(address_list_[id]);
+    param_[idx++] = DXL_LOBYTE(length_list_[id]);
+    param_[idx++] = DXL_HIBYTE(length_list_[id]);
+    for (int c = 0; c < length_list_[id]; c++)
+      param_[idx++] = (data_list_[id])[c];
+  }
+}
+
+bool GroupBulkWrite::addParam(uint8_t id, uint16_t start_address, uint16_t data_length, uint8_t *data)
+{
+  if (ph_->getProtocolVersion() == 1.0)
+    return false;
+
+  if (std::find(id_list_.begin(), id_list_.end(), id) != id_list_.end())   // id already exist
+    return false;
+
+  id_list_.push_back(id);
+  address_list_[id]   = start_address;
+  length_list_[id]    = data_length;
+  data_list_[id]      = new uint8_t[data_length];
+  for (int c = 0; c < data_length; c++)
+    data_list_[id][c] = data[c];
+
+  is_param_changed_   = true;
+  return true;
+}
+void GroupBulkWrite::removeParam(uint8_t id)
+{
+  if (ph_->getProtocolVersion() == 1.0)
+    return;
+
+  std::vector<uint8_t>::iterator it = std::find(id_list_.begin(), id_list_.end(), id);
+  if (it == id_list_.end())    // NOT exist
+    return;
+
+  id_list_.erase(it);
+  address_list_.erase(id);
+  length_list_.erase(id);
+  delete[] data_list_[id];
+  data_list_.erase(id);
+
+  is_param_changed_   = true;
+}
+bool GroupBulkWrite::changeParam(uint8_t id, uint16_t start_address, uint16_t data_length, uint8_t *data)
+{
+  if (ph_->getProtocolVersion() == 1.0)
+    return false;
+
+  std::vector<uint8_t>::iterator it = std::find(id_list_.begin(), id_list_.end(), id);
+  if (it == id_list_.end())    // NOT exist
+    return false;
+
+  address_list_[id]   = start_address;
+  length_list_[id]    = data_length;
+  delete[] data_list_[id];
+  data_list_[id]      = new uint8_t[data_length];
+  for (int c = 0; c < data_length; c++)
+    data_list_[id][c] = data[c];
+
+  is_param_changed_   = true;
+  return true;
+}
+void GroupBulkWrite::clearParam()
+{
+  if (ph_->getProtocolVersion() == 1.0 || id_list_.size() == 0)
+    return;
+
+  for (unsigned int i = 0; i < id_list_.size(); i++)
+    delete[] data_list_[id_list_[i]];
+
+  id_list_.clear();
+  address_list_.clear();
+  length_list_.clear();
+  data_list_.clear();
+  if (param_ != 0)
+    delete[] param_;
+  param_ = 0;
+}
+int GroupBulkWrite::txPacket()
+{
+  if (ph_->getProtocolVersion() == 1.0 || id_list_.size() == 0)
+    return COMM_NOT_AVAILABLE;
+
+  if (is_param_changed_ == true || param_ == 0)
+    makeParam();
+
+  return ph_->bulkWriteTxOnly(port_, param_, param_length_);
+}
diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/src/group_sync_read.cpp b/niryo_robot_hardware_stack/dynamixel_sdk/src/group_sync_read.cpp
new file mode 100644
index 000000000..c6318b12d
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_sdk/src/group_sync_read.cpp
@@ -0,0 +1,198 @@
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: zerom, Ryu Woon Jung (Leon) */
+
+#if defined(_WIN32) || defined(_WIN64)
+#define WINDLLEXPORT
+#endif
+
+#include <algorithm>
+#include "dynamixel_sdk/group_sync_read.h"
+
+using namespace dynamixel;
+
+GroupSyncRead::GroupSyncRead(PortHandler *port, PacketHandler *ph, uint16_t start_address, uint16_t data_length)
+  : port_(port),
+    ph_(ph),
+    last_result_(false),
+    is_param_changed_(false),
+    param_(0),
+    start_address_(start_address),
+    data_length_(data_length)
+{
+  clearParam();
+}
+
+void GroupSyncRead::makeParam()
+{
+  if (ph_->getProtocolVersion() == 1.0 || id_list_.size() == 0)
+    return;
+
+  if (param_ != 0)
+    delete[] param_;
+  param_ = 0;
+
+  param_ = new uint8_t[id_list_.size() * 1];  // ID(1)
+
+  int idx = 0;
+  for (unsigned int i = 0; i < id_list_.size(); i++)
+    param_[idx++] = id_list_[i];
+}
+
+bool GroupSyncRead::addParam(uint8_t id)
+{
+  if (ph_->getProtocolVersion() == 1.0)
+    return false;
+
+  if (std::find(id_list_.begin(), id_list_.end(), id) != id_list_.end())   // id already exist
+    return false;
+
+  id_list_.push_back(id);
+  data_list_[id] = new uint8_t[data_length_];
+
+  is_param_changed_   = true;
+  return true;
+}
+void GroupSyncRead::removeParam(uint8_t id)
+{
+  if (ph_->getProtocolVersion() == 1.0)
+    return;
+
+  std::vector<uint8_t>::iterator it = std::find(id_list_.begin(), id_list_.end(), id);
+  if (it == id_list_.end())    // NOT exist
+    return;
+
+  id_list_.erase(it);
+  delete[] data_list_[id];
+  data_list_.erase(id);
+
+  is_param_changed_   = true;
+}
+void GroupSyncRead::clearParam()
+{
+  if (ph_->getProtocolVersion() == 1.0 || id_list_.size() == 0)
+    return;
+
+  for (unsigned int i = 0; i < id_list_.size(); i++)
+    delete[] data_list_[id_list_[i]];
+
+  id_list_.clear();
+  data_list_.clear();
+  if (param_ != 0)
+    delete[] param_;
+  param_ = 0;
+}
+
+int GroupSyncRead::txPacket()
+{
+  if (ph_->getProtocolVersion() == 1.0 || id_list_.size() == 0)
+    return COMM_NOT_AVAILABLE;
+
+  if (is_param_changed_ == true || param_ == 0)
+    makeParam();
+
+  return ph_->syncReadTx(port_, start_address_, data_length_, param_, (uint16_t)id_list_.size() * 1);
+}
+
+int GroupSyncRead::rxPacket()
+{
+  last_result_ = false;
+
+  if (ph_->getProtocolVersion() == 1.0)
+    return COMM_NOT_AVAILABLE;
+
+  int cnt            = id_list_.size();
+  int result         = COMM_RX_FAIL;
+
+  if (cnt == 0)
+    return COMM_NOT_AVAILABLE;
+
+  for (int i = 0; i < cnt; i++)
+  {
+    uint8_t id = id_list_[i];
+
+    result = ph_->readRx(port_, id, data_length_, data_list_[id]);
+    if (result != COMM_SUCCESS)
+      return result;
+  }
+
+  if (result == COMM_SUCCESS)
+    last_result_ = true;
+
+  return result;
+}
+
+int GroupSyncRead::txRxPacket()
+{
+  if (ph_->getProtocolVersion() == 1.0)
+    return COMM_NOT_AVAILABLE;
+
+  int result         = COMM_TX_FAIL;
+
+  result = txPacket();
+  if (result != COMM_SUCCESS)
+    return result;
+
+  return rxPacket();
+}
+
+bool GroupSyncRead::isAvailable(uint8_t id, uint16_t address, uint16_t data_length)
+{
+  if (ph_->getProtocolVersion() == 1.0 || last_result_ == false || data_list_.find(id) == data_list_.end())
+    return false;
+
+  if (address < start_address_ || start_address_ + data_length_ - data_length < address)
+    return false;
+
+  return true;
+}
+
+uint32_t GroupSyncRead::getData(uint8_t id, uint16_t address, uint16_t data_length)
+{
+  if (isAvailable(id, address, data_length) == false)
+    return 0;
+
+  switch(data_length)
+  {
+    case 1:
+      return data_list_[id][address - start_address_];
+
+    case 2:
+      return DXL_MAKEWORD(data_list_[id][address - start_address_], data_list_[id][address - start_address_ + 1]);
+
+    case 4:
+      return DXL_MAKEDWORD(DXL_MAKEWORD(data_list_[id][address - start_address_ + 0], data_list_[id][address - start_address_ + 1]),
+                 DXL_MAKEWORD(data_list_[id][address - start_address_ + 2], data_list_[id][address - start_address_ + 3]));
+
+    default:
+      return 0;
+  }
+}
diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/src/group_sync_write.cpp b/niryo_robot_hardware_stack/dynamixel_sdk/src/group_sync_write.cpp
new file mode 100644
index 000000000..6e4a9c192
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_sdk/src/group_sync_write.cpp
@@ -0,0 +1,142 @@
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: zerom, Ryu Woon Jung (Leon) */
+
+#if defined(_WIN32) || defined(_WIN64)
+#define WINDLLEXPORT
+#endif
+
+#include <algorithm>
+#include "dynamixel_sdk/group_sync_write.h"
+
+using namespace dynamixel;
+
+GroupSyncWrite::GroupSyncWrite(PortHandler *port, PacketHandler *ph, uint16_t start_address, uint16_t data_length)
+  : port_(port),
+    ph_(ph),
+    is_param_changed_(false),
+    param_(0),
+    start_address_(start_address),
+    data_length_(data_length)
+{
+  clearParam();
+}
+
+void GroupSyncWrite::makeParam()
+{
+  if (id_list_.size() == 0) return;
+
+  if (param_ != 0)
+    delete[] param_;
+  param_ = 0;
+
+  param_ = new uint8_t[id_list_.size() * (1 + data_length_)]; // ID(1) + DATA(data_length)
+
+  int idx = 0;
+  for (unsigned int i = 0; i < id_list_.size(); i++)
+  {
+    uint8_t id = id_list_[i];
+    if (data_list_[id] == 0)
+      return;
+
+    param_[idx++] = id;
+    for (int c = 0; c < data_length_; c++)
+      param_[idx++] = (data_list_[id])[c];
+  }
+}
+
+bool GroupSyncWrite::addParam(uint8_t id, uint8_t *data)
+{
+  if (std::find(id_list_.begin(), id_list_.end(), id) != id_list_.end())   // id already exist
+    return false;
+
+  id_list_.push_back(id);
+  data_list_[id]    = new uint8_t[data_length_];
+  for (int c = 0; c < data_length_; c++)
+    data_list_[id][c] = data[c];
+
+  is_param_changed_   = true;
+  return true;
+}
+
+void GroupSyncWrite::removeParam(uint8_t id)
+{
+  std::vector<uint8_t>::iterator it = std::find(id_list_.begin(), id_list_.end(), id);
+  if (it == id_list_.end())    // NOT exist
+    return;
+
+  id_list_.erase(it);
+  delete[] data_list_[id];
+  data_list_.erase(id);
+
+  is_param_changed_   = true;
+}
+
+bool GroupSyncWrite::changeParam(uint8_t id, uint8_t *data)
+{
+  std::vector<uint8_t>::iterator it = std::find(id_list_.begin(), id_list_.end(), id);
+  if (it == id_list_.end())    // NOT exist
+    return false;
+
+  delete[] data_list_[id];
+  data_list_[id]    = new uint8_t[data_length_];
+  for (int c = 0; c < data_length_; c++)
+    data_list_[id][c] = data[c];
+
+  is_param_changed_   = true;
+  return true;
+}
+
+void GroupSyncWrite::clearParam()
+{
+  if (id_list_.size() == 0)
+    return;
+
+  for (unsigned int i = 0; i < id_list_.size(); i++)
+    delete[] data_list_[id_list_[i]];
+
+  id_list_.clear();
+  data_list_.clear();
+  if (param_ != 0)
+    delete[] param_;
+  param_ = 0;
+}
+
+int GroupSyncWrite::txPacket()
+{
+  if (id_list_.size() == 0)
+    return COMM_NOT_AVAILABLE;
+
+  if (is_param_changed_ == true || param_ == 0)
+    makeParam();
+
+  return ph_->syncWriteTxOnly(port_, start_address_, data_length_, param_, id_list_.size() * (1 + data_length_));
+}
diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/src/packet_handler.cpp b/niryo_robot_hardware_stack/dynamixel_sdk/src/packet_handler.cpp
new file mode 100644
index 000000000..b25be897c
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_sdk/src/packet_handler.cpp
@@ -0,0 +1,55 @@
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: zerom, Ryu Woon Jung (Leon) */
+
+#if defined(_WIN32) || defined(_WIN64)
+#define WINDLLEXPORT
+#endif
+
+#include "dynamixel_sdk/packet_handler.h"
+#include "dynamixel_sdk/protocol1_packet_handler.h"
+#include "dynamixel_sdk/protocol2_packet_handler.h"
+
+using namespace dynamixel;
+
+PacketHandler *PacketHandler::getPacketHandler(float protocol_version)
+{
+  if (protocol_version == 1.0)
+  {
+    return (PacketHandler *)(Protocol1PacketHandler::getInstance());
+  }
+  else if (protocol_version == 2.0)
+  {
+    return (PacketHandler *)(Protocol2PacketHandler::getInstance());
+  }
+
+  return (PacketHandler *)(Protocol2PacketHandler::getInstance());
+}
diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/src/port_handler.cpp b/niryo_robot_hardware_stack/dynamixel_sdk/src/port_handler.cpp
new file mode 100644
index 000000000..1e3f169dd
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_sdk/src/port_handler.cpp
@@ -0,0 +1,58 @@
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: zerom, Ryu Woon Jung (Leon) */
+
+#if defined(_WIN32) || defined(_WIN64)
+#define WINDLLEXPORT
+#endif
+
+#include "dynamixel_sdk/port_handler.h"
+
+#ifdef __linux__
+  #include "dynamixel_sdk/port_handler_linux.h"
+#endif
+
+#if defined(_WIN32) || defined(_WIN64)
+  #include "dynamixel_sdk/port_handler_windows.h"
+#endif
+
+using namespace dynamixel;
+
+PortHandler *PortHandler::getPortHandler(const char *port_name)
+{
+#ifdef __linux__
+  return (PortHandler *)(new PortHandlerLinux(port_name));
+#endif
+
+#if defined(_WIN32) || defined(_WIN64)
+  return (PortHandler *)(new PortHandlerWindows(port_name));
+#endif
+}
diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/src/port_handler_linux.cpp b/niryo_robot_hardware_stack/dynamixel_sdk/src/port_handler_linux.cpp
new file mode 100644
index 000000000..09a703c7d
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_sdk/src/port_handler_linux.cpp
@@ -0,0 +1,334 @@
+/*
+ * port_handler_linux.cpp
+ * Copyright (c) 2017, Niryo
+ * All rights reserved.
+ *
+ * This library is an adaptation of dynamixel_sdk library for Raspberry Pi 4b with wiringPi
+ * See license below
+ */
+
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: zerom, Ryu Woon Jung (Leon) */
+
+#include <stdio.h>
+#include <fcntl.h>
+#include <string.h>
+#include <unistd.h>
+#include <termios.h>
+#include <time.h>
+#include <sys/time.h>
+#include <sys/ioctl.h>
+#include <linux/serial.h>
+
+#include "dynamixel_sdk/port_handler_linux.h"
+
+#define LATENCY_TIMER   8  // msec (USB latency timer) [was changed from 4 due to the Ubuntu update 16.04.2]
+
+using namespace dynamixel;
+
+PortHandlerLinux::PortHandlerLinux(const char *port_name)
+  : socket_fd_(-1),
+    baudrate_(DEFAULT_BAUDRATE_),
+    packet_start_time_(0.0),
+    packet_timeout_(0.0),
+    tx_time_per_byte(0.0)
+{
+  is_using_ = false;
+  setPortName(port_name);
+}
+
+#include <fcntl.h>
+#if defined __arm__ || defined __aarch64__
+#include <wiringPi.h>
+#endif
+#include <time.h>
+
+#define GPIO_HALF_DUPLEX_DIRECTION 17
+
+bool PortHandlerLinux::setupGpio()
+{
+#if defined __arm__ || defined __aarch64__
+  int result = wiringPiSetupGpio();
+  if (!result) {
+      //printf("Gpio started\n");
+  }
+  else {
+      //printf("Gpio startup fail\n");
+      return false;
+  }
+  
+  pinMode(GPIO_HALF_DUPLEX_DIRECTION, OUTPUT);
+
+  nanosleep((const struct timespec[]){{0, 500000L}}, NULL);
+
+  gpioLow();
+#endif
+
+    return true;
+}
+
+void PortHandlerLinux::gpioHigh()
+{
+#if defined __arm__ || defined __aarch64__
+  digitalWrite(GPIO_HALF_DUPLEX_DIRECTION, HIGH);
+#endif
+}
+
+void PortHandlerLinux::gpioLow()
+{
+#if defined __arm__ || defined __aarch64__
+  digitalWrite(GPIO_HALF_DUPLEX_DIRECTION, LOW);
+#endif
+}
+
+bool PortHandlerLinux::openPort()
+{
+  return setBaudRate(baudrate_);
+}
+
+void PortHandlerLinux::closePort()
+{
+  if(socket_fd_ != -1)
+    close(socket_fd_);
+  socket_fd_ = -1;
+}
+
+void PortHandlerLinux::clearPort()
+{
+  tcflush(socket_fd_, TCIOFLUSH);
+}
+
+void PortHandlerLinux::setPortName(const char *port_name)
+{
+  strcpy(port_name_, port_name);
+}
+
+char *PortHandlerLinux::getPortName()
+{
+  return port_name_;
+}
+
+bool PortHandlerLinux::setBaudRate(const int baudrate)
+{
+  int baud = getCFlagBaud(baudrate);
+
+  closePort();
+
+  if(baud <= 0)   // custom baudrate
+  {
+    setupPort(B38400);
+    baudrate_ = baudrate;
+    return setCustomBaudrate(baudrate);
+  }
+  else
+  {
+    baudrate_ = baudrate;
+    return setupPort(baud);
+  }
+}
+
+int PortHandlerLinux::getBaudRate()
+{
+  return baudrate_;
+}
+
+int PortHandlerLinux::getBytesAvailable()
+{
+  int bytes_available;
+  ioctl(socket_fd_, FIONREAD, &bytes_available);
+  return bytes_available;
+}
+
+int PortHandlerLinux::readPort(uint8_t *packet, int length)
+{
+  return read(socket_fd_, packet, length);
+}
+
+int PortHandlerLinux::writePort(uint8_t *packet, int length)
+{
+  gpioHigh();
+
+  int write_result = write(socket_fd_, packet, length);
+
+  double time_to_wait_secs = (double)length / ((double)baudrate_ / 10.0);
+  struct timespec tim;
+  tim.tv_sec = 0;
+  tim.tv_nsec = (long) (time_to_wait_secs * 1000000000.0);
+  nanosleep(&tim, NULL);
+
+  gpioLow();
+
+  return write_result;
+}
+
+void PortHandlerLinux::setPacketTimeout(uint16_t packet_length)
+{
+  packet_start_time_  = getCurrentTime();
+  packet_timeout_     = (tx_time_per_byte * (double)packet_length) + (LATENCY_TIMER * 2.0) + 2.0;
+}
+
+void PortHandlerLinux::setPacketTimeout(double msec)
+{
+  packet_start_time_  = getCurrentTime();
+  packet_timeout_     = msec;
+}
+
+bool PortHandlerLinux::isPacketTimeout()
+{
+  if(getTimeSinceStart() > packet_timeout_)
+  {
+    packet_timeout_ = 0;
+    return true;
+  }
+  return false;
+}
+
+double PortHandlerLinux::getCurrentTime()
+{
+  struct timespec tv;
+  clock_gettime( CLOCK_REALTIME, &tv);
+  return ((double)tv.tv_sec*1000.0 + (double)tv.tv_nsec*0.001*0.001);
+}
+
+double PortHandlerLinux::getTimeSinceStart()
+{
+  double time;
+
+  time = getCurrentTime() - packet_start_time_;
+  if(time < 0.0)
+    packet_start_time_ = getCurrentTime();
+
+  return time;
+}
+
+bool PortHandlerLinux::setupPort(int cflag_baud)
+{
+  struct termios newtio;
+
+  socket_fd_ = open(port_name_, O_RDWR|O_NOCTTY|O_NONBLOCK);
+  if(socket_fd_ < 0)
+  {
+    printf("[PortHandlerLinux::SetupPort] Error opening serial port!\n");
+    return false;
+  }
+
+  bzero(&newtio, sizeof(newtio)); // clear struct for new port settings
+
+  newtio.c_cflag = cflag_baud | CS8 | CLOCAL | CREAD;
+  newtio.c_iflag = IGNPAR;
+  newtio.c_oflag      = 0;
+  newtio.c_lflag      = 0;
+  newtio.c_cc[VTIME]  = 0;
+  newtio.c_cc[VMIN]   = 0;
+
+  // clean the buffer and activate the settings for the port
+  tcflush(socket_fd_, TCIFLUSH);
+  tcsetattr(socket_fd_, TCSANOW, &newtio);
+
+  tx_time_per_byte = (1000.0 / (double)baudrate_) * 10.0;
+  return true;
+}
+
+bool PortHandlerLinux::setCustomBaudrate(int speed)
+{
+  // try to set a custom divisor
+  struct serial_struct ss;
+  if(ioctl(socket_fd_, TIOCGSERIAL, &ss) != 0)
+  {
+    printf("[PortHandlerLinux::SetCustomBaudrate] TIOCGSERIAL failed!\n");
+    return false;
+  }
+
+  ss.flags = (ss.flags & ~ASYNC_SPD_MASK) | ASYNC_SPD_CUST;
+  ss.custom_divisor = (ss.baud_base + (speed / 2)) / speed;
+  int closest_speed = ss.baud_base / ss.custom_divisor;
+
+  if(closest_speed < speed * 98 / 100 || closest_speed > speed * 102 / 100)
+  {
+    printf("[PortHandlerLinux::SetCustomBaudrate] Cannot set speed to %d, closest is %d \n", speed, closest_speed);
+    return false;
+  }
+
+  if(ioctl(socket_fd_, TIOCSSERIAL, &ss) < 0)
+  {
+    printf("[PortHandlerLinux::SetCustomBaudrate] TIOCSSERIAL failed!\n");
+    return false;
+  }
+
+  tx_time_per_byte = (1000.0 / (double)speed) * 10.0;
+  return true;
+}
+
+int PortHandlerLinux::getCFlagBaud(int baudrate)
+{
+  switch(baudrate)
+  {
+    case 9600:
+      return B9600;
+    case 19200:
+      return B19200;
+    case 38400:
+      return B38400;
+    case 57600:
+      return B57600;
+    case 115200:
+      return B115200;
+    case 230400:
+      return B230400;
+    case 460800:
+      return B460800;
+    case 500000:
+      return B500000;
+    case 576000:
+      return B576000;
+    case 921600:
+      return B921600;
+    case 1000000:
+      return B1000000;
+    case 1152000:
+      return B1152000;
+    case 1500000:
+      return B1500000;
+    case 2000000:
+      return B2000000;
+    case 2500000:
+      return B2500000;
+    case 3000000:
+      return B3000000;
+    case 3500000:
+      return B3500000;
+    case 4000000:
+      return B4000000;
+    default:
+      return -1;
+  }
+}
diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/src/port_handler_windows.cpp b/niryo_robot_hardware_stack/dynamixel_sdk/src/port_handler_windows.cpp
new file mode 100644
index 000000000..d39c9aa2c
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_sdk/src/port_handler_windows.cpp
@@ -0,0 +1,250 @@
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: Ryu Woon Jung (Leon) */
+
+#if defined(_WIN32) || defined(_WIN64)
+#define WINDLLEXPORT
+#endif
+
+#include "dynamixel_sdk/port_handler_windows.h"
+
+#include <stdio.h>
+#include <string.h>
+#include <time.h>
+
+#define LATENCY_TIMER  16 // msec (USB latency timer)
+
+using namespace dynamixel;
+
+PortHandlerWindows::PortHandlerWindows(const char *port_name)
+  : serial_handle_(INVALID_HANDLE_VALUE),
+  baudrate_(DEFAULT_BAUDRATE_),
+  packet_start_time_(0.0),
+  packet_timeout_(0.0),
+  tx_time_per_byte_(0.0)
+{
+  is_using_ = false;
+
+  char buffer[15];
+  sprintf_s(buffer, sizeof(buffer), "\\\\.\\%s", port_name);
+  setPortName(buffer);
+}
+
+//#include <fcntl.h>
+//#include <wiringPi.h>
+//#include <time.h>
+
+bool PortHandlerWindows::setupGpio() { return false; }
+
+void PortHandlerWindows::gpioHigh() { }
+
+void PortHandlerWindows::gpioLow() { }
+
+bool PortHandlerWindows::openPort()
+{
+  return setBaudRate(baudrate_);
+}
+
+void PortHandlerWindows::closePort()
+{
+  if (serial_handle_ != INVALID_HANDLE_VALUE)
+  {
+    CloseHandle(serial_handle_);
+    serial_handle_ = INVALID_HANDLE_VALUE;
+  }
+}
+
+void PortHandlerWindows::clearPort()
+{
+  PurgeComm(serial_handle_, PURGE_RXABORT | PURGE_RXCLEAR);
+}
+
+void PortHandlerWindows::setPortName(const char *port_name)
+{
+  strcpy_s(port_name_, sizeof(port_name_), port_name);
+}
+
+char *PortHandlerWindows::getPortName()
+{
+  return port_name_;
+}
+
+bool PortHandlerWindows::setBaudRate(const int baudrate)
+{
+  closePort();
+
+  baudrate_ = baudrate;
+  return setupPort(baudrate);
+}
+
+int PortHandlerWindows::getBaudRate()
+{
+  return baudrate_;
+}
+
+int PortHandlerWindows::getBytesAvailable()
+{
+  DWORD retbyte = 2;
+  BOOL res = DeviceIoControl(serial_handle_, GENERIC_READ | GENERIC_WRITE, NULL, 0, 0, 0, &retbyte, (LPOVERLAPPED)NULL);
+
+  printf("%d", (int)res);
+  return (int)retbyte;
+}
+
+int PortHandlerWindows::readPort(uint8_t *packet, int length)
+{
+  DWORD dwRead = 0;
+
+  if (ReadFile(serial_handle_, packet, (DWORD)length, &dwRead, NULL) == FALSE)
+    return -1;
+
+  return (int)dwRead;
+}
+
+int PortHandlerWindows::writePort(uint8_t *packet, int length)
+{
+  DWORD dwWrite = 0;
+
+  if (WriteFile(serial_handle_, packet, (DWORD)length, &dwWrite, NULL) == FALSE)
+    return -1;
+
+  return (int)dwWrite;
+}
+
+void PortHandlerWindows::setPacketTimeout(uint16_t packet_length)
+{
+  packet_start_time_ = getCurrentTime();
+  packet_timeout_ = (tx_time_per_byte_ * (double)packet_length) + (LATENCY_TIMER * 2.0) + 2.0;
+}
+
+void PortHandlerWindows::setPacketTimeout(double msec)
+{
+  packet_start_time_ = getCurrentTime();
+  packet_timeout_ = msec;
+}
+
+bool PortHandlerWindows::isPacketTimeout()
+{
+  if (getTimeSinceStart() > packet_timeout_)
+  {
+    packet_timeout_ = 0;
+    return true;
+  }
+  return false;
+}
+
+double PortHandlerWindows::getCurrentTime()
+{
+  QueryPerformanceCounter(&counter_);
+  QueryPerformanceFrequency(&freq_);
+  return (double)counter_.QuadPart / (double)freq_.QuadPart * 1000.0;
+}
+
+double PortHandlerWindows::getTimeSinceStart()
+{
+  double time;
+
+  time = getCurrentTime() - packet_start_time_;
+  if (time < 0.0) packet_start_time_ = getCurrentTime();
+
+  return time;
+}
+
+bool PortHandlerWindows::setupPort(int baudrate)
+{
+  DCB dcb;
+  COMMTIMEOUTS timeouts;
+  DWORD dwError;
+
+  closePort();
+
+  serial_handle_ = CreateFileA(port_name_, GENERIC_READ | GENERIC_WRITE, 0, NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, NULL);
+  if (serial_handle_ == INVALID_HANDLE_VALUE)
+  {
+    printf("[PortHandlerWindows::SetupPort] Error opening serial port!\n");
+    return false;
+  }
+
+  dcb.DCBlength = sizeof(DCB);
+  if (GetCommState(serial_handle_, &dcb) == FALSE)
+    goto DXL_HAL_OPEN_ERROR;
+
+  // Set baudrate
+  dcb.BaudRate = (DWORD)baudrate;
+  dcb.ByteSize = 8;                    // Data bit = 8bit
+  dcb.Parity = NOPARITY;             // No parity
+  dcb.StopBits = ONESTOPBIT;           // Stop bit = 1
+  dcb.fParity = NOPARITY;             // No Parity check
+  dcb.fBinary = 1;                    // Binary mode
+  dcb.fNull = 0;                    // Get Null byte
+  dcb.fAbortOnError = 0;
+  dcb.fErrorChar = 0;
+  // Not using XOn/XOff
+  dcb.fOutX = 0;
+  dcb.fInX = 0;
+  // Not using H/W flow control
+  dcb.fDtrControl = DTR_CONTROL_DISABLE;
+  dcb.fRtsControl = RTS_CONTROL_DISABLE;
+  dcb.fDsrSensitivity = 0;
+  dcb.fOutxDsrFlow = 0;
+  dcb.fOutxCtsFlow = 0;
+
+  if (SetCommState(serial_handle_, &dcb) == FALSE)
+    goto DXL_HAL_OPEN_ERROR;
+
+  if (SetCommMask(serial_handle_, 0) == FALSE) // Not using Comm event
+    goto DXL_HAL_OPEN_ERROR;
+  if (SetupComm(serial_handle_, 4096, 4096) == FALSE) // Buffer size (Rx,Tx)
+    goto DXL_HAL_OPEN_ERROR;
+  if (PurgeComm(serial_handle_, PURGE_TXABORT | PURGE_TXCLEAR | PURGE_RXABORT | PURGE_RXCLEAR) == FALSE) // Clear buffer
+    goto DXL_HAL_OPEN_ERROR;
+  if (ClearCommError(serial_handle_, &dwError, NULL) == FALSE)
+    goto DXL_HAL_OPEN_ERROR;
+
+  if (GetCommTimeouts(serial_handle_, &timeouts) == FALSE)
+    goto DXL_HAL_OPEN_ERROR;
+  // Timeout (Not using timeout)
+  // Immediatly return
+  timeouts.ReadIntervalTimeout = 0;
+  timeouts.ReadTotalTimeoutMultiplier = 0;
+  timeouts.ReadTotalTimeoutConstant = 1; // must not be zero.
+  timeouts.WriteTotalTimeoutMultiplier = 0;
+  timeouts.WriteTotalTimeoutConstant = 0;
+  if (SetCommTimeouts(serial_handle_, &timeouts) == FALSE)
+    goto DXL_HAL_OPEN_ERROR;
+
+  tx_time_per_byte_ = (1000.0 / (double)baudrate_) * 10.0;
+  return true;
+
+DXL_HAL_OPEN_ERROR:
+  closePort();
+  return false;
+}
diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/src/protocol1_packet_handler.cpp b/niryo_robot_hardware_stack/dynamixel_sdk/src/protocol1_packet_handler.cpp
new file mode 100644
index 000000000..ae75c0fbe
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_sdk/src/protocol1_packet_handler.cpp
@@ -0,0 +1,738 @@
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: zerom, Ryu Woon Jung (Leon) */
+
+#if defined(_WIN32) || defined(_WIN64)
+#define WINDLLEXPORT
+#endif
+
+#include <string.h>
+#include <stdlib.h>
+#include "dynamixel_sdk/protocol1_packet_handler.h"
+
+#define TXPACKET_MAX_LEN    (250)
+#define RXPACKET_MAX_LEN    (250)
+
+///////////////// for Protocol 1.0 Packet /////////////////
+#define PKT_HEADER0             0
+#define PKT_HEADER1             1
+#define PKT_ID                  2
+#define PKT_LENGTH              3
+#define PKT_INSTRUCTION         4
+#define PKT_ERROR               4
+#define PKT_PARAMETER0          5
+
+///////////////// Protocol 1.0 Error bit /////////////////
+#define ERRBIT_VOLTAGE          1       // Supplied voltage is out of the range (operating volatage set in the control table)
+#define ERRBIT_ANGLE            2       // Goal position is written out of the range (from CW angle limit to CCW angle limit)
+#define ERRBIT_OVERHEAT         4       // Temperature is out of the range (operating temperature set in the control table)
+#define ERRBIT_RANGE            8       // Command(setting value) is out of the range for use.
+#define ERRBIT_CHECKSUM         16      // Instruction packet checksum is incorrect.
+#define ERRBIT_OVERLOAD         32      // The current load cannot be controlled by the set torque.
+#define ERRBIT_INSTRUCTION      64      // Undefined instruction or delivering the action command without the reg_write command.
+
+using namespace dynamixel;
+
+Protocol1PacketHandler *Protocol1PacketHandler::unique_instance_ = new Protocol1PacketHandler();
+
+Protocol1PacketHandler::Protocol1PacketHandler() { }
+
+void Protocol1PacketHandler::printTxRxResult(int result)
+{
+  switch(result)
+  {
+  case COMM_SUCCESS:
+    printf("[TxRxResult] Communication success.\n");
+    break;
+
+  case COMM_PORT_BUSY:
+    printf("[TxRxResult] Port is in use!\n");
+    break;
+
+  case COMM_TX_FAIL:
+    printf("[TxRxResult] Failed transmit instruction packet!\n");
+    break;
+
+  case COMM_RX_FAIL:
+    printf("[TxRxResult] Failed get status packet from device!\n");
+    break;
+
+  case COMM_TX_ERROR:
+    printf("[TxRxResult] Incorrect instruction packet!\n");
+    break;
+
+  case COMM_RX_WAITING:
+    printf("[TxRxResult] Now recieving status packet!\n");
+    break;
+
+  case COMM_RX_TIMEOUT:
+    printf("[TxRxResult] There is no status packet!\n");
+    break;
+
+  case COMM_RX_CORRUPT:
+    printf("[TxRxResult] Incorrect status packet!\n");
+    break;
+
+  case COMM_NOT_AVAILABLE:
+    printf("[TxRxResult] Protocol does not support This function!\n");
+    break;
+
+  default:
+    break;
+  }
+}
+
+void Protocol1PacketHandler::printRxPacketError(uint8_t error)
+{
+  if (error & ERRBIT_VOLTAGE)
+    printf("[RxPacketError] Input voltage error!\n");
+
+  if (error & ERRBIT_ANGLE)
+    printf("[RxPacketError] Angle limit error!\n");
+
+  if (error & ERRBIT_OVERHEAT)
+    printf("[RxPacketError] Overheat error!\n");
+
+  if (error & ERRBIT_RANGE)
+    printf("[RxPacketError] Out of range error!\n");
+
+  if (error & ERRBIT_CHECKSUM)
+    printf("[RxPacketError] Checksum error!\n");
+
+  if (error & ERRBIT_OVERLOAD)
+    printf("[RxPacketError] Overload error!\n");
+
+  if (error & ERRBIT_INSTRUCTION)
+    printf("[RxPacketError] Instruction code error!\n");
+}
+
+int Protocol1PacketHandler::txPacket(PortHandler *port, uint8_t *txpacket)
+{
+  uint8_t checksum               = 0;
+  uint8_t total_packet_length    = txpacket[PKT_LENGTH] + 4; // 4: HEADER0 HEADER1 ID LENGTH
+  uint8_t written_packet_length  = 0;
+
+  if (port->is_using_)
+    return COMM_PORT_BUSY;
+  port->is_using_ = true;
+
+  // check max packet length
+  if (total_packet_length > TXPACKET_MAX_LEN)
+  {
+    port->is_using_ = false;
+    return COMM_TX_ERROR;
+  }
+
+  // make packet header
+  txpacket[PKT_HEADER0]   = 0xFF;
+  txpacket[PKT_HEADER1]   = 0xFF;
+
+  // add a checksum to the packet
+  for (int idx = 2; idx < total_packet_length - 1; idx++)   // except header, checksum
+    checksum += txpacket[idx];
+  txpacket[total_packet_length - 1] = ~checksum;
+
+  // tx packet
+  port->clearPort();
+  written_packet_length = port->writePort(txpacket, total_packet_length);
+  if (total_packet_length != written_packet_length)
+  {
+    port->is_using_ = false;
+    return COMM_TX_FAIL;
+  }
+
+  return COMM_SUCCESS;
+}
+
+int Protocol1PacketHandler::rxPacket(PortHandler *port, uint8_t *rxpacket)
+{
+  int     result         = COMM_TX_FAIL;
+
+  uint8_t checksum       = 0;
+  uint8_t rx_length      = 0;
+  uint8_t wait_length    = 6;    // minimum length (HEADER0 HEADER1 ID LENGTH ERROR CHKSUM)
+
+  while(true)
+  {
+    rx_length += port->readPort(&rxpacket[rx_length], wait_length - rx_length);
+    if (rx_length >= wait_length)
+    {
+      uint8_t idx = 0;
+
+      // find packet header
+      for (idx = 0; idx < (rx_length - 1); idx++)
+      {
+        if (rxpacket[idx] == 0xFF && rxpacket[idx+1] == 0xFF)
+          break;
+      }
+
+      if (idx == 0)   // found at the beginning of the packet
+      {
+        if (rxpacket[PKT_ID] > 0xFD ||                   // unavailable ID
+           rxpacket[PKT_LENGTH] > RXPACKET_MAX_LEN ||   // unavailable Length
+           rxpacket[PKT_ERROR] >= 0x64)                 // unavailable Error
+        {
+            // remove the first byte in the packet
+            for (uint8_t s = 0; s < rx_length - 1; s++)
+              rxpacket[s] = rxpacket[1 + s];
+            //memcpy(&rxpacket[0], &rxpacket[idx], rx_length - idx);
+            rx_length -= 1;
+            continue;
+        }
+
+        // re-calculate the exact length of the rx packet
+        if (wait_length != rxpacket[PKT_LENGTH] + PKT_LENGTH + 1)
+        {
+          wait_length = rxpacket[PKT_LENGTH] + PKT_LENGTH + 1;
+          continue;
+        }
+
+        if (rx_length < wait_length)
+        {
+          // check timeout
+          if (port->isPacketTimeout() == true)
+          {
+            if (rx_length == 0)
+            {
+              result = COMM_RX_TIMEOUT;
+            }
+            else
+            {
+              result = COMM_RX_CORRUPT;
+            }
+            break;
+          }
+          else
+          {
+            continue;
+          }
+        }
+
+        // calculate checksum
+        for (int i = 2; i < wait_length - 1; i++)   // except header, checksum
+          checksum += rxpacket[i];
+        checksum = ~checksum;
+
+        // verify checksum
+        if (rxpacket[wait_length - 1] == checksum)
+        {
+          result = COMM_SUCCESS;
+        }
+        else
+        {
+          result = COMM_RX_CORRUPT;
+        }
+        break;
+      }
+      else
+      {
+        // remove unnecessary packets
+        for (uint8_t s = 0; s < rx_length - idx; s++)
+          rxpacket[s] = rxpacket[idx + s];
+        //memcpy(&rxpacket[0], &rxpacket[idx], rx_length - idx);
+        rx_length -= idx;
+      }
+    }
+    else
+    {
+      // check timeout
+      if (port->isPacketTimeout() == true)
+      {
+        if (rx_length == 0)
+        {
+          result = COMM_RX_TIMEOUT;
+        }
+        else
+        {
+          result = COMM_RX_CORRUPT;
+        }
+        break;
+      }
+    }
+  }
+  port->is_using_ = false;
+
+  return result;
+}
+
+// NOT for BulkRead instruction
+int Protocol1PacketHandler::txRxPacket(PortHandler *port, uint8_t *txpacket, uint8_t *rxpacket, uint8_t *error)
+{
+  int result = COMM_TX_FAIL;
+
+  // tx packet
+  result = txPacket(port, txpacket);
+  if (result != COMM_SUCCESS)
+    return result;
+
+  // (Instruction == BulkRead) == this function is not available.
+  if(txpacket[PKT_INSTRUCTION] == INST_BULK_READ)
+    result = COMM_NOT_AVAILABLE;
+
+  // (ID == Broadcast ID) == no need to wait for status packet or not available
+  // (Instruction == action) == no need to wait for status packet
+  if (txpacket[PKT_ID] == BROADCAST_ID || txpacket[PKT_INSTRUCTION] == INST_ACTION)
+  {
+    port->is_using_ = false;
+    return result;
+  }
+
+  // set packet timeout
+  if (txpacket[PKT_INSTRUCTION] == INST_READ)
+  {
+    port->setPacketTimeout((uint16_t)(txpacket[PKT_PARAMETER0+1] + 6));
+  }
+  else
+  {
+    port->setPacketTimeout((uint16_t)6); // HEADER0 HEADER1 ID LENGTH ERROR CHECKSUM
+  }
+
+  // rx packet
+  do {
+    result = rxPacket(port, rxpacket);
+  } while (result == COMM_SUCCESS && txpacket[PKT_ID] != rxpacket[PKT_ID]);
+
+  if (result == COMM_SUCCESS && txpacket[PKT_ID] == rxpacket[PKT_ID])
+  {
+    if (error != 0)
+      *error = (uint8_t)rxpacket[PKT_ERROR];
+  }
+
+  return result;
+}
+
+int Protocol1PacketHandler::ping(PortHandler *port, uint8_t id, uint8_t *error)
+{
+  return ping(port, id, 0, error);
+}
+
+int Protocol1PacketHandler::ping(PortHandler *port, uint8_t id, uint16_t *model_number, uint8_t *error)
+{
+  int result                 = COMM_TX_FAIL;
+
+  uint8_t txpacket[6]         = {0};
+  uint8_t rxpacket[6]         = {0};
+
+  if (id >= BROADCAST_ID)
+    return COMM_NOT_AVAILABLE;
+
+  txpacket[PKT_ID]            = id;
+  txpacket[PKT_LENGTH]        = 2;
+  txpacket[PKT_INSTRUCTION]   = INST_PING;
+
+  result = txRxPacket(port, txpacket, rxpacket, error);
+  if (result == COMM_SUCCESS && model_number != 0)
+  {
+    uint8_t data_read[2] = {0};
+    result = readTxRx(port, id, 0, 2, data_read);  // Address 0 : Model Number
+    if (result == COMM_SUCCESS) *model_number = DXL_MAKEWORD(data_read[0], data_read[1]);
+  }
+
+  return result;
+}
+
+int Protocol1PacketHandler::broadcastPing(PortHandler *port, std::vector<uint8_t> &id_list)
+{
+  return COMM_NOT_AVAILABLE;
+}
+
+int Protocol1PacketHandler::action(PortHandler *port, uint8_t id)
+{
+  uint8_t txpacket[6]         = {0};
+
+  txpacket[PKT_ID]            = id;
+  txpacket[PKT_LENGTH]        = 2;
+  txpacket[PKT_INSTRUCTION]   = INST_ACTION;
+
+  return txRxPacket(port, txpacket, 0);
+}
+
+int Protocol1PacketHandler::reboot(PortHandler *port, uint8_t id, uint8_t *error)
+{
+  return COMM_NOT_AVAILABLE;
+}
+
+int Protocol1PacketHandler::factoryReset(PortHandler *port, uint8_t id, uint8_t option, uint8_t *error)
+{
+  uint8_t txpacket[6]         = {0};
+  uint8_t rxpacket[6]         = {0};
+
+  txpacket[PKT_ID]            = id;
+  txpacket[PKT_LENGTH]        = 2;
+  txpacket[PKT_INSTRUCTION]   = INST_FACTORY_RESET;
+
+  return txRxPacket(port, txpacket, rxpacket, error);
+}
+
+int Protocol1PacketHandler::readTx(PortHandler *port, uint8_t id, uint16_t address, uint16_t length)
+{
+  int result                 = COMM_TX_FAIL;
+
+  uint8_t txpacket[8]         = {0};
+
+  if (id >= BROADCAST_ID)
+    return COMM_NOT_AVAILABLE;
+
+  txpacket[PKT_ID]            = id;
+  txpacket[PKT_LENGTH]        = 4;
+  txpacket[PKT_INSTRUCTION]   = INST_READ;
+  txpacket[PKT_PARAMETER0+0]  = (uint8_t)address;
+  txpacket[PKT_PARAMETER0+1]  = (uint8_t)length;
+
+  result = txPacket(port, txpacket);
+
+  // set packet timeout
+  if (result == COMM_SUCCESS)
+    port->setPacketTimeout((uint16_t)(length+6));
+
+  return result;
+}
+
+int Protocol1PacketHandler::readRx(PortHandler *port, uint8_t id, uint16_t length, uint8_t *data, uint8_t *error)
+{
+  int result                  = COMM_TX_FAIL;
+  uint8_t *rxpacket           = (uint8_t *)malloc(RXPACKET_MAX_LEN);//(length+6);
+  //uint8_t *rxpacket           = new uint8_t[length+6];
+
+  do {
+    result = rxPacket(port, rxpacket);
+  } while (result == COMM_SUCCESS && rxpacket[PKT_ID] != id);
+
+  if (result == COMM_SUCCESS && rxpacket[PKT_ID] == id)
+  {
+    if (error != 0)
+    {
+      *error = (uint8_t)rxpacket[PKT_ERROR];
+    }
+    for (uint8_t s = 0; s < length; s++)
+    {
+      data[s] = rxpacket[PKT_PARAMETER0 + s];
+    }
+    //memcpy(data, &rxpacket[PKT_PARAMETER0], length);
+  }
+
+  free(rxpacket);
+  //delete[] rxpacket;
+  return result;
+}
+
+int Protocol1PacketHandler::readTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error)
+{
+  int result = COMM_TX_FAIL;
+
+  uint8_t txpacket[8]         = {0};
+  uint8_t *rxpacket           = (uint8_t *)malloc(RXPACKET_MAX_LEN);//(length+6);
+
+  if (id >= BROADCAST_ID)
+    return COMM_NOT_AVAILABLE;
+
+  txpacket[PKT_ID]            = id;
+  txpacket[PKT_LENGTH]        = 4;
+  txpacket[PKT_INSTRUCTION]   = INST_READ;
+  txpacket[PKT_PARAMETER0+0]  = (uint8_t)address;
+  txpacket[PKT_PARAMETER0+1]  = (uint8_t)length;
+
+  result = txRxPacket(port, txpacket, rxpacket, error);
+  if (result == COMM_SUCCESS)
+  {
+    if (error != 0)
+    {
+      *error = (uint8_t)rxpacket[PKT_ERROR];
+    }
+    for (uint8_t s = 0; s < length; s++)
+    {
+      data[s] = rxpacket[PKT_PARAMETER0 + s];
+    }
+    //memcpy(data, &rxpacket[PKT_PARAMETER0], length);
+  }
+
+  free(rxpacket);
+  //delete[] rxpacket;
+  return result;
+}
+
+int Protocol1PacketHandler::read1ByteTx(PortHandler *port, uint8_t id, uint16_t address)
+{
+  return readTx(port, id, address, 1);
+}
+int Protocol1PacketHandler::read1ByteRx(PortHandler *port, uint8_t id, uint8_t *data, uint8_t *error)
+{
+  uint8_t data_read[1] = {0};
+  int result = readRx(port, id, 1, data_read, error);
+  if (result == COMM_SUCCESS)
+    *data = data_read[0];
+  return result;
+}
+int Protocol1PacketHandler::read1ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint8_t *data, uint8_t *error)
+{
+  uint8_t data_read[1] = {0};
+  int result = readTxRx(port, id, address, 1, data_read, error);
+  if (result == COMM_SUCCESS)
+    *data = data_read[0];
+  return result;
+}
+
+int Protocol1PacketHandler::read2ByteTx(PortHandler *port, uint8_t id, uint16_t address)
+{
+  return readTx(port, id, address, 2);
+}
+int Protocol1PacketHandler::read2ByteRx(PortHandler *port, uint8_t id, uint16_t *data, uint8_t *error)
+{
+  uint8_t data_read[2] = {0};
+  int result = readRx(port, id, 2, data_read, error);
+  if (result == COMM_SUCCESS)
+    *data = DXL_MAKEWORD(data_read[0], data_read[1]);
+  return result;
+}
+int Protocol1PacketHandler::read2ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t *data, uint8_t *error)
+{
+  uint8_t data_read[2] = {0};
+  int result = readTxRx(port, id, address, 2, data_read, error);
+  if (result == COMM_SUCCESS)
+    *data = DXL_MAKEWORD(data_read[0], data_read[1]);
+  return result;
+}
+
+int Protocol1PacketHandler::read4ByteTx(PortHandler *port, uint8_t id, uint16_t address)
+{
+  return readTx(port, id, address, 4);
+}
+int Protocol1PacketHandler::read4ByteRx(PortHandler *port, uint8_t id, uint32_t *data, uint8_t *error)
+{
+  uint8_t data_read[4] = {0};
+  int result = readRx(port, id, 4, data_read, error);
+  if (result == COMM_SUCCESS)
+    *data = DXL_MAKEDWORD(DXL_MAKEWORD(data_read[0], data_read[1]), DXL_MAKEWORD(data_read[2], data_read[3]));
+  return result;
+}
+int Protocol1PacketHandler::read4ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint32_t *data, uint8_t *error)
+{
+  uint8_t data_read[4] = {0};
+  int result = readTxRx(port, id, address, 4, data_read, error);
+  if (result == COMM_SUCCESS)
+    *data = DXL_MAKEDWORD(DXL_MAKEWORD(data_read[0], data_read[1]), DXL_MAKEWORD(data_read[2], data_read[3]));
+  return result;
+}
+
+int Protocol1PacketHandler::writeTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data)
+{
+  int result                 = COMM_TX_FAIL;
+
+  uint8_t *txpacket           = (uint8_t *)malloc(length+7);
+  //uint8_t *txpacket           = new uint8_t[length+7];
+
+  txpacket[PKT_ID]            = id;
+  txpacket[PKT_LENGTH]        = length+3;
+  txpacket[PKT_INSTRUCTION]   = INST_WRITE;
+  txpacket[PKT_PARAMETER0]    = (uint8_t)address;
+
+  for (uint8_t s = 0; s < length; s++)
+    txpacket[PKT_PARAMETER0+1+s] = data[s];
+  //memcpy(&txpacket[PKT_PARAMETER0+1], data, length);
+
+  result = txPacket(port, txpacket);
+  port->is_using_ = false;
+
+  free(txpacket);
+  //delete[] txpacket;
+  return result;
+}
+
+int Protocol1PacketHandler::writeTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error)
+{
+  int result                 = COMM_TX_FAIL;
+
+  uint8_t *txpacket           = (uint8_t *)malloc(length+7); //#6->7
+  //uint8_t *txpacket           = new uint8_t[length+7];
+  uint8_t rxpacket[6]         = {0};
+
+  txpacket[PKT_ID]            = id;
+  txpacket[PKT_LENGTH]        = length+3;
+  txpacket[PKT_INSTRUCTION]   = INST_WRITE;
+  txpacket[PKT_PARAMETER0]    = (uint8_t)address;
+
+  for (uint8_t s = 0; s < length; s++)
+    txpacket[PKT_PARAMETER0+1+s] = data[s];
+  //memcpy(&txpacket[PKT_PARAMETER0+1], data, length);
+
+  result = txRxPacket(port, txpacket, rxpacket, error);
+
+  free(txpacket);
+  //delete[] txpacket;
+  return result;
+}
+
+int Protocol1PacketHandler::write1ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint8_t data)
+{
+  uint8_t data_write[1] = { data };
+  return writeTxOnly(port, id, address, 1, data_write);
+}
+int Protocol1PacketHandler::write1ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint8_t data, uint8_t *error)
+{
+  uint8_t data_write[1] = { data };
+  return writeTxRx(port, id, address, 1, data_write, error);
+}
+
+int Protocol1PacketHandler::write2ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t data)
+{
+  uint8_t data_write[2] = { DXL_LOBYTE(data), DXL_HIBYTE(data) };
+  return writeTxOnly(port, id, address, 2, data_write);
+}
+int Protocol1PacketHandler::write2ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t data, uint8_t *error)
+{
+  uint8_t data_write[2] = { DXL_LOBYTE(data), DXL_HIBYTE(data) };
+  return writeTxRx(port, id, address, 2, data_write, error);
+}
+
+int Protocol1PacketHandler::write4ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint32_t data)
+{
+  uint8_t data_write[4] = { DXL_LOBYTE(DXL_LOWORD(data)), DXL_HIBYTE(DXL_LOWORD(data)), DXL_LOBYTE(DXL_HIWORD(data)), DXL_HIBYTE(DXL_HIWORD(data)) };
+  return writeTxOnly(port, id, address, 4, data_write);
+}
+int Protocol1PacketHandler::write4ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint32_t data, uint8_t *error)
+{
+  uint8_t data_write[4] = { DXL_LOBYTE(DXL_LOWORD(data)), DXL_HIBYTE(DXL_LOWORD(data)), DXL_LOBYTE(DXL_HIWORD(data)), DXL_HIBYTE(DXL_HIWORD(data)) };
+  return writeTxRx(port, id, address, 4, data_write, error);
+}
+
+int Protocol1PacketHandler::regWriteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data)
+{
+  int result                 = COMM_TX_FAIL;
+
+  uint8_t *txpacket           = (uint8_t *)malloc(length+6);
+  //uint8_t *txpacket           = new uint8_t[length+6];
+
+  txpacket[PKT_ID]            = id;
+  txpacket[PKT_LENGTH]        = length+3;
+  txpacket[PKT_INSTRUCTION]   = INST_REG_WRITE;
+  txpacket[PKT_PARAMETER0]    = (uint8_t)address;
+
+  for (uint8_t s = 0; s < length; s++)
+    txpacket[PKT_PARAMETER0+1+s] = data[s];
+  //memcpy(&txpacket[PKT_PARAMETER0+1], data, length);
+
+  result = txPacket(port, txpacket);
+  port->is_using_ = false;
+
+  free(txpacket);
+  //delete[] txpacket;
+  return result;
+}
+
+int Protocol1PacketHandler::regWriteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error)
+{
+  int result                 = COMM_TX_FAIL;
+
+  uint8_t *txpacket           = (uint8_t *)malloc(length+6);
+  //uint8_t *txpacket           = new uint8_t[length+6];
+  uint8_t rxpacket[6]         = {0};
+
+  txpacket[PKT_ID]            = id;
+  txpacket[PKT_LENGTH]        = length+3;
+  txpacket[PKT_INSTRUCTION]   = INST_REG_WRITE;
+  txpacket[PKT_PARAMETER0]    = (uint8_t)address;
+
+  for (uint8_t s = 0; s < length; s++)
+    txpacket[PKT_PARAMETER0+1+s] = data[s];
+  //memcpy(&txpacket[PKT_PARAMETER0+1], data, length);
+
+  result = txRxPacket(port, txpacket, rxpacket, error);
+
+  free(txpacket);
+  //delete[] txpacket;
+  return result;
+}
+
+int Protocol1PacketHandler::syncReadTx(PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length)
+{
+  return COMM_NOT_AVAILABLE;
+}
+
+int Protocol1PacketHandler::syncWriteTxOnly(PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length)
+{
+  int result                 = COMM_TX_FAIL;
+
+  uint8_t *txpacket           = (uint8_t *)malloc(param_length+8);
+  // 8: HEADER0 HEADER1 ID LEN INST START_ADDR DATA_LEN ... CHKSUM
+  //uint8_t *txpacket           = new uint8_t[param_length + 8];
+
+  txpacket[PKT_ID]            = BROADCAST_ID;
+  txpacket[PKT_LENGTH]        = param_length + 4; // 4: INST START_ADDR DATA_LEN ... CHKSUM
+  txpacket[PKT_INSTRUCTION]   = INST_SYNC_WRITE;
+  txpacket[PKT_PARAMETER0+0]  = start_address;
+  txpacket[PKT_PARAMETER0+1]  = data_length;
+
+  for (uint8_t s = 0; s < param_length; s++)
+    txpacket[PKT_PARAMETER0+2+s] = param[s];
+  //memcpy(&txpacket[PKT_PARAMETER0+2], param, param_length);
+
+  result = txRxPacket(port, txpacket, 0, 0);
+
+  free(txpacket);
+  //delete[] txpacket;
+  return result;
+}
+
+int Protocol1PacketHandler::bulkReadTx(PortHandler *port, uint8_t *param, uint16_t param_length)
+{
+  int result                 = COMM_TX_FAIL;
+
+  uint8_t *txpacket           = (uint8_t *)malloc(param_length+7);
+  // 7: HEADER0 HEADER1 ID LEN INST 0x00 ... CHKSUM
+  //uint8_t *txpacket           = new uint8_t[param_length + 7];
+
+  txpacket[PKT_ID]            = BROADCAST_ID;
+  txpacket[PKT_LENGTH]        = param_length + 3; // 3: INST 0x00 ... CHKSUM
+  txpacket[PKT_INSTRUCTION]   = INST_BULK_READ;
+  txpacket[PKT_PARAMETER0+0]  = 0x00;
+
+  for (uint8_t s = 0; s < param_length; s++)
+    txpacket[PKT_PARAMETER0+1+s] = param[s];
+  //memcpy(&txpacket[PKT_PARAMETER0+1], param, param_length);
+
+  result = txPacket(port, txpacket);
+  if (result == COMM_SUCCESS)
+  {
+    int wait_length = 0;
+    for (int i = 0; i < param_length; i += 3)
+      wait_length += param[i] + 7;
+    port->setPacketTimeout((uint16_t)wait_length);
+  }
+
+  free(txpacket);
+  //delete[] txpacket;
+  return result;
+}
+
+int Protocol1PacketHandler::bulkWriteTxOnly(PortHandler *port, uint8_t *param, uint16_t param_length)
+{
+  return COMM_NOT_AVAILABLE;
+}
diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/src/protocol2_packet_handler.cpp b/niryo_robot_hardware_stack/dynamixel_sdk/src/protocol2_packet_handler.cpp
new file mode 100644
index 000000000..8d8878ea7
--- /dev/null
+++ b/niryo_robot_hardware_stack/dynamixel_sdk/src/protocol2_packet_handler.cpp
@@ -0,0 +1,1066 @@
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: zerom, Ryu Woon Jung (Leon) */
+
+#if defined(_WIN32) || defined(_WIN64)
+#define WINDLLEXPORT
+#endif
+
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include "dynamixel_sdk/protocol2_packet_handler.h"
+
+#define TXPACKET_MAX_LEN    (4*1024)
+#define RXPACKET_MAX_LEN    (4*1024)
+
+///////////////// for Protocol 2.0 Packet /////////////////
+#define PKT_HEADER0             0
+#define PKT_HEADER1             1
+#define PKT_HEADER2             2
+#define PKT_RESERVED            3
+#define PKT_ID                  4
+#define PKT_LENGTH_L            5
+#define PKT_LENGTH_H            6
+#define PKT_INSTRUCTION         7
+#define PKT_ERROR               8
+#define PKT_PARAMETER0          8
+
+///////////////// Protocol 2.0 Error bit /////////////////
+#define ERRNUM_RESULT_FAIL      1       // Failed to process the instruction packet.
+#define ERRNUM_INSTRUCTION      2       // Instruction error
+#define ERRNUM_CRC              3       // CRC check error
+#define ERRNUM_DATA_RANGE       4       // Data range error
+#define ERRNUM_DATA_LENGTH      5       // Data length error
+#define ERRNUM_DATA_LIMIT       6       // Data limit error
+#define ERRNUM_ACCESS           7       // Access error
+
+#define ERRBIT_ALERT            128     //When the device has a problem, this bit is set to 1. Check "Device Status Check" value.
+
+using namespace dynamixel;
+
+Protocol2PacketHandler *Protocol2PacketHandler::unique_instance_ = new Protocol2PacketHandler();
+
+Protocol2PacketHandler::Protocol2PacketHandler() { }
+
+//#include <fcntl.h>
+//#include <wiringPi.h>
+//#include <time.h>
+//
+//void Protocol2PacketHandler::setupGpio()
+//{
+//    int result = wiringPiSetupGpio();
+//    if (!result) {
+//        printf("Gpio started\n");
+//    }
+//    else {
+//        printf("Gpio startup fail\n");
+//    }
+//    
+//    pinMode(17, OUTPUT);
+//  
+//    nanosleep((const struct timespec[]){{0, 500000L}}, NULL);
+//
+//    gpioLow();
+//}
+//
+//void Protocol2PacketHandler::gpioHigh()
+//{
+//    digitalWrite(17, HIGH);
+//}
+//
+//void Protocol2PacketHandler::gpioLow()
+//{
+//    digitalWrite(17, LOW);
+//}
+
+void Protocol2PacketHandler::printTxRxResult(int result)
+{
+  switch(result)
+  {
+    case COMM_SUCCESS:
+      printf("[TxRxResult] Communication success.\n");
+      break;
+
+    case COMM_PORT_BUSY:
+      printf("[TxRxResult] Port is in use!\n");
+      break;
+
+    case COMM_TX_FAIL:
+      printf("[TxRxResult] Failed transmit instruction packet!\n");
+      break;
+
+    case COMM_RX_FAIL:
+      printf("[TxRxResult] Failed get status packet from device!\n");
+      break;
+
+    case COMM_TX_ERROR:
+      printf("[TxRxResult] Incorrect instruction packet!\n");
+      break;
+
+    case COMM_RX_WAITING:
+      printf("[TxRxResult] Now recieving status packet!\n");
+      break;
+
+    case COMM_RX_TIMEOUT:
+      printf("[TxRxResult] There is no status packet!\n");
+      break;
+
+    case COMM_RX_CORRUPT:
+      printf("[TxRxResult] Incorrect status packet!\n");
+      break;
+
+    case COMM_NOT_AVAILABLE:
+      printf("[TxRxResult] Protocol does not support This function!\n");
+      break;
+
+    default:
+      break;
+  }
+}
+
+void Protocol2PacketHandler::printRxPacketError(uint8_t error)
+{
+  if (error & ERRBIT_ALERT)
+    printf("[RxPacketError] Hardware error occurred. Check the error at Control Table (Hardware Error Status)!\n");
+
+  int not_alert_error = error & ~ERRBIT_ALERT;
+
+  switch(not_alert_error)
+  {
+    case 0:
+      break;
+
+    case ERRNUM_RESULT_FAIL:
+      printf("[RxPacketError] Failed to process the instruction packet!\n");
+      break;
+
+    case ERRNUM_INSTRUCTION:
+      printf("[RxPacketError] Undefined instruction or incorrect instruction!\n");
+      break;
+
+    case ERRNUM_CRC:
+      printf("[RxPacketError] CRC doesn't match!\n");
+      break;
+
+    case ERRNUM_DATA_RANGE:
+      printf("[RxPacketError] The data value is out of range!\n");
+      break;
+
+    case ERRNUM_DATA_LENGTH:
+      printf("[RxPacketError] The data length does not match as expected!\n");
+      break;
+
+    case ERRNUM_DATA_LIMIT:
+      printf("[RxPacketError] The data value exceeds the limit value!\n");
+      break;
+
+    case ERRNUM_ACCESS:
+      printf("[RxPacketError] Writing or Reading is not available to target address!\n");
+      break;
+
+    default:
+      printf("[RxPacketError] Unknown error code!\n");
+      break;
+  }
+}
+
+unsigned short Protocol2PacketHandler::updateCRC(uint16_t crc_accum, uint8_t *data_blk_ptr, uint16_t data_blk_size)
+{
+  uint16_t i;
+  uint16_t crc_table[256] = {0x0000,
+  0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011,
+  0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D, 0x8027,
+  0x0022, 0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D,
+  0x8077, 0x0072, 0x0050, 0x8055, 0x805F, 0x005A, 0x804B,
+  0x004E, 0x0044, 0x8041, 0x80C3, 0x00C6, 0x00CC, 0x80C9,
+  0x00D8, 0x80DD, 0x80D7, 0x00D2, 0x00F0, 0x80F5, 0x80FF,
+  0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1, 0x00A0, 0x80A5,
+  0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1, 0x8093,
+  0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087, 0x0082,
+  0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, 0x8197,
+  0x0192, 0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB, 0x01AE,
+  0x01A4, 0x81A1, 0x01E0, 0x81E5, 0x81EF, 0x01EA, 0x81FB,
+  0x01FE, 0x01F4, 0x81F1, 0x81D3, 0x01D6, 0x01DC, 0x81D9,
+  0x01C8, 0x81CD, 0x81C7, 0x01C2, 0x0140, 0x8145, 0x814F,
+  0x014A, 0x815B, 0x015E, 0x0154, 0x8151, 0x8173, 0x0176,
+  0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162, 0x8123,
+  0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137, 0x0132,
+  0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E, 0x0104,
+  0x8101, 0x8303, 0x0306, 0x030C, 0x8309, 0x0318, 0x831D,
+  0x8317, 0x0312, 0x0330, 0x8335, 0x833F, 0x033A, 0x832B,
+  0x032E, 0x0324, 0x8321, 0x0360, 0x8365, 0x836F, 0x036A,
+  0x837B, 0x037E, 0x0374, 0x8371, 0x8353, 0x0356, 0x035C,
+  0x8359, 0x0348, 0x834D, 0x8347, 0x0342, 0x03C0, 0x83C5,
+  0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1, 0x83F3,
+  0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2,
+  0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD, 0x83B7,
+  0x03B2, 0x0390, 0x8395, 0x839F, 0x039A, 0x838B, 0x038E,
+  0x0384, 0x8381, 0x0280, 0x8285, 0x828F, 0x028A, 0x829B,
+  0x029E, 0x0294, 0x8291, 0x82B3, 0x02B6, 0x02BC, 0x82B9,
+  0x02A8, 0x82AD, 0x82A7, 0x02A2, 0x82E3, 0x02E6, 0x02EC,
+  0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2, 0x02D0, 0x82D5,
+  0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1, 0x8243,
+  0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257, 0x0252,
+  0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, 0x0264,
+  0x8261, 0x0220, 0x8225, 0x822F, 0x022A, 0x823B, 0x023E,
+  0x0234, 0x8231, 0x8213, 0x0216, 0x021C, 0x8219, 0x0208,
+  0x820D, 0x8207, 0x0202 };
+
+  for (uint16_t j = 0; j < data_blk_size; j++)
+  {
+    i = ((uint16_t)(crc_accum >> 8) ^ *data_blk_ptr++) & 0xFF;
+    crc_accum = (crc_accum << 8) ^ crc_table[i];
+  }
+
+  return crc_accum;
+}
+
+void Protocol2PacketHandler::addStuffing(uint8_t *packet)
+{
+  int i = 0, index = 0;
+  int packet_length_in = DXL_MAKEWORD(packet[PKT_LENGTH_L], packet[PKT_LENGTH_H]);
+  int packet_length_out = packet_length_in;
+  uint8_t temp[TXPACKET_MAX_LEN] = {0};
+
+  for (uint8_t s = PKT_HEADER0; s <= PKT_LENGTH_H; s++)
+    temp[s] = packet[s]; // FF FF FD XX ID LEN_L LEN_H
+  //memcpy(temp, packet, PKT_LENGTH_H+1);
+  index = PKT_INSTRUCTION;
+  for (i = 0; i < packet_length_in - 2; i++)  // except CRC
+  {
+    temp[index++] = packet[i+PKT_INSTRUCTION];
+    if (packet[i+PKT_INSTRUCTION] == 0xFD && packet[i+PKT_INSTRUCTION-1] == 0xFF && packet[i+PKT_INSTRUCTION-2] == 0xFF)
+    {   // FF FF FD
+      temp[index++] = 0xFD;
+      packet_length_out++;
+    }
+  }
+  temp[index++] = packet[PKT_INSTRUCTION+packet_length_in-2];
+  temp[index++] = packet[PKT_INSTRUCTION+packet_length_in-1];
+
+
+  //////////////////////////
+  if (packet_length_in != packet_length_out)
+    packet = (uint8_t *)realloc(packet, index * sizeof(uint8_t));
+
+  ///////////////////////////
+
+  for (uint8_t s = 0; s < index; s++)
+    packet[s] = temp[s];
+  //memcpy(packet, temp, index);
+  packet[PKT_LENGTH_L] = DXL_LOBYTE(packet_length_out);
+  packet[PKT_LENGTH_H] = DXL_HIBYTE(packet_length_out);
+}
+
+void Protocol2PacketHandler::removeStuffing(uint8_t *packet)
+{
+  int i = 0, index = 0;
+  int packet_length_in = DXL_MAKEWORD(packet[PKT_LENGTH_L], packet[PKT_LENGTH_H]);
+  int packet_length_out = packet_length_in;
+
+  index = PKT_INSTRUCTION;
+  for (i = 0; i < packet_length_in - 2; i++)  // except CRC
+  {
+    if (packet[i+PKT_INSTRUCTION] == 0xFD && packet[i+PKT_INSTRUCTION+1] == 0xFD && packet[i+PKT_INSTRUCTION-1] == 0xFF && packet[i+PKT_INSTRUCTION-2] == 0xFF)
+    {   // FF FF FD FD
+      packet_length_out--;
+      i++;
+    }
+    packet[index++] = packet[i+PKT_INSTRUCTION];
+  }
+  packet[index++] = packet[PKT_INSTRUCTION+packet_length_in-2];
+  packet[index++] = packet[PKT_INSTRUCTION+packet_length_in-1];
+
+  packet[PKT_LENGTH_L] = DXL_LOBYTE(packet_length_out);
+  packet[PKT_LENGTH_H] = DXL_HIBYTE(packet_length_out);
+}
+
+int Protocol2PacketHandler::txPacket(PortHandler *port, uint8_t *txpacket)
+{
+  uint16_t total_packet_length   = 0;
+  uint16_t written_packet_length = 0;
+
+  if (port->is_using_)
+    return COMM_PORT_BUSY;
+  port->is_using_ = true;
+
+  // byte stuffing for header
+  addStuffing(txpacket);
+
+  // check max packet length
+  total_packet_length = DXL_MAKEWORD(txpacket[PKT_LENGTH_L], txpacket[PKT_LENGTH_H]) + 7;
+  // 7: HEADER0 HEADER1 HEADER2 RESERVED ID LENGTH_L LENGTH_H
+  if (total_packet_length > TXPACKET_MAX_LEN)
+  {
+    port->is_using_ = false;
+    return COMM_TX_ERROR;
+  }
+
+  // make packet header
+  txpacket[PKT_HEADER0]   = 0xFF;
+  txpacket[PKT_HEADER1]   = 0xFF;
+  txpacket[PKT_HEADER2]   = 0xFD;
+  txpacket[PKT_RESERVED]  = 0x00;
+
+  // add CRC16
+  uint16_t crc = updateCRC(0, txpacket, total_packet_length - 2);    // 2: CRC16
+  txpacket[total_packet_length - 2] = DXL_LOBYTE(crc);
+  txpacket[total_packet_length - 1] = DXL_HIBYTE(crc);
+
+  // tx packet
+  port->clearPort();
+  written_packet_length = port->writePort(txpacket, total_packet_length);
+
+  if (total_packet_length != written_packet_length)
+  {
+    port->is_using_ = false;
+    return COMM_TX_FAIL;
+  }
+
+  return COMM_SUCCESS;
+}
+
+int Protocol2PacketHandler::rxPacket(PortHandler *port, uint8_t *rxpacket)
+{
+  int     result         = COMM_TX_FAIL;
+
+  uint16_t rx_length     = 0;
+  uint16_t wait_length   = 11; // minimum length (HEADER0 HEADER1 HEADER2 RESERVED ID LENGTH_L LENGTH_H INST ERROR CRC16_L CRC16_H)
+
+  while(true)
+  {
+    rx_length += port->readPort(&rxpacket[rx_length], wait_length - rx_length);
+    if (rx_length >= wait_length)
+    {
+      uint16_t idx = 0;
+
+      // find packet header
+      for (idx = 0; idx < (rx_length - 3); idx++)
+      {
+        if ((rxpacket[idx] == 0xFF) && (rxpacket[idx+1] == 0xFF) && (rxpacket[idx+2] == 0xFD) && (rxpacket[idx+3] != 0xFD))
+          break;
+      }
+
+      if (idx == 0)   // found at the beginning of the packet
+      {
+        if (rxpacket[PKT_RESERVED] != 0x00 ||
+           rxpacket[PKT_ID] > 0xFC ||
+           DXL_MAKEWORD(rxpacket[PKT_LENGTH_L], rxpacket[PKT_LENGTH_H]) > RXPACKET_MAX_LEN ||
+           rxpacket[PKT_INSTRUCTION] != 0x55)
+        {
+          // remove the first byte in the packet
+          for (uint8_t s = 0; s < rx_length - 1; s++)
+            rxpacket[s] = rxpacket[1 + s];
+          //memcpy(&rxpacket[0], &rxpacket[idx], rx_length - idx);
+          rx_length -= 1;
+          continue;
+        }
+
+        // re-calculate the exact length of the rx packet
+        if (wait_length != DXL_MAKEWORD(rxpacket[PKT_LENGTH_L], rxpacket[PKT_LENGTH_H]) + PKT_LENGTH_H + 1)
+        {
+          wait_length = DXL_MAKEWORD(rxpacket[PKT_LENGTH_L], rxpacket[PKT_LENGTH_H]) + PKT_LENGTH_H + 1;
+          continue;
+        }
+
+        if (rx_length < wait_length)
+        {
+          // check timeout
+          if (port->isPacketTimeout() == true)
+          {
+            if (rx_length == 0)
+            {
+              result = COMM_RX_TIMEOUT;
+            }
+            else
+            {
+              result = COMM_RX_CORRUPT;
+            }
+            break;
+          }
+          else
+          {
+            continue;
+          }
+        }
+
+        // verify CRC16
+        uint16_t crc = DXL_MAKEWORD(rxpacket[wait_length-2], rxpacket[wait_length-1]);
+        if (updateCRC(0, rxpacket, wait_length - 2) == crc)
+        {
+          result = COMM_SUCCESS;
+        }
+        else
+        {
+          result = COMM_RX_CORRUPT;
+        }
+        break;
+      }
+      else
+      {
+        // remove unnecessary packets
+        for (uint8_t s = 0; s < rx_length - idx; s++)
+          rxpacket[s] = rxpacket[idx + s];
+        //memcpy(&rxpacket[0], &rxpacket[idx], rx_length - idx);
+        rx_length -= idx;
+      }
+    }
+    else
+    {
+      // check timeout
+      if (port->isPacketTimeout() == true)
+      {
+        if (rx_length == 0)
+        {
+          result = COMM_RX_TIMEOUT;
+        }
+        else
+        {
+          result = COMM_RX_CORRUPT;
+        }
+        break;
+      }
+    }
+  }
+  port->is_using_ = false;
+
+  if (result == COMM_SUCCESS)
+    removeStuffing(rxpacket);
+
+  return result;
+}
+
+// NOT for BulkRead / SyncRead instruction
+int Protocol2PacketHandler::txRxPacket(PortHandler *port, uint8_t *txpacket, uint8_t *rxpacket, uint8_t *error)
+{
+  int result = COMM_TX_FAIL;
+
+  // tx packet
+  result = txPacket(port, txpacket);
+  if (result != COMM_SUCCESS)
+    return result;
+
+  // (Instruction == BulkRead or SyncRead) == this function is not available.
+  if (txpacket[PKT_INSTRUCTION] == INST_BULK_READ || txpacket[PKT_INSTRUCTION] == INST_SYNC_READ)
+    result = COMM_NOT_AVAILABLE;
+
+  // (ID == Broadcast ID) == no need to wait for status packet or not available.
+  // (Instruction == action) == no need to wait for status packet
+  if (txpacket[PKT_ID] == BROADCAST_ID || txpacket[PKT_INSTRUCTION] == INST_ACTION)
+  {
+    port->is_using_ = false;
+    return result;
+  }
+
+  // set packet timeout
+  if (txpacket[PKT_INSTRUCTION] == INST_READ)
+  {
+    port->setPacketTimeout((uint16_t)(DXL_MAKEWORD(txpacket[PKT_PARAMETER0+2], txpacket[PKT_PARAMETER0+3]) + 11));
+  }
+  else
+  {
+    port->setPacketTimeout((uint16_t)11);
+    // HEADER0 HEADER1 HEADER2 RESERVED ID LENGTH_L LENGTH_H INST ERROR CRC16_L CRC16_H
+  }
+
+  // rx packet
+  do {
+    result = rxPacket(port, rxpacket);
+  } while (result == COMM_SUCCESS && txpacket[PKT_ID] != rxpacket[PKT_ID]);
+
+  if (result == COMM_SUCCESS && txpacket[PKT_ID] == rxpacket[PKT_ID])
+  {
+    if (error != 0)
+      *error = (uint8_t)rxpacket[PKT_ERROR];
+  }
+
+  return result;
+}
+
+int Protocol2PacketHandler::ping(PortHandler *port, uint8_t id, uint8_t *error)
+{
+  return ping(port, id, 0, error);
+}
+
+int Protocol2PacketHandler::ping(PortHandler *port, uint8_t id, uint16_t *model_number, uint8_t *error)
+{
+  int result                 = COMM_TX_FAIL;
+
+  uint8_t txpacket[10]        = {0};
+  uint8_t rxpacket[14]        = {0};
+
+  if (id >= BROADCAST_ID)
+    return COMM_NOT_AVAILABLE;
+
+  txpacket[PKT_ID]            = id;
+  txpacket[PKT_LENGTH_L]      = 3;
+  txpacket[PKT_LENGTH_H]      = 0;
+  txpacket[PKT_INSTRUCTION]   = INST_PING;
+
+  result = txRxPacket(port, txpacket, rxpacket, error);
+  if (result == COMM_SUCCESS && model_number != 0)
+    *model_number = DXL_MAKEWORD(rxpacket[PKT_PARAMETER0+1], rxpacket[PKT_PARAMETER0+2]);
+
+  return result;
+}
+
+int Protocol2PacketHandler::broadcastPing(PortHandler *port, std::vector<uint8_t> &id_list)
+{
+  const int STATUS_LENGTH     = 14;
+  int result                  = COMM_TX_FAIL;
+
+  id_list.clear();
+
+  uint16_t rx_length          = 0;
+  uint16_t wait_length        = STATUS_LENGTH * MAX_ID;
+
+  uint8_t txpacket[10]        = {0};
+  uint8_t rxpacket[STATUS_LENGTH * MAX_ID] = {0};
+
+  txpacket[PKT_ID]            = BROADCAST_ID;
+  txpacket[PKT_LENGTH_L]      = 3;
+  txpacket[PKT_LENGTH_H]      = 0;
+  txpacket[PKT_INSTRUCTION]   = INST_PING;
+
+  result = txPacket(port, txpacket);
+  if (result != COMM_SUCCESS)
+  {
+    port->is_using_ = false;
+    return result;
+  }
+
+  // set rx timeout
+  port->setPacketTimeout((uint16_t)(wait_length * 30));
+
+  while(1)
+  {
+    rx_length += port->readPort(&rxpacket[rx_length], wait_length - rx_length);
+    if (port->isPacketTimeout() == true)// || rx_length >= wait_length)
+      break;
+  }
+
+  port->is_using_ = false;
+
+  if (rx_length == 0)
+    return COMM_RX_TIMEOUT;
+
+  while(1)
+  {
+    if (rx_length < STATUS_LENGTH)
+      return COMM_RX_CORRUPT;
+
+    uint16_t idx = 0;
+
+    // find packet header
+    for (idx = 0; idx < (rx_length - 2); idx++)
+    {
+      if (rxpacket[idx] == 0xFF && rxpacket[idx+1] == 0xFF && rxpacket[idx+2] == 0xFD)
+        break;
+    }
+
+    if (idx == 0)   // found at the beginning of the packet
+    {
+      // verify CRC16
+      uint16_t crc = DXL_MAKEWORD(rxpacket[STATUS_LENGTH-2], rxpacket[STATUS_LENGTH-1]);
+
+      if (updateCRC(0, rxpacket, STATUS_LENGTH - 2) == crc)
+      {
+        result = COMM_SUCCESS;
+
+        id_list.push_back(rxpacket[PKT_ID]);
+
+        for (uint8_t s = 0; s < rx_length - STATUS_LENGTH; s++)
+          rxpacket[s] = rxpacket[STATUS_LENGTH + s];
+        rx_length -= STATUS_LENGTH;
+
+        if (rx_length == 0)
+          return result;
+      }
+      else
+      {
+        result = COMM_RX_CORRUPT;
+
+        // remove header (0xFF 0xFF 0xFD)
+        for (uint8_t s = 0; s < rx_length - 3; s++)
+          rxpacket[s] = rxpacket[3 + s];
+        rx_length -= 3;
+      }
+    }
+    else
+    {
+      // remove unnecessary packets
+      for (uint8_t s = 0; s < rx_length - idx; s++)
+        rxpacket[s] = rxpacket[idx + s];
+      rx_length -= idx;
+    }
+  }
+
+  return result;
+}
+
+int Protocol2PacketHandler::action(PortHandler *port, uint8_t id)
+{
+  uint8_t txpacket[10]        = {0};
+
+  txpacket[PKT_ID]            = id;
+  txpacket[PKT_LENGTH_L]      = 3;
+  txpacket[PKT_LENGTH_H]      = 0;
+  txpacket[PKT_INSTRUCTION]   = INST_ACTION;
+
+  return txRxPacket(port, txpacket, 0);
+}
+
+int Protocol2PacketHandler::reboot(PortHandler *port, uint8_t id, uint8_t *error)
+{
+  uint8_t txpacket[10]        = {0};
+  uint8_t rxpacket[11]        = {0};
+
+  txpacket[PKT_ID]            = id;
+  txpacket[PKT_LENGTH_L]      = 3;
+  txpacket[PKT_LENGTH_H]      = 0;
+  txpacket[PKT_INSTRUCTION]   = INST_REBOOT;
+
+  return txRxPacket(port, txpacket, rxpacket, error);
+}
+
+int Protocol2PacketHandler::factoryReset(PortHandler *port, uint8_t id, uint8_t option, uint8_t *error)
+{
+  uint8_t txpacket[11]        = {0};
+  uint8_t rxpacket[11]        = {0};
+
+  txpacket[PKT_ID]            = id;
+  txpacket[PKT_LENGTH_L]      = 4;
+  txpacket[PKT_LENGTH_H]      = 0;
+  txpacket[PKT_INSTRUCTION]   = INST_FACTORY_RESET;
+  txpacket[PKT_PARAMETER0]    = option;
+
+  return txRxPacket(port, txpacket, rxpacket, error);
+}
+
+int Protocol2PacketHandler::readTx(PortHandler *port, uint8_t id, uint16_t address, uint16_t length)
+{
+  int result                 = COMM_TX_FAIL;
+
+  uint8_t txpacket[14]        = {0};
+
+  if (id >= BROADCAST_ID)
+    return COMM_NOT_AVAILABLE;
+
+  txpacket[PKT_ID]            = id;
+  txpacket[PKT_LENGTH_L]      = 7;
+  txpacket[PKT_LENGTH_H]      = 0;
+  txpacket[PKT_INSTRUCTION]   = INST_READ;
+  txpacket[PKT_PARAMETER0+0]  = (uint8_t)DXL_LOBYTE(address);
+  txpacket[PKT_PARAMETER0+1]  = (uint8_t)DXL_HIBYTE(address);
+  txpacket[PKT_PARAMETER0+2]  = (uint8_t)DXL_LOBYTE(length);
+  txpacket[PKT_PARAMETER0+3]  = (uint8_t)DXL_HIBYTE(length);
+
+  result = txPacket(port, txpacket);
+
+  // set packet timeout
+  if (result == COMM_SUCCESS)
+    port->setPacketTimeout((uint16_t)(length + 11));
+
+  return result;
+}
+
+int Protocol2PacketHandler::readRx(PortHandler *port, uint8_t id, uint16_t length, uint8_t *data, uint8_t *error)
+{
+  int result                  = COMM_TX_FAIL;
+  uint8_t *rxpacket           = (uint8_t *)malloc(RXPACKET_MAX_LEN);
+  //(length + 11 + (length/3));  // (length/3): consider stuffing
+  //uint8_t *rxpacket           = new uint8_t[length + 11 + (length/3)];    // (length/3): consider stuffing
+
+  do {
+    result = rxPacket(port, rxpacket);
+  } while (result == COMM_SUCCESS && rxpacket[PKT_ID] != id);
+
+  if (result == COMM_SUCCESS && rxpacket[PKT_ID] == id)
+  {
+    if (error != 0)
+      *error = (uint8_t)rxpacket[PKT_ERROR];
+    for (uint8_t s = 0; s < length; s++)
+      data[s] = rxpacket[PKT_PARAMETER0 + 1 + s];
+    //memcpy(data, &rxpacket[PKT_PARAMETER0+1], length);
+  }
+
+  free(rxpacket);
+  //delete[] rxpacket;
+  return result;
+}
+
+int Protocol2PacketHandler::readTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error)
+{
+  int result                  = COMM_TX_FAIL;
+
+  uint8_t txpacket[14]        = {0};
+  uint8_t *rxpacket           = (uint8_t *)malloc(RXPACKET_MAX_LEN);
+  //(length + 11 + (length/3));  // (length/3): consider stuffing
+
+  if (id >= BROADCAST_ID)
+    return COMM_NOT_AVAILABLE;
+
+  txpacket[PKT_ID]            = id;
+  txpacket[PKT_LENGTH_L]      = 7;
+  txpacket[PKT_LENGTH_H]      = 0;
+  txpacket[PKT_INSTRUCTION]   = INST_READ;
+  txpacket[PKT_PARAMETER0+0]  = (uint8_t)DXL_LOBYTE(address);
+  txpacket[PKT_PARAMETER0+1]  = (uint8_t)DXL_HIBYTE(address);
+  txpacket[PKT_PARAMETER0+2]  = (uint8_t)DXL_LOBYTE(length);
+  txpacket[PKT_PARAMETER0+3]  = (uint8_t)DXL_HIBYTE(length);
+
+  result = txRxPacket(port, txpacket, rxpacket, error);
+  if (result == COMM_SUCCESS)
+  {
+    if (error != 0)
+      *error = (uint8_t)rxpacket[PKT_ERROR];
+    for (uint8_t s = 0; s < length; s++)
+      data[s] = rxpacket[PKT_PARAMETER0 + 1 + s];
+    //memcpy(data, &rxpacket[PKT_PARAMETER0+1], length);
+  }
+
+  free(rxpacket);
+  //delete[] rxpacket;
+  return result;
+}
+
+int Protocol2PacketHandler::read1ByteTx(PortHandler *port, uint8_t id, uint16_t address)
+{
+  return readTx(port, id, address, 1);
+}
+int Protocol2PacketHandler::read1ByteRx(PortHandler *port, uint8_t id, uint8_t *data, uint8_t *error)
+{
+  uint8_t data_read[1] = {0};
+  int result = readRx(port, id, 1, data_read, error);
+  if (result == COMM_SUCCESS)
+    *data = data_read[0];
+  return result;
+}
+int Protocol2PacketHandler::read1ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint8_t *data, uint8_t *error)
+{
+  uint8_t data_read[1] = {0};
+  int result = readTxRx(port, id, address, 1, data_read, error);
+  if (result == COMM_SUCCESS)
+    *data = data_read[0];
+  return result;
+}
+
+int Protocol2PacketHandler::read2ByteTx(PortHandler *port, uint8_t id, uint16_t address)
+{
+  return readTx(port, id, address, 2);
+}
+int Protocol2PacketHandler::read2ByteRx(PortHandler *port, uint8_t id, uint16_t *data, uint8_t *error)
+{
+  uint8_t data_read[2] = {0};
+  int result = readRx(port, id, 2, data_read, error);
+  if (result == COMM_SUCCESS)
+    *data = DXL_MAKEWORD(data_read[0], data_read[1]);
+  return result;
+}
+int Protocol2PacketHandler::read2ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t *data, uint8_t *error)
+{
+  uint8_t data_read[2] = {0};
+  int result = readTxRx(port, id, address, 2, data_read, error);
+  if (result == COMM_SUCCESS)
+    *data = DXL_MAKEWORD(data_read[0], data_read[1]);
+  return result;
+}
+
+int Protocol2PacketHandler::read4ByteTx(PortHandler *port, uint8_t id, uint16_t address)
+{
+  return readTx(port, id, address, 4);
+}
+int Protocol2PacketHandler::read4ByteRx(PortHandler *port, uint8_t id, uint32_t *data, uint8_t *error)
+{
+  uint8_t data_read[4] = {0};
+  int result = readRx(port, id, 4, data_read, error);
+  if (result == COMM_SUCCESS)
+    *data = DXL_MAKEDWORD(DXL_MAKEWORD(data_read[0], data_read[1]), DXL_MAKEWORD(data_read[2], data_read[3]));
+  return result;
+}
+int Protocol2PacketHandler::read4ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint32_t *data, uint8_t *error)
+{
+  uint8_t data_read[4] = {0};
+  int result = readTxRx(port, id, address, 4, data_read, error);
+  if (result == COMM_SUCCESS)
+    *data = DXL_MAKEDWORD(DXL_MAKEWORD(data_read[0], data_read[1]), DXL_MAKEWORD(data_read[2], data_read[3]));
+  return result;
+}
+
+
+int Protocol2PacketHandler::writeTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data)
+{
+  int result                  = COMM_TX_FAIL;
+
+  uint8_t *txpacket           = (uint8_t *)malloc(length+12);
+  //uint8_t *txpacket           = new uint8_t[length+12];
+
+  txpacket[PKT_ID]            = id;
+  txpacket[PKT_LENGTH_L]      = DXL_LOBYTE(length+5);
+  txpacket[PKT_LENGTH_H]      = DXL_HIBYTE(length+5);
+  txpacket[PKT_INSTRUCTION]   = INST_WRITE;
+  txpacket[PKT_PARAMETER0+0]  = (uint8_t)DXL_LOBYTE(address);
+  txpacket[PKT_PARAMETER0+1]  = (uint8_t)DXL_HIBYTE(address);
+
+  for (uint8_t s = 0; s < length; s++)
+    txpacket[PKT_PARAMETER0+2+s] = data[s];
+  //memcpy(&txpacket[PKT_PARAMETER0+2], data, length);
+
+  result = txPacket(port, txpacket);
+  port->is_using_ = false;
+
+  free(txpacket);
+  //delete[] txpacket;
+  return result;
+}
+
+int Protocol2PacketHandler::writeTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error)
+{
+  int result                  = COMM_TX_FAIL;
+
+  uint8_t *txpacket           = (uint8_t *)malloc(length + 12);
+  //uint8_t *txpacket           = new uint8_t[length+12];
+  uint8_t rxpacket[11]        = {0};
+
+  txpacket[PKT_ID]            = id;
+  txpacket[PKT_LENGTH_L]      = DXL_LOBYTE(length+5);
+  txpacket[PKT_LENGTH_H]      = DXL_HIBYTE(length+5);
+  txpacket[PKT_INSTRUCTION]   = INST_WRITE;
+  txpacket[PKT_PARAMETER0+0]  = (uint8_t)DXL_LOBYTE(address);
+  txpacket[PKT_PARAMETER0+1]  = (uint8_t)DXL_HIBYTE(address);
+
+  for (uint8_t s = 0; s < length; s++)
+    txpacket[PKT_PARAMETER0+2+s] = data[s];
+  //memcpy(&txpacket[PKT_PARAMETER0+2], data, length);
+
+  result = txRxPacket(port, txpacket, rxpacket, error);
+
+  free(txpacket);
+  //delete[] txpacket;
+  return result;
+}
+
+int Protocol2PacketHandler::write1ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint8_t data)
+{
+  uint8_t data_write[1] = { data };
+  return writeTxOnly(port, id, address, 1, data_write);
+}
+int Protocol2PacketHandler::write1ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint8_t data, uint8_t *error)
+{
+  uint8_t data_write[1] = { data };
+  return writeTxRx(port, id, address, 1, data_write, error);
+}
+
+int Protocol2PacketHandler::write2ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t data)
+{
+  uint8_t data_write[2] = { DXL_LOBYTE(data), DXL_HIBYTE(data) };
+  return writeTxOnly(port, id, address, 2, data_write);
+}
+int Protocol2PacketHandler::write2ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t data, uint8_t *error)
+{
+  uint8_t data_write[2] = { DXL_LOBYTE(data), DXL_HIBYTE(data) };
+  return writeTxRx(port, id, address, 2, data_write, error);
+}
+
+int Protocol2PacketHandler::write4ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint32_t data)
+{
+  uint8_t data_write[4] = { DXL_LOBYTE(DXL_LOWORD(data)), DXL_HIBYTE(DXL_LOWORD(data)), DXL_LOBYTE(DXL_HIWORD(data)), DXL_HIBYTE(DXL_HIWORD(data)) };
+  return writeTxOnly(port, id, address, 4, data_write);
+}
+int Protocol2PacketHandler::write4ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint32_t data, uint8_t *error)
+{
+  uint8_t data_write[4] = { DXL_LOBYTE(DXL_LOWORD(data)), DXL_HIBYTE(DXL_LOWORD(data)), DXL_LOBYTE(DXL_HIWORD(data)), DXL_HIBYTE(DXL_HIWORD(data)) };
+  return writeTxRx(port, id, address, 4, data_write, error);
+}
+
+int Protocol2PacketHandler::regWriteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data)
+{
+  int result                 = COMM_TX_FAIL;
+
+  uint8_t *txpacket           = (uint8_t *)malloc(length + 12);
+  //uint8_t *txpacket           = new uint8_t[length+12];
+
+  txpacket[PKT_ID]            = id;
+  txpacket[PKT_LENGTH_L]      = DXL_LOBYTE(length+5);
+  txpacket[PKT_LENGTH_H]      = DXL_HIBYTE(length+5);
+  txpacket[PKT_INSTRUCTION]   = INST_REG_WRITE;
+  txpacket[PKT_PARAMETER0+0]  = (uint8_t)DXL_LOBYTE(address);
+  txpacket[PKT_PARAMETER0+1]  = (uint8_t)DXL_HIBYTE(address);
+
+  for (uint8_t s = 0; s < length; s++)
+    txpacket[PKT_PARAMETER0+2+s] = data[s];
+  //memcpy(&txpacket[PKT_PARAMETER0+2], data, length);
+
+  result = txPacket(port, txpacket);
+  port->is_using_ = false;
+
+  free(txpacket);
+  //delete[] txpacket;
+  return result;
+}
+
+int Protocol2PacketHandler::regWriteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error)
+{
+  int result                 = COMM_TX_FAIL;
+
+  uint8_t *txpacket           = (uint8_t *)malloc(length + 12);
+  //uint8_t *txpacket           = new uint8_t[length+12];
+  uint8_t rxpacket[11]        = {0};
+
+  txpacket[PKT_ID]            = id;
+  txpacket[PKT_LENGTH_L]      = DXL_LOBYTE(length+5);
+  txpacket[PKT_LENGTH_H]      = DXL_HIBYTE(length+5);
+  txpacket[PKT_INSTRUCTION]   = INST_REG_WRITE;
+  txpacket[PKT_PARAMETER0+0]  = (uint8_t)DXL_LOBYTE(address);
+  txpacket[PKT_PARAMETER0+1]  = (uint8_t)DXL_HIBYTE(address);
+
+  for (uint8_t s = 0; s < length; s++)
+    txpacket[PKT_PARAMETER0+2+s] = data[s];
+  //memcpy(&txpacket[PKT_PARAMETER0+2], data, length);
+
+  result = txRxPacket(port, txpacket, rxpacket, error);
+
+  free(txpacket);
+  //delete[] txpacket;
+  return result;
+}
+
+int Protocol2PacketHandler::syncReadTx(PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length)
+{
+  int result                 = COMM_TX_FAIL;
+
+  uint8_t *txpacket           = (uint8_t *)malloc(param_length + 14);
+  // 14: HEADER0 HEADER1 HEADER2 RESERVED ID LEN_L LEN_H INST START_ADDR_L START_ADDR_H DATA_LEN_L DATA_LEN_H CRC16_L CRC16_H
+
+  txpacket[PKT_ID]            = BROADCAST_ID;
+  txpacket[PKT_LENGTH_L]      = DXL_LOBYTE(param_length + 7); // 7: INST START_ADDR_L START_ADDR_H DATA_LEN_L DATA_LEN_H CRC16_L CRC16_H
+  txpacket[PKT_LENGTH_H]      = DXL_HIBYTE(param_length + 7); // 7: INST START_ADDR_L START_ADDR_H DATA_LEN_L DATA_LEN_H CRC16_L CRC16_H
+  txpacket[PKT_INSTRUCTION]   = INST_SYNC_READ;
+  txpacket[PKT_PARAMETER0+0]  = DXL_LOBYTE(start_address);
+  txpacket[PKT_PARAMETER0+1]  = DXL_HIBYTE(start_address);
+  txpacket[PKT_PARAMETER0+2]  = DXL_LOBYTE(data_length);
+  txpacket[PKT_PARAMETER0+3]  = DXL_HIBYTE(data_length);
+
+  for (uint8_t s = 0; s < param_length; s++)
+    txpacket[PKT_PARAMETER0+4+s] = param[s];
+  //memcpy(&txpacket[PKT_PARAMETER0+4], param, param_length);
+
+  result = txPacket(port, txpacket);
+  if (result == COMM_SUCCESS)
+    port->setPacketTimeout((uint16_t)((11 + data_length) * param_length));
+
+  free(txpacket);
+  return result;
+}
+
+int Protocol2PacketHandler::syncWriteTxOnly(PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length)
+{
+  int result                 = COMM_TX_FAIL;
+
+  uint8_t *txpacket           = (uint8_t *)malloc(param_length + 14);
+  //uint8_t *txpacket           = new uint8_t[param_length + 14];
+  // 14: HEADER0 HEADER1 HEADER2 RESERVED ID LEN_L LEN_H INST START_ADDR_L START_ADDR_H DATA_LEN_L DATA_LEN_H CRC16_L CRC16_H
+
+  txpacket[PKT_ID]            = BROADCAST_ID;
+  txpacket[PKT_LENGTH_L]      = DXL_LOBYTE(param_length + 7); // 7: INST START_ADDR_L START_ADDR_H DATA_LEN_L DATA_LEN_H CRC16_L CRC16_H
+  txpacket[PKT_LENGTH_H]      = DXL_HIBYTE(param_length + 7); // 7: INST START_ADDR_L START_ADDR_H DATA_LEN_L DATA_LEN_H CRC16_L CRC16_H
+  txpacket[PKT_INSTRUCTION]   = INST_SYNC_WRITE;
+  txpacket[PKT_PARAMETER0+0]  = DXL_LOBYTE(start_address);
+  txpacket[PKT_PARAMETER0+1]  = DXL_HIBYTE(start_address);
+  txpacket[PKT_PARAMETER0+2]  = DXL_LOBYTE(data_length);
+  txpacket[PKT_PARAMETER0+3]  = DXL_HIBYTE(data_length);
+
+  for (uint8_t s = 0; s < param_length; s++)
+    txpacket[PKT_PARAMETER0+4+s] = param[s];
+  //memcpy(&txpacket[PKT_PARAMETER0+4], param, param_length);
+
+  result = txRxPacket(port, txpacket, 0, 0);
+
+  free(txpacket);
+  //delete[] txpacket;
+  return result;
+}
+
+int Protocol2PacketHandler::bulkReadTx(PortHandler *port, uint8_t *param, uint16_t param_length)
+{
+  int result                 = COMM_TX_FAIL;
+
+  uint8_t *txpacket           = (uint8_t *)malloc(param_length + 10);
+  //uint8_t *txpacket           = new uint8_t[param_length + 10];
+  // 10: HEADER0 HEADER1 HEADER2 RESERVED ID LEN_L LEN_H INST CRC16_L CRC16_H
+
+  txpacket[PKT_ID]            = BROADCAST_ID;
+  txpacket[PKT_LENGTH_L]      = DXL_LOBYTE(param_length + 3); // 3: INST CRC16_L CRC16_H
+  txpacket[PKT_LENGTH_H]      = DXL_HIBYTE(param_length + 3); // 3: INST CRC16_L CRC16_H
+  txpacket[PKT_INSTRUCTION]   = INST_BULK_READ;
+
+  for (uint8_t s = 0; s < param_length; s++)
+    txpacket[PKT_PARAMETER0+s] = param[s];
+  //memcpy(&txpacket[PKT_PARAMETER0], param, param_length);
+
+  result = txPacket(port, txpacket);
+  if (result == COMM_SUCCESS)
+  {
+    int wait_length = 0;
+    for (int i = 0; i < param_length; i += 5)
+      wait_length += DXL_MAKEWORD(param[i+3], param[i+4]) + 10;
+    port->setPacketTimeout((uint16_t)wait_length);
+  }
+
+  free(txpacket);
+  //delete[] txpacket;
+  return result;
+}
+
+int Protocol2PacketHandler::bulkWriteTxOnly(PortHandler *port, uint8_t *param, uint16_t param_length)
+{
+  int result                 = COMM_TX_FAIL;
+
+  uint8_t *txpacket           = (uint8_t *)malloc(param_length + 10);
+  //uint8_t *txpacket           = new uint8_t[param_length + 10];
+  // 10: HEADER0 HEADER1 HEADER2 RESERVED ID LEN_L LEN_H INST CRC16_L CRC16_H
+
+  txpacket[PKT_ID]            = BROADCAST_ID;
+  txpacket[PKT_LENGTH_L]      = DXL_LOBYTE(param_length + 3); // 3: INST CRC16_L CRC16_H
+  txpacket[PKT_LENGTH_H]      = DXL_HIBYTE(param_length + 3); // 3: INST CRC16_L CRC16_H
+  txpacket[PKT_INSTRUCTION]   = INST_BULK_WRITE;
+
+  for (uint8_t s = 0; s < param_length; s++)
+    txpacket[PKT_PARAMETER0+s] = param[s];
+  //memcpy(&txpacket[PKT_PARAMETER0], param, param_length);
+
+  result = txRxPacket(port, txpacket, 0, 0);
+
+  free(txpacket);
+  //delete[] txpacket;
+  return result;
+}
diff --git a/niryo_robot_hardware_stack/fake_interface/CMakeLists.txt b/niryo_robot_hardware_stack/fake_interface/CMakeLists.txt
new file mode 100644
index 000000000..c9ac66a76
--- /dev/null
+++ b/niryo_robot_hardware_stack/fake_interface/CMakeLists.txt
@@ -0,0 +1,80 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(fake_interface)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+find_package(catkin REQUIRED
+    COMPONENTS
+        roscpp
+        niryo_robot_msgs
+        std_msgs
+        hardware_interface
+        controller_manager
+        tools_interface
+        joints_interface
+        conveyor_interface
+        actionlib
+)
+
+find_package(Boost REQUIRED COMPONENTS system)
+
+catkin_package(
+    INCLUDE_DIRS
+        include
+    LIBRARIES
+        ${PROJECT_NAME}
+    CATKIN_DEPENDS
+        roscpp
+        niryo_robot_msgs
+        std_msgs
+        hardware_interface
+        controller_manager
+        tools_interface
+        joints_interface
+        conveyor_interface
+        actionlib
+)
+
+include_directories(
+    include
+    ${catkin_INCLUDE_DIRS}
+)
+
+add_library(${PROJECT_NAME}
+    src/fake_interface_core.cpp
+    src/FakeJointHardwareInterface.cpp
+)
+
+add_executable(${PROJECT_NAME}_node
+  src/fake_interface_node.cpp
+)
+
+add_dependencies(${PROJECT_NAME}_node
+  ${catkin_EXPORTED_TARGETS}
+)
+
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+)
+
+target_link_libraries(${PROJECT_NAME}_node
+  ${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+)
+
+install(
+  TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
+
+install(
+  DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+add_dependencies(${PROJECT_NAME} niryo_robot_msgs_generate_messages_cpp)
+add_dependencies(${PROJECT_NAME} conveyor_interface_generate_messages_cpp)
+add_dependencies(${PROJECT_NAME} tools_interface_generate_messages_cpp)
diff --git a/niryo_robot_hardware_stack/fake_interface/include/fake_interface/FakeJointHardwareInterface.hpp b/niryo_robot_hardware_stack/fake_interface/include/fake_interface/FakeJointHardwareInterface.hpp
new file mode 100644
index 000000000..6ca6928de
--- /dev/null
+++ b/niryo_robot_hardware_stack/fake_interface/include/fake_interface/FakeJointHardwareInterface.hpp
@@ -0,0 +1,63 @@
+/*
+    FakeJointHardwareInterface.cpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef FAKE_JOINT_HARDWARE_INTERFACE_HPP
+#define FAKE_JOINT_HARDWARE_INTERFACE_HPP
+
+#include <hardware_interface/joint_state_interface.h>
+#include <hardware_interface/joint_command_interface.h>
+#include <hardware_interface/robot_hw.h>
+#include <ros/ros.h>
+
+#include "stepper_driver/stepper_driver_core.hpp"
+#include "dynamixel_driver/dxl_driver_core.hpp"
+
+class FakeJointHardwareInterface : public hardware_interface::RobotHW
+{
+public:
+    FakeJointHardwareInterface();
+
+    std::string jointIdToJointName(int id, uint8_t motor_type);
+
+    void read();
+    void write();
+
+private:
+    ros::NodeHandle _nh;
+
+    std::vector<uint8_t> _list_stepper_id;
+    std::map<uint8_t, std::string> _map_stepper_name;
+
+    std::vector<uint8_t> _list_dxl_id;
+    std::map<uint8_t, std::string> _map_dxl_name;
+
+    hardware_interface::JointStateInterface _joint_state_interface;
+    hardware_interface::PositionJointInterface _joint_position_interface;
+
+    std::string _joints_name[6] = {""};
+    int _joints_id[6] = {0};
+
+    double _cmd[6] = {0, 0.6, -1.3, 0, 0, 0};
+    double _pos[6] = {0, 0.6, -1.3, 0, 0, 0};
+    double _vel[6] = {0};
+    double _eff[6] = {0};
+    double _home_position_1, _home_position_2, _home_position_3;
+};
+
+#endif
diff --git a/niryo_robot_hardware_stack/fake_interface/include/fake_interface/fake_interface_core.hpp b/niryo_robot_hardware_stack/fake_interface/include/fake_interface/fake_interface_core.hpp
new file mode 100644
index 000000000..dd125f16a
--- /dev/null
+++ b/niryo_robot_hardware_stack/fake_interface/include/fake_interface/fake_interface_core.hpp
@@ -0,0 +1,155 @@
+/*
+    fake_interface_core.hpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef FAKE_INTERFACE_CORE_HPP
+#define FAKE_INTERFACE_CORE_HPP
+
+#include <ros/ros.h>
+
+#include <boost/shared_ptr.hpp>
+#include <thread>
+
+#include <controller_manager/controller_manager.h>
+#include <hardware_interface/joint_state_interface.h>
+#include <hardware_interface/joint_command_interface.h>
+#include <hardware_interface/robot_hw.h>
+
+#include <control_msgs/FollowJointTrajectoryActionResult.h>
+#include <control_msgs/FollowJointTrajectoryActionGoal.h>
+
+#include <std_msgs/Empty.h>
+#include <std_msgs/Bool.h>
+
+#include "niryo_robot_msgs/SetInt.h"
+#include "niryo_robot_msgs/SetBool.h"
+#include "niryo_robot_msgs/HardwareStatus.h"
+#include "niryo_robot_msgs/SoftwareVersion.h"
+#include "niryo_robot_msgs/CommandStatus.h"
+#include "niryo_robot_msgs/Trigger.h"
+
+#include "tools_interface/PingDxlTool.h"
+#include "tools_interface/OpenGripper.h"
+#include "tools_interface/CloseGripper.h"
+#include "tools_interface/PullAirVacuumPump.h"
+#include "tools_interface/PushAirVacuumPump.h"
+
+#include "conveyor_interface/SetConveyor.h"
+#include "conveyor_interface/ControlConveyor.h"
+#include "conveyor_interface/ConveyorFeedback.h"
+
+#include "dynamixel_driver/dxl_driver_core.hpp"
+#include "stepper_driver/stepper_driver_core.hpp"
+#include "joints_interface/joints_interface_core.hpp"
+#include "tools_interface/tools_interface_core.hpp"
+#include "conveyor_interface/conveyor_interface_core.hpp"
+
+#include "fake_interface/FakeJointHardwareInterface.hpp"
+
+class FakeInterfaceCore
+{
+public:
+    FakeInterfaceCore();
+
+    void initServices();
+    void startPublishersSubscribers();
+    void initParams();
+
+    void rosControlLoop();
+
+    dynamixel_driver::DxlArrayMotorHardwareStatus getDxlHwStatus();
+    niryo_robot_msgs::BusState getDxlBusState();
+    stepper_driver::StepperArrayMotorHardwareStatus getStepperHwStatus();
+    niryo_robot_msgs::BusState getCanBusState();
+    void getCalibrationState(boost::shared_ptr<bool> &need_calibration, boost::shared_ptr<bool> &calibration_in_progress);
+
+    int getCpuTemperature();
+
+    void pubToolId(int id);
+
+    std::string jointIdToJointName(int id, uint8_t motor_type);
+
+    std::vector<uint8_t> _dxl_motors_id{2, 3, 6};
+    std::vector<uint8_t> _dxl_motors_type{niryo_robot_msgs::MotorHeader::MOTOR_TYPE_XL430, niryo_robot_msgs::MotorHeader::MOTOR_TYPE_XL430, niryo_robot_msgs::MotorHeader::MOTOR_TYPE_XL320};
+
+    std::vector<uint8_t> _stepper_motors_id{1, 2, 3};
+
+private:
+    ros::NodeHandle _nh;
+
+    double _publish_hw_status_frequency;
+    double _publish_software_version_frequency;
+    double _publish_learning_mode_frequency;
+    double _ros_control_frequency;
+
+    bool _gazebo;
+    bool _simu_gripper;
+
+    bool _learning_mode;
+    std::string _ros_niryo_robot_version;
+
+    boost::shared_ptr<FakeJointHardwareInterface> _robot;
+    boost::shared_ptr<controller_manager::ControllerManager> _cm;
+
+    boost::shared_ptr<std::thread> _ros_control_thread;
+    boost::shared_ptr<std::thread> _publish_hardware_status_thread;
+    boost::shared_ptr<std::thread> _publish_software_version_thread;
+    boost::shared_ptr<std::thread> _publish_learning_mode_thread;
+
+    ros::ServiceServer _reset_controller_server; // workaround to compensate missed steps
+    ros::Subscriber _trajectory_result_subscriber;
+
+    ros::ServiceServer _calibrate_motors_server;
+    ros::ServiceServer _request_new_calibration_server;
+
+    ros::ServiceServer _activate_learning_mode_server;
+
+    ros::ServiceServer _ping_and_set_dxl_tool_server;
+    ros::ServiceServer _open_gripper_server;
+    ros::ServiceServer _close_gripper_server;
+    ros::ServiceServer _pull_air_vacuum_pump_server;
+    ros::ServiceServer _push_air_vacuum_pump_server;
+
+    ros::ServiceServer _ping_and_set_stepper_server;
+    ros::ServiceServer _control_conveyor_server;
+
+    ros::Publisher _hardware_status_publisher;
+    ros::Publisher _software_version_publisher;
+    ros::Publisher _learning_mode_publisher;
+    ros::Publisher _current_tools_id_publisher;
+
+    bool _callbackResetController(niryo_robot_msgs::Trigger::Request &req, niryo_robot_msgs::Trigger::Response &res);
+    void _callbackTrajectoryResult(const control_msgs::FollowJointTrajectoryActionResult &msg);
+
+    bool _callbackCalibrateMotors(niryo_robot_msgs::SetInt::Request &req, niryo_robot_msgs::SetInt::Response &res);
+    bool _callbackRequestNewCalibration(niryo_robot_msgs::Trigger::Request &req, niryo_robot_msgs::Trigger::Response &res);
+    bool _callbackActivateLearningMode(niryo_robot_msgs::SetBool::Request &req, niryo_robot_msgs::SetBool::Response &res);
+
+    bool _callbackPingAndSetDxlTool(tools_interface::PingDxlTool::Request &req, tools_interface::PingDxlTool::Response &res);
+    bool _callbackOpenGripper(tools_interface::OpenGripper::Request &req, tools_interface::OpenGripper::Response &res);
+    bool _callbackCloseGripper(tools_interface::CloseGripper::Request &req, tools_interface::CloseGripper::Response &res);
+    bool _callbackPullAirVacuumPump(tools_interface::PullAirVacuumPump::Request &req, tools_interface::PullAirVacuumPump::Response &res);
+    bool _callbackPushAirVacuumPump(tools_interface::PushAirVacuumPump::Request &req, tools_interface::PushAirVacuumPump::Response &res);
+
+    bool _callbackPingAndSetConveyor(conveyor_interface::SetConveyor::Request &req, conveyor_interface::SetConveyor::Response &res);
+    bool _callbackControlConveyor(conveyor_interface::ControlConveyor::Request &req, conveyor_interface::ControlConveyor::Response &res);
+
+    void _publishLearningMode();
+};
+
+#endif
diff --git a/niryo_robot_hardware_stack/fake_interface/launch/fake_interface.launch b/niryo_robot_hardware_stack/fake_interface/launch/fake_interface.launch
new file mode 100644
index 000000000..abf3adc17
--- /dev/null
+++ b/niryo_robot_hardware_stack/fake_interface/launch/fake_interface.launch
@@ -0,0 +1,26 @@
+<launch>
+    <arg name="hardware_version" value="ned"/>
+
+    <group ns="niryo_robot/info">
+        <param name="ros_version"               type="string" command="rosversion niryo_robot_bringup" />
+        <param name="niryo_robot_type"  type="string" value="NIRYO_NED" />
+    </group>
+
+    <node pkg="fake_interface" type="fake_interface_node" name="fake_interface" output="screen">  
+        <rosparam file="$(find cpu_interface)/config/default.yaml" command="load"/>
+
+        <rosparam file="$(find dynamixel_driver)/config/$(arg hardware_version)/dxl_bus_config.yaml" command="load"/>
+        <rosparam file="$(find dynamixel_driver)/config/default.yaml" command="load"/>
+
+        <rosparam file="$(find stepper_driver)/config/can_bus.yaml" command="load"/>
+        <rosparam file="$(find stepper_driver)/config/default.yaml" command="load"/>
+
+        <rosparam file="$(find joints_interface)/config/default.yaml" command="load" />
+        <rosparam file="$(find joints_interface)/config/motors_param.yaml" command="load"/>
+        <rosparam file="$(find joints_interface)/config/joints_params.yaml" command="load" />
+        <rosparam file="$(find joints_interface)/config/$(arg hardware_version)/dynamixels_params.yaml" command="load" />
+        <rosparam file="$(find joints_interface)/config/$(arg hardware_version)/steppers_params.yaml" command="load" />
+        <rosparam file="$(find joints_interface)/config/$(arg hardware_version)/steppers_calibration_values.yaml" command="load" />
+    </node>
+
+</launch>
diff --git a/niryo_robot_hardware_stack/fake_interface/package.xml b/niryo_robot_hardware_stack/fake_interface/package.xml
new file mode 100644
index 000000000..ed40e533b
--- /dev/null
+++ b/niryo_robot_hardware_stack/fake_interface/package.xml
@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>fake_interface</name>
+  <version>0.0.0</version>
+  <description>The fake_interface package</description>
+  <author>Etienne Rey-Coquais</author>
+  <maintainer email="e.rey-coquais@niryo.com">Etienne Rey-Coquais</maintainer>
+
+  <license>GPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>roscpp</build_depend>
+  <build_depend>hardware_interface</build_depend>
+  <build_depend>controller_manager</build_depend>
+  <build_depend>niryo_robot_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>tools_interface</build_depend>
+  <build_depend>joints_interface</build_depend>
+  <build_depend>conveyor_interface</build_depend>
+  <build_depend>actionlib</build_depend>
+  
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>hardware_interface</exec_depend>
+  <exec_depend>controller_manager</exec_depend>
+  <exec_depend>niryo_robot_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>tools_interface</exec_depend>
+  <exec_depend>joints_interface</exec_depend>
+  <exec_depend>conveyor_interface</exec_depend>
+  <exec_depend>actionlib</exec_depend>
+</package>
diff --git a/niryo_robot_hardware_stack/fake_interface/src/FakeJointHardwareInterface.cpp b/niryo_robot_hardware_stack/fake_interface/src/FakeJointHardwareInterface.cpp
new file mode 100644
index 000000000..d21c447d6
--- /dev/null
+++ b/niryo_robot_hardware_stack/fake_interface/src/FakeJointHardwareInterface.cpp
@@ -0,0 +1,113 @@
+/*
+    FakeJointHardwareInterface.cpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "fake_interface/FakeJointHardwareInterface.hpp"
+
+FakeJointHardwareInterface::FakeJointHardwareInterface()
+{
+    ROS_DEBUG("Starting Fake Joint Hardware Interface...");
+
+    for (int i = 0; i < 6; i++)
+    {
+        _nh.getParam("/niryo_robot_hardware_interface/joint_" + std::to_string(i + 1) + "_id", _joints_id[i]);
+        _nh.getParam("/niryo_robot_hardware_interface/joint_" + std::to_string(i + 1) + "_name", _joints_name[i]);
+    }
+
+    ROS_INFO("Fake Joint Interface - Joints' Name : (1 : %s, 2 : %s, 3 : %s)", _joints_name[0].c_str(), _joints_name[1].c_str(), _joints_name[2].c_str());
+    ROS_INFO("Fake Joint Interface - Joints' Name : (4 : %s, 5 : %s, 6 : %s)", _joints_name[3].c_str(), _joints_name[4].c_str(), _joints_name[5].c_str());
+    ROS_INFO("Fake Joint Interface - Joints' ID : (1 : %d, 2 : %d, 3 : %d)", _joints_id[0], _joints_id[1], _joints_id[2]);
+    ROS_INFO("Fake Joint Interface - Joints' ID : (4 : %d, 5 : %d, 6 : %d)", _joints_id[3], _joints_id[4], _joints_id[5]);
+
+    // connect and register joint state interface
+    std::vector<hardware_interface::JointStateHandle> state_handle;
+    for (int i = 0; i < 6; i++)
+    {
+        state_handle.push_back(hardware_interface::JointStateHandle(_joints_name[i], &_pos[i], &_vel[i], &_eff[i]));
+        _joint_state_interface.registerHandle(state_handle[i]);
+    }
+    registerInterface(&_joint_state_interface);
+
+    std::vector<hardware_interface::JointHandle> position_handle;
+    for (int i = 0; i < 6; i++)
+    {
+        position_handle.push_back(hardware_interface::JointHandle(_joint_state_interface.getHandle(_joints_name[i]), &_cmd[i]));
+        _joint_position_interface.registerHandle(position_handle[i]);
+    }
+    registerInterface(&_joint_position_interface);
+
+
+    // Create motors with previous params
+    _list_stepper_id.clear();
+    _map_stepper_name.clear();
+    _list_dxl_id.clear();
+    _map_dxl_name.clear();
+
+    for (int i = 0; i < 3; i++)
+    {
+        _list_stepper_id.push_back(_joints_id[i]);
+        _map_stepper_name[_joints_id[i]] = _joints_name[i];
+    }
+    for (int i = 3; i < 5; i++)
+    {
+        _list_dxl_id.push_back(_joints_id[i]);
+        _map_dxl_name[_joints_id[i]] = _joints_name[i];
+    }
+    for (int i = 5; i < 6; i++)
+    {
+        _list_dxl_id.push_back(_joints_id[i]);
+        _map_dxl_name[_joints_id[i]] = _joints_name[i];
+    }
+}
+
+void FakeJointHardwareInterface::read()
+{
+    _pos[0] = _cmd[0];
+    _pos[1] = _cmd[1];
+    _pos[2] = _cmd[2];
+    _pos[3] = _cmd[3];
+    _pos[4] = _cmd[4];
+    _pos[5] = _cmd[5];
+}
+
+void FakeJointHardwareInterface::write()
+{
+    _pos[0] = _cmd[0];
+    _pos[1] = _cmd[1];
+    _pos[2] = _cmd[2];
+    _pos[3] = _cmd[3];
+    _pos[4] = _cmd[4];
+    _pos[5] = _cmd[5];
+}
+
+std::string FakeJointHardwareInterface::jointIdToJointName(int id, uint8_t motor_type)
+{
+    if (motor_type == (uint8_t)StepperDriver::StepperMotorType::MOTOR_TYPE_STEPPER)
+    {
+        std::map<uint8_t, std::string>::iterator  it= _map_stepper_name.find(id);
+        if (it !=  _map_stepper_name.end())
+            return it->second;
+    }
+    else if (motor_type == (uint8_t)DynamixelDriver::DxlMotorType::MOTOR_TYPE_XL430 or motor_type ==(uint8_t)DynamixelDriver::DxlMotorType::MOTOR_TYPE_XL320)
+    {
+        std::map<uint8_t, std::string>::iterator  it= _map_dxl_name.find(id);
+        if (it !=  _map_dxl_name.end())
+            return it->second;
+    }
+    return "";
+}
diff --git a/niryo_robot_hardware_stack/fake_interface/src/fake_interface_core.cpp b/niryo_robot_hardware_stack/fake_interface/src/fake_interface_core.cpp
new file mode 100644
index 000000000..4594dc892
--- /dev/null
+++ b/niryo_robot_hardware_stack/fake_interface/src/fake_interface_core.cpp
@@ -0,0 +1,337 @@
+/*
+    fake_interface_core.cpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "fake_interface/fake_interface_core.hpp"
+
+FakeInterfaceCore::FakeInterfaceCore()
+{
+    initParams();
+    initServices();
+    startPublishersSubscribers();
+
+    ROS_INFO("Fake Hardware Interface - Started ");
+    _robot.reset(new FakeJointHardwareInterface());
+
+    _learning_mode = true;
+
+    if(!_gazebo)
+    {
+        ROS_DEBUG("Fake Hardware Interface - Create controller manager");
+        _cm.reset(new controller_manager::ControllerManager(_robot.get(), _nh));
+        ros::Duration(0.1).sleep();
+
+        ROS_DEBUG("Fake Hardware Interface - Starting ROS control thread...");
+        _ros_control_thread.reset(new std::thread(&FakeInterfaceCore::rosControlLoop, this));
+    }
+
+    pubToolId(0);
+
+    ros::Duration(0.1).sleep();
+}
+
+void FakeInterfaceCore::initServices()
+{
+    ROS_DEBUG("Fake Hardware Interface - Init Services");
+    _calibrate_motors_server = _nh.advertiseService("/niryo_robot/joints_interface/calibrate_motors", &FakeInterfaceCore::_callbackCalibrateMotors, this);
+    _request_new_calibration_server = _nh.advertiseService("/niryo_robot/joints_interface/request_new_calibration", &FakeInterfaceCore::_callbackRequestNewCalibration, this);
+    _activate_learning_mode_server = _nh.advertiseService("niryo_robot/learning_mode/activate", &FakeInterfaceCore::_callbackActivateLearningMode, this);
+
+    _ping_and_set_dxl_tool_server = _nh.advertiseService("/niryo_robot/tools/ping_and_set_dxl_tool", &FakeInterfaceCore::_callbackPingAndSetDxlTool, this);
+    _open_gripper_server = _nh.advertiseService("/niryo_robot/tools/open_gripper", &FakeInterfaceCore::_callbackOpenGripper, this);
+    _close_gripper_server = _nh.advertiseService("/niryo_robot/tools/close_gripper", &FakeInterfaceCore::_callbackCloseGripper, this);
+    _pull_air_vacuum_pump_server = _nh.advertiseService("/niryo_robot/tools/pull_air_vacuum_pump", &FakeInterfaceCore::_callbackPullAirVacuumPump, this);
+    _push_air_vacuum_pump_server = _nh.advertiseService("/niryo_robot/tools/push_air_vacuum_pump", &FakeInterfaceCore::_callbackPushAirVacuumPump, this);
+    
+    _ping_and_set_stepper_server = _nh.advertiseService("/niryo_robot/conveyor/ping_and_set_conveyor", &FakeInterfaceCore::_callbackPingAndSetConveyor, this);
+    _control_conveyor_server = _nh.advertiseService("/niryo_robot/conveyor/control_conveyor", &FakeInterfaceCore::_callbackControlConveyor, this);
+
+    _learning_mode_publisher = _nh.advertise<std_msgs::Bool>("/niryo_robot/learning_mode/state", 10);
+    
+    _reset_controller_server = _nh.advertiseService("/niryo_robot/joints_interface/steppers_reset_controller",  &FakeInterfaceCore::_callbackResetController, this);
+    
+    _publish_learning_mode_thread.reset(new std::thread(boost::bind(&FakeInterfaceCore::_publishLearningMode, this)));    
+
+}
+
+void FakeInterfaceCore::startPublishersSubscribers()
+{
+    ROS_DEBUG("Fake Hardware Interface - Init Subscribers");
+    _trajectory_result_subscriber = _nh.subscribe("/niryo_robot_follow_joint_trajectory_controller/follow_joint_trajectory/result",
+        10, &FakeInterfaceCore::_callbackTrajectoryResult, this);
+    _current_tools_id_publisher = _nh.advertise<std_msgs::Int32>("/niryo_robot_hardware/tools/current_id", 1, true);
+
+}
+
+void FakeInterfaceCore::initParams()
+{
+    ROS_DEBUG("Fake Hardware Interface - Init Params");
+    ros::param::get("~gazebo", _gazebo);
+    ros::param::get("~simu_gripper", _simu_gripper);
+    ros::param::get("~ros_control_loop_frequency", _ros_control_frequency); 
+    ROS_DEBUG("Fake Hardware Interface - ros control loop freqeuncy %f", _ros_control_frequency);
+
+    ros::param::get("~publish_hw_status_frequency", _publish_hw_status_frequency);
+    ros::param::get("~publish_software_version_frequency", _publish_software_version_frequency);
+    ros::param::get("~publish_learning_mode_frequency", _publish_learning_mode_frequency);
+    ros::param::get("/niryo_robot/info/ros_version", _ros_niryo_robot_version);
+
+    _ros_niryo_robot_version.erase(_ros_niryo_robot_version.find_last_not_of(" \n\r\t") + 1);
+
+    ROS_DEBUG("Fake Hardware Interface - Publish_hw_status_frequency : %f", _publish_hw_status_frequency);
+    ROS_DEBUG("Fake Hardware Interface - Publish_software_version_frequency : %f", _publish_software_version_frequency);
+    ROS_DEBUG("Fake Hardware Interface - Publish_learning_mode_frequency : %f", _publish_learning_mode_frequency);
+}
+
+void FakeInterfaceCore::rosControlLoop() 
+{
+    ros::Time last_time = ros::Time::now();
+    ros::Time current_time = ros::Time::now();
+    ros::Duration elapsed_time;
+    ros::Rate control_loop_rate = ros::Rate(_ros_control_frequency);
+    while(ros::ok())
+    {
+        _robot->read();
+        current_time = ros::Time::now();
+        elapsed_time = ros::Duration(current_time - last_time);
+        last_time = current_time;
+        _cm->update(ros::Time::now(), elapsed_time, false);
+        _robot->write();
+        control_loop_rate.sleep();
+    }
+}
+
+void FakeInterfaceCore::pubToolId(int id)
+{
+    std_msgs::Int32 msg;
+    msg.data = id;
+    _current_tools_id_publisher.publish(msg);
+}
+
+bool FakeInterfaceCore::_callbackResetController(niryo_robot_msgs::Trigger::Request &req, niryo_robot_msgs::Trigger::Response &res)
+{
+    res.status = niryo_robot_msgs::CommandStatus::SUCCESS;
+    res.message = "Reset done";
+    return true;
+}
+
+void FakeInterfaceCore::_callbackTrajectoryResult(const control_msgs::FollowJointTrajectoryActionResult& msg)
+{
+    // Nothing To Do
+}
+
+
+bool FakeInterfaceCore::_callbackCalibrateMotors(niryo_robot_msgs::SetInt::Request &req, niryo_robot_msgs::SetInt::Response &res)
+{
+    ROS_INFO("Fake Hardware Interface - Calibrate motors");
+    res.status = niryo_robot_msgs::CommandStatus::SUCCESS;
+    res.message = "Calibration done";
+    return true;
+}
+
+bool FakeInterfaceCore::_callbackRequestNewCalibration(niryo_robot_msgs::Trigger::Request &req, niryo_robot_msgs::Trigger::Response &res)
+{
+    ROS_INFO("Fake Hardware Interface - Request New Calibration");
+    res.status = niryo_robot_msgs::CommandStatus::SUCCESS;
+    res.message = "New calibration request has been made, you will be requested to confirm it.";
+    return true;
+}
+
+bool FakeInterfaceCore::_callbackActivateLearningMode(niryo_robot_msgs::SetBool::Request &req, niryo_robot_msgs::SetBool::Response &res)
+{
+    bool learning_mode_on;
+    std_msgs::Bool msg;
+
+    learning_mode_on = req.value;
+    if(learning_mode_on == _learning_mode)
+    {
+        res.message = (learning_mode_on) ? "Learning mode already activated" : "Learning mode already deactivating";
+    }
+    else
+    {
+        if(!learning_mode_on)
+        {
+            ROS_INFO("Fake Hardware Interface - Deactivate Learning Mode");
+            res.message = "Deactivating learning mode";
+        }
+        else
+        {
+            ROS_INFO("Fake Hardware Interface - Activate Learning Mode");
+            res.message =  "Activating learning mode";
+        }
+        _learning_mode = learning_mode_on;
+        msg.data = _learning_mode;
+        _learning_mode_publisher.publish(msg);
+    }
+    
+    res.status = niryo_robot_msgs::CommandStatus::SUCCESS;
+    return true;
+}
+
+
+bool FakeInterfaceCore::_callbackPingAndSetDxlTool(tools_interface::PingDxlTool::Request &req, tools_interface::PingDxlTool::Response &res)
+{
+    ROS_DEBUG("Fake Hardware Interface - Ping Dxl Tool");
+    if(_simu_gripper)
+    {
+        res.id = 11;
+    }
+    else
+    {
+        res.id = 0;
+    }
+    pubToolId(res.id);
+    res.state = TOOL_STATE_PING_OK;
+    return true;
+}
+
+bool FakeInterfaceCore::_callbackOpenGripper(tools_interface::OpenGripper::Request &req, tools_interface::OpenGripper::Response &res)
+{
+    ROS_INFO("Fake Hardware Interface - Open gripper with id : %03d", req.id);
+    res.state = GRIPPER_STATE_OPEN;
+    return true;  
+}
+
+bool FakeInterfaceCore::_callbackCloseGripper(tools_interface::CloseGripper::Request &req, tools_interface::CloseGripper::Response &res)
+{
+    ROS_INFO("Fake Hardware Interface - Close gripper with id : %03d", req.id);
+    res.state = GRIPPER_STATE_CLOSE;
+    return true;
+}
+
+bool FakeInterfaceCore::_callbackPullAirVacuumPump(tools_interface::PullAirVacuumPump::Request &req, tools_interface::PullAirVacuumPump::Response &res)
+{
+    ROS_INFO("Fake Hardware Interface - Pull air on vacuum pump with id : %03d", req.id);
+    res.state = VACUUM_PUMP_STATE_PULLED;
+    return true;
+}
+
+bool FakeInterfaceCore:: _callbackPushAirVacuumPump(tools_interface::PushAirVacuumPump::Request &req, tools_interface::PushAirVacuumPump::Response &res)
+{
+    ROS_INFO("Fake Hardware Interface - Push air on vacuum pump with id : %03d", req.id);
+    res.state = VACUUM_PUMP_STATE_PUSHED;
+    return true;
+}
+
+
+bool FakeInterfaceCore::_callbackPingAndSetConveyor(conveyor_interface::SetConveyor::Request &req, conveyor_interface::SetConveyor::Response &res)
+{
+    int new_id = 12;
+    ROS_INFO("Fake Hardware Interface - Set conveyor with id : %d", new_id);
+    std::string message = "";
+    message = "Set Conveyor id ";
+    message += std::to_string(new_id);
+    message += " OK";
+    res.message = message;
+    res.status = niryo_robot_msgs::CommandStatus::SUCCESS;
+    res.id = new_id;
+    return true;
+}
+
+bool FakeInterfaceCore::_callbackControlConveyor(conveyor_interface::ControlConveyor::Request &req, conveyor_interface::ControlConveyor::Response &res)
+{
+    ROS_INFO("Fake Hardware Interface - Set command conveyor with id : %03d", req.id);
+    std::string message = "";
+    message = "Set command on conveyor id ";
+    message += std::to_string(req.id);
+    message += " is OK";
+    res.message = message;
+    res.status = niryo_robot_msgs::CommandStatus::SUCCESS;
+    return true;
+}
+
+dynamixel_driver::DxlArrayMotorHardwareStatus FakeInterfaceCore::getDxlHwStatus()
+{
+    dynamixel_driver::DxlMotorHardwareStatus data;
+    dynamixel_driver::DxlArrayMotorHardwareStatus hw_state;
+    for (int i = 0; i < 3; i++)
+    {
+        data.motor_identity.motor_id = _dxl_motors_id.at(i);
+        data.motor_identity.motor_type = _dxl_motors_type.at(i);
+        data.temperature = 0;
+        data.voltage = 0;
+        data.error = 0;
+        hw_state.motors_hw_status.push_back(data);
+    }
+    return hw_state;
+}
+
+niryo_robot_msgs::BusState FakeInterfaceCore::getDxlBusState()
+{
+    niryo_robot_msgs::BusState dxl_bus_state;
+    
+    dxl_bus_state.connection_status = true;
+    dxl_bus_state.motor_id_connected = _dxl_motors_id;
+    dxl_bus_state.error = "";
+    return dxl_bus_state;
+}
+
+stepper_driver::StepperArrayMotorHardwareStatus FakeInterfaceCore::getStepperHwStatus()
+{
+    stepper_driver::StepperMotorHardwareStatus data;
+    stepper_driver::StepperArrayMotorHardwareStatus hw_state;
+
+    for(int i = 0; i < 3; i++)
+    {
+        data.motor_identity.motor_id = _stepper_motors_id.at(i) ;
+        data.motor_identity.motor_type = niryo_robot_msgs::MotorHeader::MOTOR_TYPE_STEPPER;
+        data.temperature = 0;
+        data.error = 0;
+        data.firmware_version = "";
+        hw_state.motors_hw_status.push_back(data);
+    }
+    return hw_state;
+}
+
+niryo_robot_msgs::BusState FakeInterfaceCore::getCanBusState()
+{
+    niryo_robot_msgs::BusState can_bus_state;
+    
+    can_bus_state.connection_status = true;
+    can_bus_state.motor_id_connected = _stepper_motors_id;
+    can_bus_state.error = "";
+    return can_bus_state;
+}
+
+void FakeInterfaceCore::getCalibrationState(boost::shared_ptr<bool> &need_calibration, boost::shared_ptr<bool> &calibration_in_progress)
+{
+    (*need_calibration) = false;
+    (*calibration_in_progress) = false;
+}
+
+int FakeInterfaceCore::getCpuTemperature()
+{
+    return 0;
+}
+
+void FakeInterfaceCore::_publishLearningMode()
+{
+    ros::Rate publish_learning_mode_rate = ros::Rate(_publish_learning_mode_frequency);
+    while (ros::ok())
+    {
+        std_msgs::Bool msg;
+        msg.data = _learning_mode;
+        _learning_mode_publisher.publish(msg);
+        publish_learning_mode_rate.sleep();
+    }
+}
+
+std::string FakeInterfaceCore::jointIdToJointName(int id, uint8_t motor_type)
+{
+    return _robot->jointIdToJointName(id, motor_type);
+}
diff --git a/niryo_robot_hardware_stack/fake_interface/src/fake_interface_node.cpp b/niryo_robot_hardware_stack/fake_interface/src/fake_interface_node.cpp
new file mode 100644
index 000000000..bf37435d1
--- /dev/null
+++ b/niryo_robot_hardware_stack/fake_interface/src/fake_interface_node.cpp
@@ -0,0 +1,17 @@
+#include <ros/ros.h>
+#include "fake_interface/fake_interface_core.hpp"
+
+int main(int argc, char **argv) 
+{
+    ros::init(argc, argv, "fake_interface_node");
+  
+    ros::AsyncSpinner spinner(4);
+    spinner.start();
+    
+    ros::NodeHandle nh;
+   
+    FakeInterfaceCore nd();
+    ros::waitForShutdown();
+    
+    ROS_INFO("Fake Joint Interface - Shutdown node");
+}
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/joints_interface/CMakeLists.txt b/niryo_robot_hardware_stack/joints_interface/CMakeLists.txt
new file mode 100644
index 000000000..94d23410d
--- /dev/null
+++ b/niryo_robot_hardware_stack/joints_interface/CMakeLists.txt
@@ -0,0 +1,98 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(joints_interface)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+find_package(catkin REQUIRED
+    COMPONENTS
+        roscpp
+        hardware_interface
+        controller_manager
+        niryo_robot_msgs
+        std_msgs
+        sensor_msgs
+        dynamixel_driver
+        stepper_driver
+        actionlib
+      
+)
+
+find_package(Boost REQUIRED COMPONENTS system)
+
+catkin_package(
+    INCLUDE_DIRS
+        include
+    LIBRARIES
+        ${PROJECT_NAME}
+        ${PROJECT_NAME}_core
+    CATKIN_DEPENDS
+        roscpp
+        hardware_interface
+        controller_manager
+        niryo_robot_msgs
+        dynamixel_driver
+        stepper_driver
+        actionlib
+)
+
+include_directories(
+    include
+    ${catkin_INCLUDE_DIRS}
+)
+
+add_library(${PROJECT_NAME}
+    src/joint_state.cpp
+    src/calibration_interface.cpp
+    src/motor_offset_file_handler.cpp
+)
+
+add_library(${PROJECT_NAME}_core
+    src/joints_interface_core.cpp
+    src/JointHardwareInterface.cpp
+)
+
+add_executable(${PROJECT_NAME}_node
+  src/joints_interface_node.cpp
+)
+
+# add_executable(${PROJECT_NAME}_test
+#   test/joints_interface_test.cpp
+# )
+
+add_dependencies(${PROJECT_NAME}_node
+  ${catkin_EXPORTED_TARGETS}
+)
+
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+)
+
+target_link_libraries(${PROJECT_NAME}_core
+  ${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+)
+
+target_link_libraries(${PROJECT_NAME}_node
+  ${PROJECT_NAME}_core
+  ${catkin_LIBRARIES}
+)
+
+# target_link_libraries(${PROJECT_NAME}_test
+#   ${PROJECT_NAME}_core
+#   ${catkin_LIBRARIES}
+# )
+
+install(
+  TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
+
+install(
+  DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+add_dependencies(${PROJECT_NAME} niryo_robot_msgs_generate_messages_cpp)
diff --git a/niryo_robot_hardware_stack/joints_interface/config/default.yaml b/niryo_robot_hardware_stack/joints_interface/config/default.yaml
new file mode 100644
index 000000000..d50a7adf2
--- /dev/null
+++ b/niryo_robot_hardware_stack/joints_interface/config/default.yaml
@@ -0,0 +1,8 @@
+ros_control_loop_frequency:              100.0
+publish_hw_status_frequency:             2.0
+publish_software_version_frequency:      2.0
+publish_learning_mode_frequency:         2.0
+
+calibration_timeout: 30
+
+calibration_file:  "/home/niryo/niryo_robot_saved_files/stepper_motor_calibration_offsets.txt"
diff --git a/niryo_robot_hardware_stack/joints_interface/config/joints_params.yaml b/niryo_robot_hardware_stack/joints_interface/config/joints_params.yaml
new file mode 100644
index 000000000..7c227a942
--- /dev/null
+++ b/niryo_robot_hardware_stack/joints_interface/config/joints_params.yaml
@@ -0,0 +1,20 @@
+joint_1_name: "joint_1"
+joint_2_name: "joint_2"
+joint_3_name: "joint_3"
+joint_4_name: "joint_4"
+joint_5_name: "joint_5"
+joint_6_name: "joint_6"
+
+joint_1_id: 1
+joint_2_id: 2
+joint_3_id: 3
+joint_4_id: 2
+joint_5_id: 3
+joint_6_id: 6
+
+joint_1_type: 1
+joint_2_type: 1
+joint_3_type: 1
+joint_4_type: 2
+joint_5_type: 2
+joint_6_type: 3
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/joints_interface/config/motors_param.yaml b/niryo_robot_hardware_stack/joints_interface/config/motors_param.yaml
new file mode 100644
index 000000000..9de71f8c1
--- /dev/null
+++ b/niryo_robot_hardware_stack/joints_interface/config/motors_param.yaml
@@ -0,0 +1,4 @@
+motors_params:
+    dxl_motor_id_list: [2,3,6]
+    dxl_motor_type_list: ["xl430","xl430","xl320"]
+    stepper_motor_id_list: [1,2,3]
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/joints_interface/config/ned/dynamixels_params.yaml b/niryo_robot_hardware_stack/joints_interface/config/ned/dynamixels_params.yaml
new file mode 100644
index 000000000..b34b822cb
--- /dev/null
+++ b/niryo_robot_hardware_stack/joints_interface/config/ned/dynamixels_params.yaml
@@ -0,0 +1,17 @@
+dynamixels:
+    dxl_1_offset_position: 0
+    dxl_2_offset_position: 0
+    dxl_3_offset_position: 0
+
+    xl430_middle_position: 2047
+    xl320_middle_position: 511
+
+    dxl_1_P_gain: 1000
+    dxl_1_I_gain: 500
+
+    dxl_2_P_gain: 1000
+    dxl_2_I_gain: 500
+
+    dxl_3_P_gain: 40
+    dxl_3_I_gain: 20
+    dxl_3_D_gain: 100
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/joints_interface/config/ned/steppers_params.yaml b/niryo_robot_hardware_stack/joints_interface/config/ned/steppers_params.yaml
new file mode 100644
index 000000000..443fe750e
--- /dev/null
+++ b/niryo_robot_hardware_stack/joints_interface/config/ned/steppers_params.yaml
@@ -0,0 +1,27 @@
+#
+#  Stepper caracteristics for Ned's hardware
+#
+steppers:
+    stepper_1_id: 1
+    stepper_2_id: 2
+    stepper_3_id: 3
+
+    stepper_1_gear_ratio: 5.4375
+    stepper_2_gear_ratio: 8.5625
+    stepper_3_gear_ratio: 7.6875
+
+    stepper_1_offset_position: 2.96706
+    stepper_2_offset_position: 0.610865
+    stepper_3_offset_position: -1.3439
+
+    stepper_1_home_position: 0.0
+    stepper_2_home_position: 0.5
+    stepper_3_home_position: -1.25
+
+    stepper_1_direction: -1.0
+    stepper_2_direction: -1.0
+    stepper_3_direction: -1.0
+
+    stepper_1_max_effort: 110
+    stepper_2_max_effort: 130
+    stepper_3_max_effort: 120
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/joints_interface/config/niryo_ned_controllers.yaml b/niryo_robot_hardware_stack/joints_interface/config/niryo_ned_controllers.yaml
new file mode 100644
index 000000000..13f114eb2
--- /dev/null
+++ b/niryo_robot_hardware_stack/joints_interface/config/niryo_ned_controllers.yaml
@@ -0,0 +1,34 @@
+# Settings for ros_control control loop
+hardware_control_loop:
+    loop_hz: 25
+
+# Publish all joint states -----------------------
+joint_state_controller:
+    type: "joint_state_controller/JointStateController"
+    publish_rate: 50
+    
+# Joint Trajectory Controller - position based -----------------------
+niryo_robot_follow_joint_trajectory_controller:
+    type: "position_controllers/JointTrajectoryController"
+    joints: 
+        - joint_1  
+        - joint_2
+        - joint_3  
+        - joint_4  
+        - joint_5  
+        - joint_6
+    constraints:
+        goal_time: 1.0 
+        stopped_velocity_tolerance: 0.05
+        joint_1: {trajectory: 0.5, goal: 0.2}
+        joint_2: {trajectory: 0.5, goal: 0.2}
+        joint_3: {trajectory: 0.5, goal: 0.2}
+        joint_4: {trajectory: 0.5, goal: 0.2}
+        joint_5: {trajectory: 1.0, goal: 0.3}
+        joint_6: {trajectory: 1.0, goal: 0.3}
+    stop_trajectory_duration: 1.0
+    state_publish_rate: 20
+    #action_monitor_rate: 20
+
+
+
diff --git a/niryo_robot_hardware_stack/joints_interface/include/joints_interface/JointHardwareInterface.hpp b/niryo_robot_hardware_stack/joints_interface/include/joints_interface/JointHardwareInterface.hpp
new file mode 100644
index 000000000..87434053b
--- /dev/null
+++ b/niryo_robot_hardware_stack/joints_interface/include/joints_interface/JointHardwareInterface.hpp
@@ -0,0 +1,115 @@
+/*
+    JointHardwareInterface.hpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef JOINT_HARDWARE_INTERFACE_HPP
+#define JOINT_HARDWARE_INTERFACE_HPP
+
+#include <boost/shared_ptr.hpp>
+#include <algorithm>
+#include <hardware_interface/joint_state_interface.h>
+#include <hardware_interface/joint_command_interface.h>
+#include <hardware_interface/robot_hw.h>
+
+#include "joints_interface/joint_state.hpp"
+#include "joints_interface/calibration_interface.hpp"
+
+#include "stepper_driver/stepper_driver_core.hpp"
+#include "dynamixel_driver/dxl_driver_core.hpp"
+
+#include <ros/ros.h>
+#include <std_msgs/Int64MultiArray.h>
+
+class JointHardwareInterface : public hardware_interface::RobotHW
+{
+
+public:
+    JointHardwareInterface(
+        boost::shared_ptr<DynamixelDriver::DynamixelDriverCore> &dynamixel,
+        boost::shared_ptr<StepperDriver::StepperDriverCore> &stepper);
+
+    void initPublisherSubscribers();
+    void initServices();
+    void initMotors();
+
+    void sendInitMotorsParams();
+
+    void read();
+    void write();
+
+    bool needCalibration();
+
+    int calibrateJoints(int mode, std::string &result_message);
+
+    void newCalibration();
+
+    bool isCalibrationInProgress();
+
+    void activateLearningMode();
+
+    void deactivateLearningMode();
+
+    void setCommandToCurrentPosition();
+
+    void synchronizeMotors(bool synchronise);
+
+    std::vector<JointState> &getJointsState();
+
+    std::string jointIdToJointName(int id, uint8_t motor_type);
+
+private:
+    ros::NodeHandle _nh;
+
+    hardware_interface::JointStateInterface _joint_state_interface;
+    hardware_interface::PositionJointInterface _joint_position_interface;
+
+    boost::shared_ptr<DynamixelDriver::DynamixelDriverCore> &_dynamixel;
+    boost::shared_ptr<StepperDriver::StepperDriverCore> &_stepper;
+
+    std::vector<uint8_t> _list_stepper_id;
+    std::map<uint8_t, std::string> _map_stepper_name;
+
+    std::vector<uint8_t> _list_dxl_id;
+    std::map<uint8_t, std::string> _map_dxl_name;
+
+    std::vector<JointState> _joint_list;
+
+    boost::shared_ptr<CalibrationInterface> _calibration_interface;
+
+    std::string _joints_name[6] = {""};
+    int _joints_id[6] = {0};
+
+    double _cmd[6] = {0, 0.64, -1.39, 0, 0, 0};
+    double _pos[6] = {0, 0.64, -1.39, 0, 0, 0};
+    double _vel[6] = {0};
+    double _eff[6] = {0};
+
+    double _gear_ratio_1, _gear_ratio_2, _gear_ratio_3;
+    double _home_position_1, _home_position_2, _home_position_3;
+    double _offset_position_stepper_1, _offset_position_stepper_2, _offset_position_stepper_3;
+    double _offset_position_dxl_1, _offset_position_dxl_2, _offset_position_dxl_3;
+    double _direction_1, _direction_2, _direction_3;
+    int _max_effort_1, _max_effort_2, _max_effort_3;
+
+    int _p_gain_1, _p_gain_2, _p_gain_3;
+    int _i_gain_1, _i_gain_2, _i_gain_3;
+    int _d_gain_3;
+    bool _learning_mode;
+};
+
+#endif
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/joints_interface/include/joints_interface/Math.hpp b/niryo_robot_hardware_stack/joints_interface/include/joints_interface/Math.hpp
new file mode 100644
index 000000000..db2f9585e
--- /dev/null
+++ b/niryo_robot_hardware_stack/joints_interface/include/joints_interface/Math.hpp
@@ -0,0 +1,67 @@
+/*
+    Math.hpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef MATH_HPP
+#define MATH_HPP
+
+#define RADIAN_TO_DEGREE 57.295779513082320876798154814105
+
+#define XL320_TOTAL_RANGE_POSITION 1023
+#define XL320_MIDDLE_POSITION 511
+#define XL320_TOTAL_ANGLE 296.67
+
+#define XL430_TOTAL_RANGE_POSITION 4095
+#define XL430_MIDDLE_POSITION 2047
+#define XL430_TOTAL_ANGLE 360.36
+
+#define STEPPERS_MICROSTEPS 8.0
+#define STEPPERS_MOTOR_STEPS_PER_REVOLUTION 200.0
+
+#include <stdint.h>
+
+int32_t rad_pos_to_steps(double position_rad, double gear_ratio, double direction)
+{
+    return (int32_t)((STEPPERS_MOTOR_STEPS_PER_REVOLUTION * STEPPERS_MICROSTEPS * gear_ratio * position_rad * RADIAN_TO_DEGREE / 360.0) * direction);
+};
+
+double steps_to_rad_pos(int32_t steps, double gear_ratio, double direction)
+{
+    return (double)((double)steps * 360.0 / (STEPPERS_MOTOR_STEPS_PER_REVOLUTION * STEPPERS_MICROSTEPS * gear_ratio * RADIAN_TO_DEGREE)) * direction;
+};
+
+uint32_t rad_pos_to_xl320_pos(double position_rad)
+{
+    return (uint32_t)((double)XL320_MIDDLE_POSITION + (position_rad * RADIAN_TO_DEGREE * (double)XL320_TOTAL_RANGE_POSITION) / (double)XL320_TOTAL_ANGLE);
+};
+
+uint32_t rad_pos_to_xl430_pos(double position_rad)
+{
+    return (uint32_t)((double)XL430_MIDDLE_POSITION + (position_rad * RADIAN_TO_DEGREE * (double)XL430_TOTAL_RANGE_POSITION) / (double)XL430_TOTAL_ANGLE);
+};
+
+double xl320_pos_to_rad_pos(int32_t position_dxl)
+{
+    return (double)((((double)position_dxl - XL320_MIDDLE_POSITION) * (double)XL320_TOTAL_ANGLE) / (RADIAN_TO_DEGREE * (double)XL320_TOTAL_RANGE_POSITION));
+};
+
+double xl430_pos_to_rad_pos(int32_t position_dxl)
+{
+    return (double)((((double)position_dxl - XL430_MIDDLE_POSITION) * (double)XL430_TOTAL_ANGLE) / (RADIAN_TO_DEGREE * (double)XL430_TOTAL_RANGE_POSITION));
+};
+#endif
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/joints_interface/include/joints_interface/calibration_interface.hpp b/niryo_robot_hardware_stack/joints_interface/include/joints_interface/calibration_interface.hpp
new file mode 100644
index 000000000..0f407446b
--- /dev/null
+++ b/niryo_robot_hardware_stack/joints_interface/include/joints_interface/calibration_interface.hpp
@@ -0,0 +1,86 @@
+/*
+    calibration_interface.hpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef CALIBRATION_INTERFACE_HPP
+#define CALIBRATION_INTERFACE_HPP
+
+#include <ros/ros.h>
+#include <stdint.h>
+#include <string>
+#include <vector>
+#include <thread>
+
+#include "joints_interface/joint_state.hpp"
+#include "joints_interface/motor_offset_file_handler.hpp"
+
+#include "stepper_driver/stepper_driver_core.hpp"
+#include "dynamixel_driver/dxl_driver_core.hpp"
+
+#include "niryo_robot_msgs/CommandStatus.h"
+
+#define STEPPERS_MICROSTEPS 8.0
+#define STEPPERS_MOTOR_STEPS_PER_REVOLUTION 200.0
+
+class CalibrationInterface
+{
+
+public:
+    CalibrationInterface(std::vector<JointState> &joint_list,
+                         boost::shared_ptr<StepperDriver::StepperDriverCore> &stepper, boost::shared_ptr<DynamixelDriver::DynamixelDriverCore> &dynamixel);
+
+    int startCalibration(int mode, std::string &result_message);
+
+    bool CalibrationInprogress();
+
+private:
+    std::vector<JointState> &_joint_list;
+    ros::NodeHandle _nh;
+    boost::shared_ptr<StepperDriver::StepperDriverCore> &_stepper;
+    boost::shared_ptr<DynamixelDriver::DynamixelDriverCore> &_dynamixel;
+
+    int _xl430_middle_position, _xl320_middle_position;
+    double _home_position_1, _home_position_2, _home_position_3;
+    double _gear_ratio_1, _gear_ratio_2, _gear_ratio_3;
+    double _direction_1, _direction_2, _direction_3;
+    double _offset_position_stepper_1, _offset_position_stepper_2, _offset_position_stepper_3;
+    double _offset_position_dxl_1, _offset_position_dxl_2, _offset_position_dxl_3;
+
+    bool _calibration_in_progress;
+    int _calibration_timeout;
+
+    std::vector<int32_t> _motor_calibration_list;
+
+    bool _check_steppers_connected();
+
+    void _auto_calibration();
+    void _send_calibration_offset(uint8_t id, int offset_to_send, int absolute_steps_at_offset_position);
+    bool _can_process_manual_calibration(std::string &result_message);
+    int _manual_calibration();
+
+    void _motorTorque(JointState &motor, bool status);
+    void _moveMotor(JointState &motor, int steps, float delay);
+    int _relativeMoveMotor(JointState &motor, int steps, int delay, bool wait);
+    void _setCalibrationCommand(
+        JointState &motor, int offset, int delay, int motor_direction, int calibration_direction, int timeout,
+        boost::shared_ptr<int32_t> &calibration_result);
+
+    int _getCalibrationResult(JointState &motor);
+
+};
+#endif
diff --git a/niryo_robot_hardware_stack/joints_interface/include/joints_interface/joint_state.hpp b/niryo_robot_hardware_stack/joints_interface/include/joints_interface/joint_state.hpp
new file mode 100644
index 000000000..bba708867
--- /dev/null
+++ b/niryo_robot_hardware_stack/joints_interface/include/joints_interface/joint_state.hpp
@@ -0,0 +1,59 @@
+/*
+    joint_state.hpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef JOINT_STATE_HPP
+#define JOINT_STATE_HPP
+
+#include <stdint.h>
+#include <string>
+
+class JointState {
+
+    public:
+        JointState(std::string name, uint8_t type, uint8_t id );
+
+        std::string& getName();
+        void setName(std::string &name);
+
+        uint8_t getId();
+        void setId(uint8_t id);
+
+        uint8_t getType();
+        void setType(uint8_t id);
+
+        bool needCalibration();
+        void setNeedCalibration(bool need_calibration);
+
+        void setPosition(double position);
+        double getPosition();
+
+        bool operator==(const JointState& other) const;
+
+    protected : 
+
+        std::string _name;
+        uint8_t _id;
+        uint8_t _type;
+
+        double _position;
+        bool _need_calibration;
+
+};
+
+#endif
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/joints_interface/include/joints_interface/joints_interface_core.hpp b/niryo_robot_hardware_stack/joints_interface/include/joints_interface/joints_interface_core.hpp
new file mode 100644
index 000000000..b11b127a5
--- /dev/null
+++ b/niryo_robot_hardware_stack/joints_interface/include/joints_interface/joints_interface_core.hpp
@@ -0,0 +1,121 @@
+/*
+    joints_hardware_interface_node.cpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef JOINTS_INTERFACE_CORE_HPP
+#define JOINTS_INTERFACE_CORE_HPP
+
+#include <boost/shared_ptr.hpp>
+#include <controller_manager/controller_manager.h>
+#include <control_msgs/FollowJointTrajectoryActionResult.h>
+#include <control_msgs/FollowJointTrajectoryActionGoal.h>
+#include <hardware_interface/joint_state_interface.h>
+#include <hardware_interface/joint_command_interface.h>
+#include <hardware_interface/robot_hw.h>
+#include <ros/ros.h>
+#include <vector>
+#include <sstream>
+#include <string>
+#include <std_msgs/Empty.h>
+#include <std_msgs/Bool.h>
+#include <thread>
+#include <functional>
+
+#include "joints_interface/JointHardwareInterface.hpp"
+#include "niryo_robot_msgs/SetInt.h"
+#include "niryo_robot_msgs/SetBool.h"
+#include "niryo_robot_msgs/CommandStatus.h"
+#include "niryo_robot_msgs/Trigger.h"
+
+class JointsInterfaceCore
+{
+    public:
+
+        JointsInterfaceCore( 
+            boost::shared_ptr<DynamixelDriver::DynamixelDriverCore>& dynamixel,
+            boost::shared_ptr<StepperDriver::StepperDriverCore>& stepper);
+
+        void init();
+        void initParams();
+
+        void startServices();
+        void startSubscribers();
+
+        void rosControlLoop();
+
+        void activateLearningMode(bool learning_mode_on, int &resp_status, std::string &resp_message);
+
+        void calibrateJoints();
+
+        bool getFreeDriveMode();
+
+        void getCalibrationState(boost::shared_ptr<bool> &need_calibration, boost::shared_ptr<bool> &calibration_in_progress);
+
+        std::vector<JointState>& getJointsState();
+
+        std::string jointIdToJointName(int id, uint8_t motor_type);
+
+        void sendMotorsParams();
+
+    private:
+
+        ros::NodeHandle _nh;
+
+        bool _callbackResetController(niryo_robot_msgs::Trigger::Request &req, niryo_robot_msgs::Trigger::Response &res);
+
+        void _callbackTrajectoryResult(const control_msgs::FollowJointTrajectoryActionResult& msg);
+
+        bool _callbackCalibrateMotors(niryo_robot_msgs::SetInt::Request &req, niryo_robot_msgs::SetInt::Response &res);
+
+        bool _callbackRequestNewCalibration(niryo_robot_msgs::Trigger::Request &req, niryo_robot_msgs::Trigger::Response &res);
+
+        bool _callbackActivateLearningMode(niryo_robot_msgs::SetBool::Request &req, niryo_robot_msgs::SetBool::Response &res);
+
+        void _publishPackageStates(); 
+
+        void _publishLearningMode();
+
+        boost::shared_ptr<JointHardwareInterface> _robot;
+        boost::shared_ptr<DynamixelDriver::DynamixelDriverCore>& _dynamixel;
+        boost::shared_ptr<StepperDriver::StepperDriverCore>& _stepper;
+
+        double _publish_learning_mode_frequency;
+
+        double _ros_control_frequency;
+        
+        boost::shared_ptr<controller_manager::ControllerManager> _cm;
+        boost::shared_ptr<std::thread> _ros_control_thread;
+        boost::shared_ptr<std::thread> _publish_learning_mode_thread;
+
+        ros::Subscriber _trajectory_result_subscriber;
+
+        ros::Publisher _learning_mode_publisher;
+
+        ros::ServiceServer _reset_controller_server; // workaround to compensate missed steps
+        ros::ServiceServer _calibrate_motors_server;
+        ros::ServiceServer _request_new_calibration_server;
+
+        ros::ServiceServer _activate_learning_mode_server;
+
+        bool _enable_control_loop;
+
+        bool _previous_state_learning_mode;
+
+        bool _reset_controller;
+};
+#endif
diff --git a/niryo_robot_hardware_stack/joints_interface/include/joints_interface/motor_offset_file_handler.hpp b/niryo_robot_hardware_stack/joints_interface/include/joints_interface/motor_offset_file_handler.hpp
new file mode 100644
index 000000000..cfaa1799e
--- /dev/null
+++ b/niryo_robot_hardware_stack/joints_interface/include/joints_interface/motor_offset_file_handler.hpp
@@ -0,0 +1,32 @@
+/*
+    motor_offset_file_handler.h
+    Copyright (C) 2018 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef MOTOR_OFFSET_FILE_HANDLER_H
+#define MOTOR_OFFSET_FILE_HANDLER_H
+
+#include <ros/ros.h>
+#include <vector>
+#include <string>
+#include <unistd.h>
+
+bool get_motors_calibration_offsets(std::vector<int> &motor_id_list, std::vector<int> &steps_list);
+
+bool set_motors_calibration_offsets(std::vector<int> &motor_id_list, std::vector<int> &steps_list);
+
+#endif
diff --git a/niryo_robot_hardware_stack/joints_interface/launch/joints_interface.launch b/niryo_robot_hardware_stack/joints_interface/launch/joints_interface.launch
new file mode 100644
index 000000000..cd821536b
--- /dev/null
+++ b/niryo_robot_hardware_stack/joints_interface/launch/joints_interface.launch
@@ -0,0 +1,27 @@
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro $(find niryo_robot_description)/urdf/ned/niryo_ned.urdf.xacro"/>
+  <arg name="hardware_version" value="ned"/>
+
+  <node pkg="joints_interface" type="joints_interface_node" name="joints_interface" output="screen"> 
+
+    <rosparam file="$(find dynamixel_driver)/config/$(arg hardware_version)/dxl_bus_config.yaml" command="load"/>
+    <rosparam file="$(find dynamixel_driver)/config/default.yaml" command="load"/>
+    <rosparam file="$(find stepper_driver)/config/can_bus.yaml" command="load"/>
+    <rosparam file="$(find stepper_driver)/config/default.yaml" command="load"/>
+    <rosparam file="$(find joints_interface)/config/motors_param.yaml" command="load"/>
+    <rosparam file="$(find joints_interface)/config/default.yaml" command="load"/>
+    <rosparam file="$(find joints_interface)/config/joints_params.yaml" command="load"/>
+    <rosparam file="$(find joints_interface)/config/$(arg hardware_version)/dynamixels_params.yaml" command="load"/>
+    <rosparam file="$(find joints_interface)/config/$(arg hardware_version)/steppers_params.yaml" command="load"/>
+  </node>
+
+  <!-- spawn controllers -->
+  <rosparam command="load" file="$(find joints_interface)/config/niryo_ned_controllers.yaml" />
+
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="log"
+      args="joint_state_controller niryo_robot_follow_joint_trajectory_controller --shutdown-timeout 1"/>
+
+  <!-- robot state publisher -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen" />  
+  
+</launch>
diff --git a/niryo_robot_hardware_stack/joints_interface/launch/test.launch b/niryo_robot_hardware_stack/joints_interface/launch/test.launch
new file mode 100644
index 000000000..e4514ebba
--- /dev/null
+++ b/niryo_robot_hardware_stack/joints_interface/launch/test.launch
@@ -0,0 +1,8 @@
+<launch>
+
+    <param name="robot_description" command="$(find xacro)/xacro $(find niryo_robot_description)/urdf/ned/niryo_ned.urdf.xacro"/>
+
+    <include file="$(find niryo_ned_moveit_config_standalone)/launch/move_group.launch" />
+    <!-- <node pkg="joints_interface" type="joints_interface_test" name="joints_interface_test" output="screen" /> -->
+
+</launch>
diff --git a/niryo_robot_hardware_stack/joints_interface/package.xml b/niryo_robot_hardware_stack/joints_interface/package.xml
new file mode 100644
index 000000000..95815d2e2
--- /dev/null
+++ b/niryo_robot_hardware_stack/joints_interface/package.xml
@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>joints_interface</name>
+  <version>0.0.0</version>
+  <description>The joints_interface package include all hardware componant to control the joints of the robot.</description>
+  <author>Etienne Rey-Coquais</author>
+  <author>Edouard Renard</author>
+  <maintainer email="e.rey-coquais@niryo.com">Etienne Rey-Coquais</maintainer>
+
+  <license>GPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>roscpp</build_depend>
+  <build_depend>hardware_interface</build_depend>
+  <build_depend>controller_manager</build_depend>
+  <build_depend>niryo_robot_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>dynamixel_driver</build_depend>
+  <build_depend>stepper_driver</build_depend>
+   <build_depend>actionlib</build_depend>
+  
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>hardware_interface</exec_depend>
+  <exec_depend>controller_manager</exec_depend>
+  <exec_depend>niryo_robot_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>dynamixel_driver</exec_depend>
+  <exec_depend>stepper_driver</exec_depend>
+  <exec_depend>actionlib</exec_depend>
+
+</package>
diff --git a/niryo_robot_hardware_stack/joints_interface/src/JointHardwareInterface.cpp b/niryo_robot_hardware_stack/joints_interface/src/JointHardwareInterface.cpp
new file mode 100644
index 000000000..cd82b124a
--- /dev/null
+++ b/niryo_robot_hardware_stack/joints_interface/src/JointHardwareInterface.cpp
@@ -0,0 +1,405 @@
+/*
+    JointHardwareInterface.cpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "joints_interface/JointHardwareInterface.hpp"
+#include "joints_interface/Math.hpp"
+#include "dynamixel_driver/SendCustomDxlValue.h"
+
+JointHardwareInterface::JointHardwareInterface(
+    boost::shared_ptr<DynamixelDriver::DynamixelDriverCore> &dynamixel,
+    boost::shared_ptr<StepperDriver::StepperDriverCore> &stepper)
+    : _dynamixel(dynamixel), _stepper(stepper)
+{
+    _learning_mode = true;
+
+    for (int i = 0; i < 6; i++)
+    {
+        _nh.getParam("/niryo_robot_hardware_interface/joint_" + std::to_string(i + 1) + "_id", _joints_id[i]);
+        _nh.getParam("/niryo_robot_hardware_interface/joint_" + std::to_string(i + 1) + "_name", _joints_name[i]);
+    }
+
+    ROS_INFO("Joints Hardware Interface - Joints' Name : (1 : %s, 2 : %s, 3 : %s)", _joints_name[0].c_str(), _joints_name[1].c_str(), _joints_name[2].c_str());
+    ROS_INFO("Joints Hardware Interface - Joints' Name : (4 : %s, 5 : %s, 6 : %s)", _joints_name[3].c_str(), _joints_name[4].c_str(), _joints_name[5].c_str());
+    ROS_INFO("Joints Hardware Interface - Joints' ID : (1 : %d, 2 : %d, 3 : %d)", _joints_id[0], _joints_id[1], _joints_id[2]);
+    ROS_INFO("Joints Hardware Interface - Joints' ID : (4 : %d, 5 : %d, 6 : %d)", _joints_id[3], _joints_id[4], _joints_id[5]);
+
+    // connect and register joint state interface
+    std::vector<hardware_interface::JointStateHandle> state_handle;
+    for (int i = 0; i < 6; i++)
+    {
+        state_handle.push_back(hardware_interface::JointStateHandle(_joints_name[i], &_pos[i], &_vel[i], &_eff[i]));
+        _joint_state_interface.registerHandle(state_handle[i]);
+    }
+    registerInterface(&_joint_state_interface);
+
+    std::vector<hardware_interface::JointHandle> position_handle;
+    for (int i = 0; i < 6; i++)
+    {
+        position_handle.push_back(hardware_interface::JointHandle(_joint_state_interface.getHandle(_joints_name[i]), &_cmd[i]));
+        _joint_position_interface.registerHandle(position_handle[i]);
+    }
+    registerInterface(&_joint_position_interface);
+
+    _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_1_gear_ratio", _gear_ratio_1);
+    _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_2_gear_ratio", _gear_ratio_2);
+    _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_3_gear_ratio", _gear_ratio_3);
+    ROS_DEBUG("Joints Hardware Interface - Joint Hardware Interface - Gear ratios : (1 : %lf, 2 : %lf, 3 : %lf)", _gear_ratio_1, _gear_ratio_2, _gear_ratio_3);
+
+    _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_1_home_position", _home_position_1);
+    _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_2_home_position", _home_position_2);
+    _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_3_home_position", _home_position_3);
+    ROS_DEBUG("Joints Hardware Interface - Home positions : (1 : %lf, 2 : %lf, 3 : %lf)", _home_position_1, _home_position_2, _home_position_3);
+
+    _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_1_offset_position", _offset_position_stepper_1);
+    _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_2_offset_position", _offset_position_stepper_2);
+    _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_3_offset_position", _offset_position_stepper_3);
+    ROS_DEBUG("Joints Hardware Interface - Angle offsets steppers: (1 : %lf, 2 : %lf, 3 : %lf)", _offset_position_stepper_1, _offset_position_stepper_2, _offset_position_stepper_3);
+
+    _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_1_direction", _direction_1);
+    _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_2_direction", _direction_2);
+    _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_3_direction", _direction_3);
+    ROS_DEBUG("Joints Hardware Interface - Direction : (1 : %lf, 2 : %lf, 3 : %lf)", _direction_1, _direction_2, _direction_3);
+
+    _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_1_max_effort", _max_effort_1);
+    _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_2_max_effort", _max_effort_2);
+    _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_3_max_effort", _max_effort_3);
+    ROS_DEBUG("Joints Hardware Interface - Max effort : (1 : %d, 2 : %d, 3 : %d)", _max_effort_1, _max_effort_2, _max_effort_3);
+
+    _nh.getParam("/niryo_robot_hardware_interface/dynamixels/dxl_1_offset_position", _offset_position_dxl_1);
+    _nh.getParam("/niryo_robot_hardware_interface/dynamixels/dxl_2_offset_position", _offset_position_dxl_2);
+    _nh.getParam("/niryo_robot_hardware_interface/dynamixels/dxl_3_offset_position", _offset_position_dxl_3);
+    ROS_DEBUG("Joints Hardware Interface - Angle offsets dxk: (1 : %lf, 2 : %lf, 3 : %lf)", _offset_position_dxl_1, _offset_position_dxl_2, _offset_position_dxl_3);
+
+    _nh.getParam("/niryo_robot_hardware_interface/dynamixels/dxl_1_P_gain", _p_gain_1);
+    _nh.getParam("/niryo_robot_hardware_interface/dynamixels/dxl_2_P_gain", _p_gain_2);
+    _nh.getParam("/niryo_robot_hardware_interface/dynamixels/dxl_3_P_gain", _p_gain_3);
+    ROS_DEBUG("Joints Hardware Interface - Proportional Gain dxk: (1 : %d, 2 : %d, 3 : %d)", _p_gain_1, _p_gain_2, _p_gain_3);
+
+    _nh.getParam("/niryo_robot_hardware_interface/dynamixels/dxl_1_I_gain", _i_gain_1);
+    _nh.getParam("/niryo_robot_hardware_interface/dynamixels/dxl_2_I_gain", _i_gain_2);
+    _nh.getParam("/niryo_robot_hardware_interface/dynamixels/dxl_3_I_gain", _i_gain_3);
+    ROS_DEBUG("Joints Hardware Interface - Integral Gain dxk: (1 : %d, 2 : %d, 3 : %d)", _i_gain_1, _i_gain_2, _i_gain_3);
+
+    _nh.getParam("/niryo_robot_hardware_interface/dynamixels/dxl_3_D_gain", _d_gain_3);
+    ROS_DEBUG("Joints Hardware Interface - Integral Gain dxk: (3 : %d)",  _d_gain_3);
+
+    // Create motors with previous params
+    _joint_list.clear();
+    _list_stepper_id.clear();
+    _map_stepper_name.clear();
+    _list_dxl_id.clear();
+    _map_dxl_name.clear();
+    std::vector<JointState> joints_vect;
+    for (int i = 0; i < 3; i++)
+    {
+        joints_vect.push_back(JointState(_joints_name[i], (uint8_t)StepperDriver::StepperMotorType::MOTOR_TYPE_STEPPER, _joints_id[i]));
+        _list_stepper_id.push_back(_joints_id[i]);
+        _map_stepper_name[_joints_id[i]] = _joints_name[i];
+        _joint_list.push_back(joints_vect[i]);
+    }
+    for (int i = 3; i < 5; i++)
+    {
+        joints_vect.push_back(JointState(_joints_name[i], (uint8_t)DynamixelDriver::DxlMotorType::MOTOR_TYPE_XL430, _joints_id[i]));
+        _list_dxl_id.push_back(_joints_id[i]);
+        _map_dxl_name[_joints_id[i]] = _joints_name[i];
+        _joint_list.push_back(joints_vect[i]);
+    }
+    for (int i = 5; i < 6; i++)
+    {
+        joints_vect.push_back(JointState(_joints_name[i], (uint8_t)DynamixelDriver::DxlMotorType::MOTOR_TYPE_XL320, _joints_id[i]));
+        _list_dxl_id.push_back(_joints_id[i]);
+        _map_dxl_name[_joints_id[i]] = _joints_name[i];
+        _joint_list.push_back(joints_vect[i]);
+    }
+    initMotors();
+
+    _calibration_interface.reset(new CalibrationInterface(_joint_list
+    , _stepper, _dynamixel));
+}
+
+void JointHardwareInterface::initMotors()
+{
+    _joint_list.at(0).setNeedCalibration(true);
+    _joint_list.at(1).setNeedCalibration(true);
+    _joint_list.at(2).setNeedCalibration(true);
+    _joint_list.at(3).setNeedCalibration(false);
+    _joint_list.at(4).setNeedCalibration(false);
+    _joint_list.at(5).setNeedCalibration(false);
+
+    sendInitMotorsParams();
+
+    activateLearningMode();
+}
+
+void JointHardwareInterface::sendInitMotorsParams()
+{
+    StepperDriver::StepperMotorCmd cmd;
+    std::vector<int32_t> stepper_params{8, 8, 8};
+    cmd.setParams(stepper_params);
+    cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_MICRO_STEPS);
+    cmd.setMotorsId(_list_stepper_id);
+
+    _stepper->setStepperCommands(cmd);
+    ros::Duration(0.05).sleep();
+
+    stepper_params.clear();
+    stepper_params = {
+        _max_effort_1,
+        _max_effort_2,
+        _max_effort_3};
+
+    cmd.setParams(stepper_params);
+    cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_MAX_EFFORT);
+    cmd.setMotorsId(_list_stepper_id);
+
+    _stepper->setStepperCommands(cmd);
+    ros::Duration(0.05).sleep();
+
+    // ** DXL PID configuration ** //
+    ros::ServiceClient dxl_client = _nh.serviceClient<dynamixel_driver::SendCustomDxlValue>("/niryo_robot/dynamixel_driver/send_custom_dxl_value");
+    dynamixel_driver::SendCustomDxlValue dxl_cmd_srv;
+
+    // * Joint 4
+    dxl_cmd_srv.request.motor_type = 2;
+    dxl_cmd_srv.request.id = 2;
+    dxl_cmd_srv.request.byte_number = 2;
+    dxl_cmd_srv.request.value = _p_gain_1;
+    dxl_cmd_srv.request.reg_address = 80;
+    if (dxl_client.call(dxl_cmd_srv))
+        ROS_DEBUG("Joints Hardware Interface - Set joint 4 P Gain OK");
+
+    dxl_cmd_srv.request.value = _i_gain_1;
+    dxl_cmd_srv.request.reg_address = 82;
+    if (dxl_client.call(dxl_cmd_srv))
+        ROS_DEBUG("Joints Hardware Interface - Set joint 4 I Gain OK");
+
+    // * Joint 5
+    dxl_cmd_srv.request.motor_type = 2;
+    dxl_cmd_srv.request.id = 3;
+    dxl_cmd_srv.request.byte_number = 2;
+    dxl_cmd_srv.request.value = _p_gain_2;
+    dxl_cmd_srv.request.reg_address = 80;
+    if (dxl_client.call(dxl_cmd_srv))
+        ROS_DEBUG("Joints Hardware Interface - Set joint 5 P Gain OK");
+
+    dxl_cmd_srv.request.value = _i_gain_2;
+    dxl_cmd_srv.request.reg_address = 82;
+    if (dxl_client.call(dxl_cmd_srv))
+        ROS_DEBUG("Joints Hardware Interface - Set joint 5 I Gain OK");
+
+    // * Joint 6
+    dxl_cmd_srv.request.motor_type = 3;
+    dxl_cmd_srv.request.id = 6;
+    dxl_cmd_srv.request.byte_number = 1;
+    dxl_cmd_srv.request.value = _p_gain_3;
+    dxl_cmd_srv.request.reg_address = 27;
+    if (dxl_client.call(dxl_cmd_srv))
+        ROS_DEBUG("Joints Hardware Interface - Set joint 6 P Gain OK");
+
+    dxl_cmd_srv.request.value = _i_gain_3;
+    dxl_cmd_srv.request.reg_address = 28;
+    if (dxl_client.call(dxl_cmd_srv))
+        ROS_DEBUG("Joints Hardware Interface - Set joint 6 I Gain OK");
+
+    dxl_cmd_srv.request.value = _d_gain_3;
+    dxl_cmd_srv.request.reg_address = 29;
+    if (dxl_client.call(dxl_cmd_srv))
+        ROS_DEBUG("Joints Hardware Interface - Set joint 6 D Gain OK");
+}
+
+void JointHardwareInterface::setCommandToCurrentPosition()
+{
+    ROS_DEBUG("Joints Hardware Interface - Set command to current position called");
+    _joint_position_interface.getHandle("joint_1").setCommand(_pos[0]);
+    _joint_position_interface.getHandle("joint_2").setCommand(_pos[1]);
+    _joint_position_interface.getHandle("joint_3").setCommand(_pos[2]);
+    _joint_position_interface.getHandle("joint_4").setCommand(_pos[3]);
+    _joint_position_interface.getHandle("joint_5").setCommand(_pos[4]);
+    _joint_position_interface.getHandle("joint_6").setCommand(_pos[5]);
+}
+
+void JointHardwareInterface::read()
+{
+    // std::vector<StepperDriver::StepperMotorState> stepper_motor_state;
+    std::vector<int32_t> stepper_motor_state = _stepper->getTrajectoryControllerStates();
+    std::vector<DynamixelDriver::DxlMotorState> dxl_motor_state = _dynamixel->getDxlStates();
+    _pos[0] = steps_to_rad_pos(stepper_motor_state.at(0), _gear_ratio_1, _direction_1);
+    _pos[1] = steps_to_rad_pos(stepper_motor_state.at(1), _gear_ratio_2, _direction_2);
+    _pos[2] = steps_to_rad_pos(stepper_motor_state.at(2), _gear_ratio_3, _direction_3);
+
+    // Quick fix
+    double dxl1_pose = _offset_position_dxl_1 + xl430_pos_to_rad_pos(dxl_motor_state.at(0).getPositionState());
+    double dxl2_pose = _offset_position_dxl_2 + xl430_pos_to_rad_pos(XL430_MIDDLE_POSITION * 2 - dxl_motor_state.at(1).getPositionState());
+    double dxl3_pose = _offset_position_dxl_3 + xl320_pos_to_rad_pos(dxl_motor_state.at(2).getPositionState());
+    _pos[3] = abs(dxl1_pose) < 2 * M_PI ? dxl1_pose : _pos[3];
+    _pos[4] = abs(dxl2_pose) < 2 * M_PI ? dxl2_pose : _pos[4];
+    _pos[5] = abs(dxl3_pose) < 2 * M_PI ? dxl3_pose : _pos[5];
+
+    // Require new calibration for stepper because it was disconnected
+    if (!_stepper->isConnectionOk())
+        this->newCalibration();
+}
+
+void JointHardwareInterface::write()
+{
+    std::vector<int32_t> stepper_cmds{
+        rad_pos_to_steps(_cmd[0], _gear_ratio_1, _direction_1),
+        rad_pos_to_steps(_cmd[1], _gear_ratio_2, _direction_2),
+        rad_pos_to_steps(_cmd[2], _gear_ratio_3, _direction_3)};
+
+    std::vector<uint32_t> dxl_cmds{
+        rad_pos_to_xl430_pos(_cmd[3] - _offset_position_dxl_1),
+        (XL430_MIDDLE_POSITION * 2 - rad_pos_to_xl430_pos(_cmd[4] - _offset_position_dxl_2)),
+        rad_pos_to_xl320_pos(_cmd[5] - _offset_position_dxl_3)};
+
+    _stepper->setTrajectoryControllerCommands(stepper_cmds);
+    _dynamixel->setTrajectoryControllerCommands(dxl_cmds);
+}
+
+bool JointHardwareInterface::needCalibration()
+{
+    bool result = false;
+    for (int i = 0; i < _joint_list.size(); i++)
+    {
+        if (_joint_list.at(i).needCalibration())
+        {
+            result = true;
+            break;
+        }
+    }
+    ROS_DEBUG_THROTTLE(2, "Joints Hardware Interface - Need calibration returned: %d", static_cast<int>(result));
+    return result;
+}
+
+int JointHardwareInterface::calibrateJoints(int mode, std::string &result_message)
+{
+    if (isCalibrationInProgress())
+    {
+        result_message = "Joints Hardware Interface - Calibration already in process";
+        return niryo_robot_msgs::CommandStatus::ABORTED;
+    }
+    if (needCalibration())
+    {
+        return _calibration_interface->startCalibration(mode, result_message);
+    }
+    else
+    {
+        result_message = "Joints Hardware Interface - Calibration already done";
+        return niryo_robot_msgs::CommandStatus::SUCCESS;
+    }
+}
+
+void JointHardwareInterface::newCalibration()
+{
+    _joint_list.at(0).setNeedCalibration(true);
+    _joint_list.at(1).setNeedCalibration(true);
+    _joint_list.at(2).setNeedCalibration(true);
+    return;
+}
+
+void JointHardwareInterface::activateLearningMode()
+{
+    ROS_DEBUG("Joints Hardware Interface - activate learning mode");
+    DynamixelDriver::SynchronizeMotorCmd dxl_cmd;
+    StepperDriver::StepperMotorCmd stepper_cmd;
+
+    dxl_cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_LEARNING_MODE);
+    stepper_cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_TORQUE);
+
+    stepper_cmd.setMotorsId(_list_stepper_id);
+
+    std::vector<int32_t> stepper_params{0, 0, 0};
+    std::vector<uint32_t> dxl_params{0};
+
+    dxl_cmd.setParams(dxl_params);
+    stepper_cmd.setParams(stepper_params);
+
+    _stepper->setStepperCommands(stepper_cmd);
+    _dynamixel->setDxlCommands(dxl_cmd);
+
+    _learning_mode = true;
+}
+
+void JointHardwareInterface::deactivateLearningMode()
+{
+    ROS_DEBUG("Joints Hardware Interface - deactivate learning mode");
+    DynamixelDriver::SynchronizeMotorCmd dxl_cmd;
+    StepperDriver::StepperMotorCmd stepper_cmd;
+    bool enable_torque = false;
+
+    dxl_cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_LEARNING_MODE);
+    stepper_cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_TORQUE);
+
+    stepper_cmd.setMotorsId(_list_stepper_id);
+
+    std::vector<int32_t> stepper_params{1, 1, 1};
+    std::vector<uint32_t> dxl_params{1};
+    dxl_cmd.setParams(dxl_params);
+    stepper_cmd.setParams(stepper_params);
+
+    _stepper->setStepperCommands(stepper_cmd);
+    _dynamixel->setDxlCommands(dxl_cmd);
+    _learning_mode = false;
+}
+
+void JointHardwareInterface::synchronizeMotors(bool synchronise)
+{
+    ROS_DEBUG("JointHardwareInterface::synchronizeMotors");
+    StepperDriver::StepperMotorCmd stepper_cmd;
+
+    stepper_cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_SYNCHRONIZE);
+
+    stepper_cmd.setMotorsId(_list_stepper_id);
+
+    std::vector<int32_t> stepper_params{
+        (int8_t)synchronise,
+        (int8_t)synchronise,
+        (int8_t)synchronise};
+
+    stepper_cmd.setParams(stepper_params);
+
+    _stepper->setStepperCommands(stepper_cmd);
+}
+
+bool JointHardwareInterface::isCalibrationInProgress()
+{
+    return _calibration_interface->CalibrationInprogress();
+}
+
+std::vector<JointState> &JointHardwareInterface::getJointsState()
+{
+    return _joint_list;
+}
+
+std::string JointHardwareInterface::jointIdToJointName(int id, uint8_t motor_type)
+{
+    if (motor_type == (uint8_t)StepperDriver::StepperMotorType::MOTOR_TYPE_STEPPER)
+    {
+        std::map<uint8_t, std::string>::iterator  it= _map_stepper_name.find(id);
+        if (it !=  _map_stepper_name.end())
+            return it->second;
+    }
+    else if (motor_type == (uint8_t)DynamixelDriver::DxlMotorType::MOTOR_TYPE_XL430 or motor_type ==(uint8_t)DynamixelDriver::DxlMotorType::MOTOR_TYPE_XL320)
+    {
+        std::map<uint8_t, std::string>::iterator  it= _map_dxl_name.find(id);
+        if (it !=  _map_dxl_name.end())
+            return it->second;
+    }
+    return "";
+}
diff --git a/niryo_robot_hardware_stack/joints_interface/src/calibration_interface.cpp b/niryo_robot_hardware_stack/joints_interface/src/calibration_interface.cpp
new file mode 100644
index 000000000..bc7334d13
--- /dev/null
+++ b/niryo_robot_hardware_stack/joints_interface/src/calibration_interface.cpp
@@ -0,0 +1,456 @@
+// /*
+//     calibration_interface.cpp
+//     Copyright (C) 2020 Niryo
+//     All rights reserved.
+
+//     This program is free software: you can redistribute it and/or modify
+//     it under the terms of the GNU General Public License as published by
+//     the Free Software Foundation, either version 3 of the License, or
+//     (at your option) any later version.
+
+//     This program is distributed in the hope that it will be useful,
+//     but WITHOUT ANY WARRANTY; without even the implied warranty of
+//     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+//     GNU General Public License for more details.
+
+//     You should have received a copy of the GNU General Public License
+//     along with this program.  If not, see <http://www.gnu.org/licenses/>.
+// */
+
+#include "joints_interface/calibration_interface.hpp"
+#include "joints_interface/Math.hpp"
+#include <ros/console.h>
+
+CalibrationInterface::CalibrationInterface(std::vector<JointState> &joint_list,
+                                           boost::shared_ptr<StepperDriver::StepperDriverCore> &stepper, boost::shared_ptr<DynamixelDriver::DynamixelDriverCore> &dynamixel) : _joint_list(joint_list), _stepper(stepper), _dynamixel(dynamixel)
+{
+    // if( ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug) ) {
+    // ros::console::notifyLoggerLevelsChanged();
+    // }
+
+    _nh.getParam("/niryo_robot_hardware_interface/calibration_timeout", _calibration_timeout);
+    ROS_DEBUG("Calibration Interface - Calibration timeout %d", _calibration_timeout);
+
+    _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_1_gear_ratio", _gear_ratio_1);
+    _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_2_gear_ratio", _gear_ratio_2);
+    _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_3_gear_ratio", _gear_ratio_3);
+    ROS_DEBUG("Calibration Interface - Gear ratios : (1 : %lf, 2 : %lf, 3 : %lf)", _gear_ratio_1, _gear_ratio_2, _gear_ratio_3);
+
+    _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_1_offset_position", _offset_position_stepper_1);
+    _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_2_offset_position", _offset_position_stepper_2);
+    _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_3_offset_position", _offset_position_stepper_3);
+    ROS_DEBUG("Calibration Interface - Angle offsets steppers: (1 : %lf, 2 : %lf, 3 : %lf)", _offset_position_stepper_1, _offset_position_stepper_2, _offset_position_stepper_3);
+
+    _nh.getParam("/niryo_robot_hardware_interface/dynamixels/dxl_1_offset_position", _offset_position_dxl_1);
+    _nh.getParam("/niryo_robot_hardware_interface/dynamixels/dxl_2_offset_position", _offset_position_dxl_2);
+    _nh.getParam("/niryo_robot_hardware_interface/dynamixels/dxl_3_offset_position", _offset_position_dxl_3);
+    ROS_DEBUG("Calibration Interface - Angle offsets dxl: (1 : %lf, 2 : %lf, 3 : %lf)", _offset_position_dxl_1, _offset_position_dxl_2, _offset_position_dxl_3);
+
+    _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_1_direction", _direction_1);
+    _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_2_direction", _direction_2);
+    _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_3_direction", _direction_3);
+    ROS_DEBUG("Calibration Interface - Direction : (1 : %lf, 2 : %lf, 3 : %lf)", _direction_1, _direction_2, _direction_3);
+
+    _nh.getParam("/niryo_robot_hardware_interface/dynamixels/xl430_middle_position", _xl430_middle_position);
+    _nh.getParam("/niryo_robot_hardware_interface/dynamixels/xl320_middle_position", _xl320_middle_position);
+    ROS_DEBUG("Calibration Interface - xl430 middle position %d, xl320 middle position %d)", _xl430_middle_position, _xl320_middle_position);
+
+    _motor_calibration_list.clear();
+    _calibration_in_progress = false;
+
+    ROS_INFO("Calibration Interface - Calibration interface started");
+}
+
+bool CalibrationInterface::CalibrationInprogress()
+{
+    return _calibration_in_progress;
+}
+
+int CalibrationInterface::startCalibration(int mode, std::string &result_message)
+{
+    if (mode == 1) // auto
+    {
+        _calibration_in_progress = true;
+        if (!_check_steppers_connected())
+        {
+            result_message = "Calibration Interface - Please ensure that all motors are connected";
+            _calibration_in_progress = false;
+            return niryo_robot_msgs::CommandStatus::CALIBRATION_NOT_DONE;
+        }
+        _auto_calibration();
+        _calibration_in_progress = false;
+    }
+    else if (mode == 2) // manuel
+    {
+        _calibration_in_progress = true;
+        if (!_can_process_manual_calibration(result_message))
+        {
+            result_message = "Calibration Interface - Can't proceed to manual calibration";
+            _calibration_in_progress = false;
+            return niryo_robot_msgs::CommandStatus::CALIBRATION_NOT_DONE;
+        }
+        if (!_check_steppers_connected())
+        {
+            result_message = "Calibration Interface - Please ensure that all motors are connected";
+            _calibration_in_progress = false;
+            return niryo_robot_msgs::CommandStatus::CALIBRATION_NOT_DONE;
+        }
+
+        _manual_calibration();
+        _calibration_in_progress = false;
+    }
+    else
+    {
+        result_message = "Calibration Interface - Command error";
+        return -1;
+    }
+    result_message = "Calibration Interface - Calibration done";
+    return niryo_robot_msgs::CommandStatus::SUCCESS;
+}
+
+void CalibrationInterface::_motorTorque(JointState &motor, bool status)
+{
+    StepperDriver::StepperMotorCmd stepper_cmd;
+
+    stepper_cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_TORQUE);
+    std::vector<uint8_t> id{motor.getId()};
+    stepper_cmd.setMotorsId(id);
+    std::vector<int32_t> param{status};
+    stepper_cmd.setParams(param);
+
+    _stepper->setStepperCommands(stepper_cmd);
+    ros::Duration(0.2).sleep();
+}
+
+void CalibrationInterface::_moveMotor(JointState &motor, int steps, float delay)
+{
+    _motorTorque(motor, true);
+
+    StepperDriver::StepperMotorCmd stepper_cmd;
+    stepper_cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_POSITION);
+
+    std::vector<uint8_t> id{motor.getId()};
+    stepper_cmd.setMotorsId(id);
+
+    std::vector<int32_t> param{steps};
+    stepper_cmd.setParams(param);
+
+    _stepper->setStepperCommands(stepper_cmd);
+
+    ros::Duration(delay).sleep();
+}
+
+int CalibrationInterface::_relativeMoveMotor(JointState &motor, int steps, int delay, bool wait)
+{
+    _motorTorque(motor, true);
+
+    StepperDriver::StepperMotorCmd stepper_cmd;
+    stepper_cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_RELATIVE_MOVE);
+    std::vector<int32_t> param{steps, delay};
+    stepper_cmd.setParams(param);
+    std::vector<uint8_t> id{motor.getId()};
+    stepper_cmd.setMotorsId(id);
+
+    _stepper->setStepperCommands(stepper_cmd);
+    param.clear();
+    if (wait)
+    {
+        ros::Duration(std::abs(steps * delay / 1000000) + 0.5).sleep(); // wait for 0.5 sec more to finish
+    }
+    return 1;
+}
+
+void CalibrationInterface::_setCalibrationCommand(
+    JointState &motor, int offset, int delay, int motor_direction, int calibration_direction, int timeout,
+    boost::shared_ptr<int32_t> &calibration_result)
+{
+    StepperDriver::StepperMotorCmd stepper_cmd;
+
+    stepper_cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_CALIBRATION);
+    std::vector<uint8_t> id{motor.getId()};
+    stepper_cmd.setMotorsId(id);
+
+    std::vector<int32_t> params{offset, delay, motor_direction * calibration_direction, timeout};
+    stepper_cmd.setParams(params);
+
+    _stepper->setStepperCommands(stepper_cmd);
+
+    ROS_INFO("Calibration Interface - Wait for calibration result for motor id %d :", id[0]);
+    ros::Duration(0.2).sleep();
+    while (_stepper->getCalibrationResult(id[0], calibration_result) == e_CanStepperCalibrationStatus::CAN_STEPPERS_CALIBRATION_IN_PROGRESS)
+    {
+        ros::Duration(0.2).sleep();
+    }
+    ROS_INFO("Calibration Interface - Motor %d, calibration cmd result %d ", id[0], *calibration_result.get());
+}
+
+bool CalibrationInterface::_check_steppers_connected()
+{
+    for (int stepper_id = 0; stepper_id < 3; stepper_id++)
+    {
+        if (!_stepper->scanMotorId(_joint_list.at(stepper_id).getId()))
+            return false;
+    }
+    return true;
+}
+
+void CalibrationInterface::_auto_calibration()
+{
+    _stepper->startCalibration(true);
+    // 0. Torque ON for motor 2
+
+    ros::Duration sld(0.2);
+    sld.sleep();
+    StepperDriver::StepperMotorCmd stepper_cmd;
+
+    stepper_cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_TORQUE);
+
+    std::vector<uint8_t> id{_joint_list.at(1).getId()};
+    stepper_cmd.setMotorsId(id);
+    std::vector<int32_t> stepper_param{true};
+    stepper_cmd.setParams(stepper_param);
+    _stepper->setStepperCommands(stepper_cmd);
+    sld.sleep();
+
+    // 1. Relative Move Motor 3
+    _relativeMoveMotor(_joint_list.at(2), rad_pos_to_steps(0.25, _gear_ratio_3, _direction_3), 500, false);
+    ros::Duration(0.5).sleep();
+
+    // 2. Move All Dynamixel to Home Position
+    DynamixelDriver::SynchronizeMotorCmd dynamixel_cmd;
+
+    dynamixel_cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_TORQUE);
+    id.clear();
+    id = {
+        _joint_list.at(3).getId(),
+        _joint_list.at(4).getId(),
+        _joint_list.at(5).getId()};
+    dynamixel_cmd.setMotorsId(id);
+    std::vector<uint32_t> dxl_param{1, 1, 1};
+    dynamixel_cmd.setParams(dxl_param);
+    _dynamixel->setDxlCommands(dynamixel_cmd);
+    sld.sleep();
+
+    dxl_param = {
+        rad_pos_to_xl430_pos(-_offset_position_dxl_1),
+        rad_pos_to_xl430_pos(-_offset_position_dxl_2),
+        rad_pos_to_xl320_pos(-_offset_position_dxl_3)};
+    _dynamixel->setTrajectoryControllerCommands(dxl_param);
+    sld.sleep();
+
+    _joint_list.at(3).setNeedCalibration(false);
+    _joint_list.at(4).setNeedCalibration(false);
+    _joint_list.at(5).setNeedCalibration(false);
+
+    // 3. Send calibration cmd 1 + 2 + 3
+
+    boost::shared_ptr<int32_t> stepper_1_calibration_result(new int32_t());
+    boost::shared_ptr<int32_t> stepper_2_calibration_result(new int32_t());
+    boost::shared_ptr<int32_t> stepper_3_calibration_result(new int32_t());
+
+    //_stepper->setCalibrationResult(_joint_list.at(0).getId(), 0);
+    std::thread stepper_1_calibration_thread = std::thread(boost::bind(&CalibrationInterface::_setCalibrationCommand, this,
+                                                                       _joint_list.at(0), rad_pos_to_steps(_offset_position_stepper_1, _gear_ratio_1, _direction_1), 200, _direction_1, 1, _calibration_timeout,
+                                                                       stepper_1_calibration_result));
+    sld.sleep();
+    std::thread stepper_2_calibration_thread = std::thread(boost::bind(&CalibrationInterface::_setCalibrationCommand, this,
+                                                                       _joint_list.at(1), rad_pos_to_steps(_offset_position_stepper_2, _gear_ratio_2, _direction_2), 1000, _direction_2, 1, _calibration_timeout,
+                                                                       stepper_2_calibration_result));
+    sld.sleep();
+    std::thread stepper_3_calibration_thread = std::thread(boost::bind(&CalibrationInterface::_setCalibrationCommand, this,
+                                                                       _joint_list.at(2), rad_pos_to_steps(_offset_position_stepper_3, _gear_ratio_3, _direction_3), 1000, _direction_3, -1, _calibration_timeout,
+                                                                       stepper_3_calibration_result));
+    sld.sleep();
+
+    stepper_1_calibration_thread.join();
+    stepper_2_calibration_thread.join();
+    stepper_3_calibration_thread.join();
+
+    if (*stepper_1_calibration_result.get() == 0 || *stepper_2_calibration_result.get() == 0 || *stepper_3_calibration_result.get() == 0)
+    {
+        ROS_ERROR("Calibration Interface -  An error occured while calibrating stepper motors");
+        return;
+    }
+    ROS_INFO("Calibration Interface -  New Calibration values : ");
+    ROS_INFO("Calibration Interface -  motor id %d - calibration value %d", _joint_list.at(0).getId(), *stepper_1_calibration_result.get());
+    ROS_INFO("Calibration Interface -  motor id %d - calibration value %d", _joint_list.at(1).getId(), *stepper_2_calibration_result.get());
+    ROS_INFO("Calibration Interface -  motor id %d - calibration value %d", _joint_list.at(2).getId(), *stepper_3_calibration_result.get());
+
+    std::vector<int> sensor_offset_ids;
+    sensor_offset_ids.push_back(_joint_list.at(0).getId());
+    sensor_offset_ids.push_back(_joint_list.at(1).getId());
+    sensor_offset_ids.push_back(_joint_list.at(2).getId());
+
+    std::vector<int> sensor_offset_steps;
+    sensor_offset_steps.push_back(*stepper_1_calibration_result.get());
+    sensor_offset_steps.push_back(*stepper_2_calibration_result.get());
+    sensor_offset_steps.push_back(*stepper_3_calibration_result.get());
+
+    // 4. Move motor 1,2,3 to 0.0
+    // -0.01 to bypass error
+    sld.sleep();
+    _relativeMoveMotor(_joint_list.at(0), -rad_pos_to_steps(_offset_position_stepper_1, _gear_ratio_1, _direction_1), 550, false);
+    ros::Duration(2.5).sleep();
+
+
+    dynamixel_cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_TORQUE);
+    stepper_cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_TORQUE);
+
+    dynamixel_cmd.setMotorsId(std::vector<uint8_t>{
+        _joint_list.at(3).getId(),
+        _joint_list.at(4).getId(),
+        _joint_list.at(5).getId()});
+
+    stepper_cmd.setMotorsId(std::vector<uint8_t>{
+        _joint_list.at(0).getId(),
+        _joint_list.at(1).getId(),
+        _joint_list.at(2).getId()});
+
+    std::vector<int32_t> stepper_params{0, 0, 0};
+    std::vector<uint32_t> dxl_params{0, 0, 0};
+
+    dynamixel_cmd.setParams(dxl_params);
+    stepper_cmd.setParams(stepper_params);
+
+    _stepper->setStepperCommands(stepper_cmd);
+    _dynamixel->setDxlCommands(dynamixel_cmd);
+    sld.sleep();
+
+    // 6. Write sensor_offset_steps to file
+    set_motors_calibration_offsets(sensor_offset_ids, sensor_offset_steps);
+
+    _stepper->startCalibration(false);
+    _joint_list.at(0).setNeedCalibration(false);
+    _joint_list.at(1).setNeedCalibration(false);
+    _joint_list.at(2).setNeedCalibration(false);
+}
+
+bool CalibrationInterface::_can_process_manual_calibration(std::string &result_message)
+{
+    std::vector<StepperDriver::StepperMotorState> stepper_motor_state;
+    double gear_ratio, direction = 0.0;
+
+    stepper_motor_state = _stepper->getStepperStates();
+
+    // 1. Check if motors firmware version is ok
+    for (int i = 0; i < stepper_motor_state.size(); i++)
+    {
+        std::string firmware_version = stepper_motor_state.at(i).getFirmwareVersion();
+        if (firmware_version.length() == 0)
+        {
+            result_message = "Calibration Interface - No firmware version available for motor " + std::to_string(stepper_motor_state.at(i).getId()) + ". Make sure all motors are connected";
+            ROS_WARN("Calibration Interface - Can't process manual calibration : %s", result_message.c_str());
+            return false;
+        }
+        if (std::stoi(firmware_version.substr(0, 1)) < 2)
+        {
+            result_message = "Calibration Interface - You need to upgrade stepper firmware for motor " + std::to_string(stepper_motor_state.at(i).getId());
+            ROS_WARN("Calibration Interface - Can't process manual calibration : %s", result_message.c_str());
+            return false;
+        }
+    }
+
+    // 2. Check if motor offset values have been previously saved (with auto calibration)
+    std::vector<int> motor_id_list;
+    std::vector<int> steps_list;
+    if (!get_motors_calibration_offsets(motor_id_list, steps_list))
+    {
+        result_message = "Calibration Interface - You need to make one auto calibration before using the manual calibration";
+        ROS_WARN("Calibration Interface - Can't process manual calibration : %s", result_message.c_str());
+        return false;
+    }
+
+    // 3. Check if all connected motors have a motor offset value
+    for (int i = 0; i < stepper_motor_state.size(); i++)
+    {
+        for (int j = 0; j < motor_id_list.size(); j++)
+        {
+            if (motor_id_list.at(j) == stepper_motor_state.at(i).getId())
+            {
+                break;
+            }
+            if (j == motor_id_list.size() - 1)
+            {
+                result_message = "Calibration Interface - Motor " + std::to_string(stepper_motor_state.at(i).getId()) + " does not have a saved offset value, " + "you need to do one auto calibration";
+                ROS_WARN("Calibration Interface - Can't process manual calibration : %s", result_message.c_str());
+                return false;
+            }
+        }
+    }
+
+    return true;
+}
+
+void CalibrationInterface::_send_calibration_offset(uint8_t id, int offset_to_send, int absolute_steps_at_offset_position)
+{
+    StepperDriver::StepperMotorCmd stepper_cmd;
+
+    stepper_cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_POSITION_OFFSET);
+
+    std::vector<uint8_t> id_cmd = {id};
+    std::vector<int32_t> params_cmd = {offset_to_send, absolute_steps_at_offset_position};
+
+    stepper_cmd.setMotorsId(id_cmd);
+    stepper_cmd.setParams(params_cmd);
+    _stepper->setStepperCommands(stepper_cmd);
+    // rest.sleep();
+    id_cmd.clear();
+    params_cmd.clear();
+}
+
+int CalibrationInterface::_manual_calibration()
+{
+    ros::Rate rest(0.5);
+    ros::Duration sld(0.2);
+    std::vector<int> motor_id_list;
+    std::vector<int> steps_list;
+
+    if (!get_motors_calibration_offsets(motor_id_list, steps_list))
+    {
+        return static_cast<int>(e_CanStepperCalibrationStatus::CAN_STEPPERS_CALIBRATION_FAIL);
+    }
+    _stepper->startCalibration(true);
+    // 0. Torque ON for motor 2
+
+    int steps_per_rev = int(STEPPERS_MICROSTEPS * STEPPERS_MOTOR_STEPS_PER_REVOLUTION);
+
+    for (int i = 0; i < motor_id_list.size(); i++)
+    {
+        int offset_to_send = 0;
+        int sensor_offset_steps = steps_list.at(i);
+        int absolute_steps_at_offset_position = 0;
+
+        if (motor_id_list.at(i) == _joint_list.at(0).getId())
+        {
+            offset_to_send = (sensor_offset_steps - rad_pos_to_steps(_offset_position_stepper_1, _gear_ratio_1, _direction_1)) % steps_per_rev;
+            if (offset_to_send < 0)
+                offset_to_send += steps_per_rev;
+            absolute_steps_at_offset_position = offset_to_send;
+
+            _send_calibration_offset(_joint_list.at(0).getId(), offset_to_send, absolute_steps_at_offset_position);
+            _joint_list.at(0).setNeedCalibration(false);
+            sld.sleep();
+        }
+
+        else if (motor_id_list.at(i) == _joint_list.at(1).getId())
+        {
+            offset_to_send = (sensor_offset_steps - rad_pos_to_steps(_offset_position_stepper_2, _gear_ratio_2, _direction_2));
+            absolute_steps_at_offset_position = sensor_offset_steps;
+
+            _send_calibration_offset(_joint_list.at(1).getId(), offset_to_send, absolute_steps_at_offset_position);
+            _joint_list.at(1).setNeedCalibration(false);
+            sld.sleep();
+        }
+
+        else if (motor_id_list.at(i) == _joint_list.at(2).getId())
+        {
+            offset_to_send = sensor_offset_steps - rad_pos_to_steps(_offset_position_stepper_3, _gear_ratio_3, _direction_3);
+            absolute_steps_at_offset_position = sensor_offset_steps;
+
+            _send_calibration_offset(_joint_list.at(2).getId(), offset_to_send, absolute_steps_at_offset_position);
+            _joint_list.at(2).setNeedCalibration(false);
+            sld.sleep();
+        }
+    }
+    _stepper->startCalibration(false);
+}
diff --git a/niryo_robot_hardware_stack/joints_interface/src/joint_state.cpp b/niryo_robot_hardware_stack/joints_interface/src/joint_state.cpp
new file mode 100644
index 000000000..ec15064e0
--- /dev/null
+++ b/niryo_robot_hardware_stack/joints_interface/src/joint_state.cpp
@@ -0,0 +1,83 @@
+/*
+    joint_state.hpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "joints_interface/joint_state.hpp"
+
+JointState::JointState(std::string name, uint8_t type, uint8_t id) :
+    _name(name), _id(id), _type(type)
+{
+
+}
+
+bool JointState::operator==(const JointState& m) const
+{
+    return((this->_type == m._type) && (this->_id == m._id));
+}
+
+std::string& JointState::getName()
+{
+    return _name;
+}
+
+void JointState::setName(std::string& name)
+{
+    _name = name;
+}
+
+
+uint8_t JointState::getId()
+{
+    return _id;
+}
+
+void JointState::setId(uint8_t id)
+{
+    _id = id;
+}
+
+uint8_t JointState::getType()
+{
+    return _type;
+}
+
+void JointState::setType(uint8_t type)
+{
+    _type = type;
+}
+
+bool JointState::needCalibration()
+{
+    return _need_calibration;
+}
+
+void JointState::setNeedCalibration(bool need_calibration)
+{
+    _need_calibration = need_calibration;
+}
+
+void JointState::setPosition(double position)
+{
+    _position = position;
+}
+
+double JointState::getPosition()
+{
+    return _position;
+}
+
diff --git a/niryo_robot_hardware_stack/joints_interface/src/joints_interface_core.cpp b/niryo_robot_hardware_stack/joints_interface/src/joints_interface_core.cpp
new file mode 100644
index 000000000..75479917a
--- /dev/null
+++ b/niryo_robot_hardware_stack/joints_interface/src/joints_interface_core.cpp
@@ -0,0 +1,262 @@
+/*
+    joints_hardware_interface_core.cpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "joints_interface/joints_interface_core.hpp"
+
+JointsInterfaceCore::JointsInterfaceCore(
+    boost::shared_ptr<DynamixelDriver::DynamixelDriverCore> &dynamixel,
+    boost::shared_ptr<StepperDriver::StepperDriverCore> &stepper)
+    : _stepper(stepper), _dynamixel(dynamixel)
+{
+    init();
+}
+
+void JointsInterfaceCore::init()
+{
+    initParams();
+    startServices();
+    startSubscribers();
+    ROS_DEBUG("Joints Interface Core - Start joint hardware interface");
+    _robot.reset(new JointHardwareInterface(_dynamixel, _stepper));
+
+    ROS_DEBUG("Joints Interface Core - Create controller manager");
+    _cm.reset(new controller_manager::ControllerManager(_robot.get(), _nh));
+
+    _enable_control_loop = true;
+    _previous_state_learning_mode = true;
+    _reset_controller = false;
+
+    ROS_DEBUG("Joints Interface Core - Starting ros control thread...");
+    _ros_control_thread.reset(new std::thread(&JointsInterfaceCore::rosControlLoop, this));
+
+    ROS_INFO("Joints Interface Core - Started");
+    _nh.setParam("/niryo_robot_joint_interface/initialized", true);
+}
+
+void JointsInterfaceCore::initParams()
+{
+    _nh.getParam("/niryo_robot_hardware_interface/ros_control_loop_frequency", _ros_control_frequency);
+    _nh.getParam("/niryo_robot_hardware_interface/publish_learning_mode_frequency", _publish_learning_mode_frequency);
+    ROS_DEBUG("Joints Interface Core - Ros control loop frequency %f", _ros_control_frequency);
+    ROS_DEBUG("Joints Interface Core - Publish learning mode frequency : %f", _publish_learning_mode_frequency);
+}
+
+void JointsInterfaceCore::startServices()
+{
+    _calibrate_motors_server = _nh.advertiseService("/niryo_robot/joints_interface/calibrate_motors", &JointsInterfaceCore::_callbackCalibrateMotors, this);
+    _request_new_calibration_server = _nh.advertiseService("/niryo_robot/joints_interface/request_new_calibration", &JointsInterfaceCore::_callbackRequestNewCalibration, this);
+    _activate_learning_mode_server = _nh.advertiseService("niryo_robot/learning_mode/activate", &JointsInterfaceCore::_callbackActivateLearningMode, this);
+    _reset_controller_server = _nh.advertiseService("/niryo_robot/joints_interface/steppers_reset_controller", &JointsInterfaceCore::_callbackResetController, this);
+}
+
+void JointsInterfaceCore::startSubscribers()
+{
+    _trajectory_result_subscriber = _nh.subscribe("/niryo_robot_follow_joint_trajectory_controller/follow_joint_trajectory/result",
+                                                  10, &JointsInterfaceCore::_callbackTrajectoryResult, this);
+    _learning_mode_publisher = _nh.advertise<std_msgs::Bool>("niryo_robot/learning_mode/state", 10);
+    _publish_learning_mode_thread.reset(new std::thread(boost::bind(&JointsInterfaceCore::_publishLearningMode, this)));
+}
+
+void JointsInterfaceCore::rosControlLoop()
+{
+    ros::Time last_time = ros::Time::now();
+    ros::Time current_time = ros::Time::now();
+    ros::Duration elapsed_time;
+    ros::Rate control_loop_rate = ros::Rate(_ros_control_frequency);
+    while (ros::ok())
+    {
+        if (_enable_control_loop)
+        {
+            _robot->read();
+            current_time = ros::Time::now();
+            elapsed_time = ros::Duration(current_time - last_time);
+            last_time = current_time;
+
+            if (_reset_controller)
+            {
+                ROS_DEBUG("Joints Interface Core - Reset Controller");
+                _robot->setCommandToCurrentPosition();
+                _cm->update(ros::Time::now(), elapsed_time, true);
+                _reset_controller = false;
+            }
+            else
+            {
+                _cm->update(ros::Time::now(), elapsed_time, false);
+            }
+            if (!_previous_state_learning_mode)
+            {
+                _robot->write();
+            }
+            control_loop_rate.sleep();
+        }
+    }
+}
+
+/*
+* Problem : for joint_trajectory_controller, position command has no discontinuity
+* --> If the stepper motor missed some steps, we need to start at current position (given by the encoder)
+*  So current real position != current trajectory command, we need a discontinuity in controller command.
+*  We have to reset controllers to start from sensor position. 
+*  If we subscribe to trajectory /goal topic and reset when we receive a goal, it is often
+*  too late and trajectory will just be preempted.
+*
+*  So, in order to start from encoder position, we need to reset controller before we send the goal. If you
+*  send a new goal, be sure to send a message on /joints_interface/steppers_reset_controller BEFORE sending the goal.
+*
+*  This behavior is used in robot_commander node.
+*
+*/
+bool JointsInterfaceCore::_callbackResetController(niryo_robot_msgs::Trigger::Request &req, niryo_robot_msgs::Trigger::Response &res)
+{
+    ROS_DEBUG("Joints Interface Core - Reset Controller");
+    _robot->setCommandToCurrentPosition();                    // set current command to encoder position
+    _cm->update(ros::Time::now(), ros::Duration(0.00), true); // reset controllers to allow a discontinuity in position command
+    _robot->synchronizeMotors(true);
+
+    res.status = niryo_robot_msgs::CommandStatus::SUCCESS;
+    res.message = "Reset done";
+    return true;
+}
+
+void JointsInterfaceCore::_callbackTrajectoryResult(const control_msgs::FollowJointTrajectoryActionResult &msg)
+{
+    ROS_DEBUG("Joints Interface Core - Received trajectory RESULT");
+    _robot->synchronizeMotors(false);
+}
+
+bool JointsInterfaceCore::_callbackCalibrateMotors(niryo_robot_msgs::SetInt::Request &req, niryo_robot_msgs::SetInt::Response &res)
+{
+    ROS_DEBUG("Joints Interface Core - Received a calibration request");
+    int calibration_mode = req.value;
+    std::string result_message = "";
+    _enable_control_loop = false;
+
+    int result = _robot->calibrateJoints(calibration_mode, result_message);
+    res.status = result;
+    res.message = result_message;
+
+    // // special case here
+    // // we set flag learning_mode_on, but we don't activate from here
+    // // learning_mode should be activated in comm, AFTER motors have been calibrated
+    // // --> this fixes an issue where motors will jump back to a previous cmd after being calibrated
+    if (result == niryo_robot_msgs::CommandStatus::SUCCESS)
+    {
+        _previous_state_learning_mode = true;
+        _robot->activateLearningMode();
+        _enable_control_loop = true;
+    }
+    return true;
+}
+
+bool JointsInterfaceCore::_callbackRequestNewCalibration(niryo_robot_msgs::Trigger::Request &req, niryo_robot_msgs::Trigger::Response &res)
+{
+    ROS_DEBUG("Joints Interface Core - New calibration requested");
+    _previous_state_learning_mode = true;
+    _robot->activateLearningMode();
+    _robot->newCalibration();
+    res.status = niryo_robot_msgs::CommandStatus::SUCCESS;
+    res.message = "Joints Interface Core - New calibration request has been made, you will be requested to confirm it.";
+    return true;
+}
+
+/*
+ * Deactivating learning mode (= activating motors) is possible only if motors are calibrated
+ * Activating learning mode is also possible when waiting for calibration
+ */
+bool JointsInterfaceCore::_callbackActivateLearningMode(niryo_robot_msgs::SetBool::Request &req, niryo_robot_msgs::SetBool::Response &res)
+{
+    bool learning_mode_on = req.value;
+    activateLearningMode(req.value, res.status, res.message);
+    return true;
+}
+
+void JointsInterfaceCore::activateLearningMode(bool learning_mode_on, int &resp_status, std::string &resp_message)
+{
+    std_msgs::Bool msg;
+    resp_message = " ";
+
+    if (_robot->isCalibrationInProgress())
+    {
+        resp_status = niryo_robot_msgs::CommandStatus::CALIBRATION_NOT_DONE;
+        resp_message = "Joints Interface Core - You can't activate/deactivate learning mode during motors calibration";
+        return;
+    }
+
+    if (_previous_state_learning_mode != learning_mode_on)
+    {
+        if (!learning_mode_on)
+        {
+            _reset_controller = true;
+            _robot->deactivateLearningMode();
+            resp_message = "Deactivating learning mode";
+        }
+        else
+        {
+            _robot->activateLearningMode();
+            resp_message = "Activating learning mode";
+        }
+        _previous_state_learning_mode = learning_mode_on;
+        msg.data = _previous_state_learning_mode;
+        _learning_mode_publisher.publish(msg);
+    }
+    else
+    {
+        resp_message = (learning_mode_on) ? "Learning mode already activated" : "Learning mode already deactivating";
+    }
+    resp_status = niryo_robot_msgs::CommandStatus::SUCCESS;
+}
+
+bool JointsInterfaceCore::getFreeDriveMode()
+{
+    return _previous_state_learning_mode;
+}
+
+void JointsInterfaceCore::getCalibrationState(boost::shared_ptr<bool> &need_calibration, boost::shared_ptr<bool> &calibration_in_progress)
+{
+    (*need_calibration) = _robot->needCalibration();
+    (*calibration_in_progress) = _robot->isCalibrationInProgress();
+}
+
+std::vector<JointState> &JointsInterfaceCore::getJointsState()
+{
+    return _robot->getJointsState();
+}
+
+void JointsInterfaceCore::_publishLearningMode()
+{
+    ros::Rate publish_learning_mode_rate = ros::Rate(_publish_learning_mode_frequency);
+    while (ros::ok())
+    {
+        std_msgs::Bool msg;
+        msg.data = _previous_state_learning_mode;
+        _learning_mode_publisher.publish(msg);
+        publish_learning_mode_rate.sleep();
+    }
+}
+
+std::string JointsInterfaceCore::jointIdToJointName(int id, uint8_t motor_type)
+{
+    return _robot->jointIdToJointName(id, motor_type);
+}
+
+
+void JointsInterfaceCore::sendMotorsParams()
+{
+    _robot->sendInitMotorsParams();
+}
diff --git a/niryo_robot_hardware_stack/joints_interface/src/joints_interface_node.cpp b/niryo_robot_hardware_stack/joints_interface/src/joints_interface_node.cpp
new file mode 100644
index 000000000..5c6d14ac5
--- /dev/null
+++ b/niryo_robot_hardware_stack/joints_interface/src/joints_interface_node.cpp
@@ -0,0 +1,26 @@
+#include <ros/ros.h>
+#include <ros/console.h>
+#include "joints_interface/joints_interface_core.hpp"
+#include "dynamixel_driver/dxl_driver_core.hpp"
+#include "stepper_driver/stepper_driver_core.hpp"
+
+int main(int argc, char **argv) 
+{
+    ros::init(argc, argv, "joints_interface_node");
+  
+    ros::AsyncSpinner spinner(4);
+    spinner.start();
+    
+    ros::NodeHandle nh;
+   
+    boost::shared_ptr<DynamixelDriver::DynamixelDriverCore> dynamixel(new DynamixelDriver::DynamixelDriverCore());
+    ros::Duration(1).sleep();
+
+    boost::shared_ptr<StepperDriver::StepperDriverCore> stepper(new StepperDriver::StepperDriverCore());
+    ros::Duration(1).sleep();
+
+    boost::shared_ptr<JointsInterfaceCore> joints(new JointsInterfaceCore(dynamixel, stepper));
+    ros::waitForShutdown();
+    
+    ROS_INFO("Joints Interface - Shutdown node");
+}
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/joints_interface/src/motor_offset_file_handler.cpp b/niryo_robot_hardware_stack/joints_interface/src/motor_offset_file_handler.cpp
new file mode 100644
index 000000000..cdd8c56ed
--- /dev/null
+++ b/niryo_robot_hardware_stack/joints_interface/src/motor_offset_file_handler.cpp
@@ -0,0 +1,112 @@
+/*
+    motor_offset_file_handler.h
+    Copyright (C) 2018 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "joints_interface/motor_offset_file_handler.hpp"
+
+#include "boost/filesystem.hpp"
+#include <iostream>
+#include <fstream>
+#include <exception>
+
+bool get_motors_calibration_offsets(std::vector<int> &motor_id_list, std::vector<int> &steps_list)
+{
+    std::string file_name;
+    ros::param::get("/niryo_robot_hardware_interface/calibration_file", file_name);
+
+    std::vector<std::string> lines;
+    std::string current_line;
+
+    std::ifstream offset_file(file_name.c_str());
+    if (offset_file.is_open())
+    {
+        while (std::getline(offset_file, current_line))
+        {
+            try
+            {
+                size_t index = current_line.find(":");
+                motor_id_list.push_back(stoi(current_line.substr(0, index)));
+                steps_list.push_back(stoi(current_line.erase(0, index + 1)));
+            }
+            catch (std::exception &e)
+            {
+            }
+        }
+        offset_file.close();
+    }
+    else
+    {
+        ROS_WARN("Motor Offset - Unable to open file : %s", file_name.c_str());
+        return false;
+    }
+    return true;
+}
+
+bool set_motors_calibration_offsets(std::vector<int> &motor_id_list, std::vector<int> &steps_list)
+{
+    if (motor_id_list.size() != steps_list.size())
+    {
+        return false;
+    }
+    std::string file_name;
+    ros::param::get("/niryo_robot_hardware_interface/calibration_file", file_name);
+
+    size_t found = file_name.find_last_of("/");
+    std::string folder_name = file_name.substr(0, found);
+
+    boost::filesystem::path filepath(file_name);
+    boost::filesystem::path directory(folder_name);
+
+    // Create dir if not exist
+    boost::system::error_code returned_error;
+    boost::filesystem::create_directories(directory, returned_error);
+    if (returned_error)
+    {
+        ROS_WARN("Motor Offset - Could not create directory : %s", folder_name.c_str());
+        return false;
+    }
+
+    // Create text to write
+    std::string text_to_write = "";
+    for (int i = 0; i < motor_id_list.size(); i++)
+    {
+        text_to_write += std::to_string(motor_id_list.at(i));
+        text_to_write += ":";
+        text_to_write += std::to_string(steps_list.at(i));
+        if (i < motor_id_list.size() - 1)
+        {
+            text_to_write += "\n";
+        }
+    }
+
+    // Write to file
+    std::ofstream offset_file(file_name.c_str());
+    if (offset_file.is_open())
+    {
+        ROS_DEBUG("Motor Offset - Writing calibration offsets to file : \n%s", text_to_write.c_str());
+        offset_file << text_to_write.c_str();
+        offset_file.close();
+    }
+    else
+    {
+        ROS_WARN("Motor Offset - Unable to open file : %s", file_name.c_str());
+        return false;
+    }
+
+    return true;
+}
diff --git a/niryo_robot_hardware_stack/joints_interface/test/joints_interface_test.cpp b/niryo_robot_hardware_stack/joints_interface/test/joints_interface_test.cpp
new file mode 100644
index 000000000..00cdfcdca
--- /dev/null
+++ b/niryo_robot_hardware_stack/joints_interface/test/joints_interface_test.cpp
@@ -0,0 +1,356 @@
+#include <boost/shared_ptr.hpp>
+#include <ros/ros.h>
+#include <string>
+#include <thread>
+#include <queue>
+#include <functional>
+#include <vector>
+
+#include <std_msgs/Float64MultiArray.h>
+#include <std_msgs/Int64MultiArray.h>
+// #include <moveit/move_group_interface/move_group_interface.h>
+
+#include <actionlib/client/simple_action_client.h>
+#include <control_msgs/FollowJointTrajectoryAction.h>
+
+#include "niryo_robot_msgs/SetBool.h"
+#include "niryo_robot_msgs/SetInt.h"
+
+#include <std_msgs/Empty.h>
+#include <std_msgs/Bool.h>
+
+typedef actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction> TrajClient;
+
+class JointsInterfaceTest
+{
+
+private:
+    ros::NodeHandle nh;
+    ros::ServiceClient learnig_mode_client;
+    ros::ServiceClient calibrate_motor_client;
+
+    ros::Publisher reset_stepper_publisher;
+
+    TrajClient *traj_client_;
+
+    std::vector<double> pose_start{0.2, 0.0, 0.25, 0.0, 1.57, 0};
+    std::vector<double> pick_pose{0.2, 0.1, 0.14, 0.0, 1.57, 0};
+    std::vector<double> place_pose{0.2, -0.1, 0.14, 0.0, 1.57, 0};
+
+public:
+    JointsInterfaceTest()
+    {
+
+        reset_stepper_publisher = nh.advertise<std_msgs::Empty>("/niryo_robot/joints_interface/steppers_reset_controller", 1000);
+        learnig_mode_client = nh.serviceClient<niryo_robot_msgs::SetBool>("niryo_robot/learning_mode/activate");
+        calibrate_motor_client = nh.serviceClient<niryo_robot_msgs::SetInt>("/niryo_robot/joints_interface/calibrate_motors");
+
+        traj_client_ = new TrajClient("/niryo_robot_follow_joint_trajectory_controller/follow_joint_trajectory", true);
+
+        ROS_INFO(" Joint interface - Test - Calibrate motors");
+        ros::Duration(1).sleep();
+        niryo_robot_msgs::SetInt calibrate_srv;
+        calibrate_srv.request.value = 0;
+        if (calibrate_motor_client.call(calibrate_srv))
+        {
+            ROS_INFO(" Joint interface - Test - Calibrate motor service return");
+        }
+        ros::Duration(10).sleep();
+
+        ROS_INFO(" Joint interface - Test - Deactivate Learning Mode");
+        niryo_robot_msgs::SetBool learning_mode_srv;
+        learning_mode_srv.request.value = false;
+        if (learnig_mode_client.call(learning_mode_srv))
+        {
+            ROS_INFO(" Joint interface - Test - Learning mode Server return");
+        }
+        ros::Duration(10).sleep();
+
+        // ROS_INFO(" Joint interface - Test - Activate Learning Mode");
+        // learning_mode_srv.request.value = true;
+        // if(learnig_mode_client.call(learning_mode_srv))
+        // {
+        //     ROS_INFO(" Joint interface - Test - Learning mode Server return");
+        // }
+        // ros::Duration(10).sleep();
+
+        // ROS_INFO(" Joint interface - Test - Deactivate Learning Mode");
+        // learning_mode_srv.request.value = false;
+        // if(learnig_mode_client.call(learning_mode_srv))
+        // {
+        //     ROS_INFO(" Joint interface - Test - Learning mode Server return");
+        // }
+        // ros::Duration(10).sleep();
+
+        ROS_INFO(" Joint interface - Test - Send trajectory");
+        while (!traj_client_->waitForServer(ros::Duration(5.0)))
+        {
+            ROS_INFO(" Joint interface - Test - Waiting for the joint_trajectory_action server");
+        }
+
+        ROS_INFO(" Joint interface - Test - Reset Controller");
+        std_msgs::Empty reset_controller_topic;
+        reset_stepper_publisher.publish(reset_controller_topic);
+        ros::Duration(0.05).sleep();
+        startTrajectory(armExtensionTrajectory2());
+        // Wait for trajectory completion
+        while (!getState().isDone() && ros::ok())
+        {
+            usleep(50000);
+        }
+        // ros::Rate(10).sleep();
+
+        // startTrajectory(armExtensionTrajectory2());
+        // // Wait for trajectory completion
+        // while(!getState().isDone() && ros::ok())
+        // {
+        //     usleep(50000);
+        // }
+    }
+
+    void startTrajectory(control_msgs::FollowJointTrajectoryGoal goal)
+    {
+        // When to start the trajectory: 1s from now
+        goal.trajectory.header.stamp = ros::Time::now() + ros::Duration(1.0);
+        traj_client_->sendGoal(goal);
+    }
+
+    control_msgs::FollowJointTrajectoryGoal armExtensionTrajectory()
+    {
+        //our goal variable
+        control_msgs::FollowJointTrajectoryGoal goal;
+
+        // First, the joint names, which apply to all waypoints
+        goal.trajectory.joint_names.push_back("joint_1");
+        goal.trajectory.joint_names.push_back("joint_2");
+        goal.trajectory.joint_names.push_back("joint_3");
+        goal.trajectory.joint_names.push_back("joint_4");
+        goal.trajectory.joint_names.push_back("joint_5");
+        goal.trajectory.joint_names.push_back("joint_6");
+        ;
+
+        // We will have two waypoints in this goal trajectory
+        goal.trajectory.points.resize(2);
+
+        // First trajectory point
+        // Positions
+        int ind = 0;
+        goal.trajectory.points[ind].positions.resize(6);
+        goal.trajectory.points[ind].positions[0] = 0.0;
+        goal.trajectory.points[ind].positions[1] = 0.0;
+        goal.trajectory.points[ind].positions[2] = 0.0;
+        goal.trajectory.points[ind].positions[3] = 0.0;
+        goal.trajectory.points[ind].positions[4] = 0.0;
+        goal.trajectory.points[ind].positions[5] = 0.0;
+        // Velocities
+        goal.trajectory.points[ind].velocities.resize(6);
+        for (size_t j = 0; j < 6; ++j)
+        {
+            goal.trajectory.points[ind].velocities[j] = 0.0;
+        }
+        // To be reached 1 second after starting along the trajectory
+        goal.trajectory.points[ind].time_from_start = ros::Duration(1.0);
+
+        // Second trajectory point
+        // Positions
+        ind += 1;
+        goal.trajectory.points[ind].positions.resize(6);
+        goal.trajectory.points[ind].positions[0] = 1.6;
+        goal.trajectory.points[ind].positions[1] = 0.0;
+        goal.trajectory.points[ind].positions[2] = 0.0;
+        goal.trajectory.points[ind].positions[3] = 0.0;
+        goal.trajectory.points[ind].positions[4] = 0.0;
+        goal.trajectory.points[ind].positions[5] = 0.0;
+        // Velocities
+        goal.trajectory.points[ind].velocities.resize(6);
+        for (size_t j = 0; j < 6; ++j)
+        {
+            goal.trajectory.points[ind].velocities[j] = 0.0;
+        }
+        // To be reached 2 seconds after starting along the trajectory
+        goal.trajectory.points[ind].time_from_start = ros::Duration(2.0);
+
+        //we are done; return the goal
+        return goal;
+    }
+
+    control_msgs::FollowJointTrajectoryGoal armExtensionTrajectory2()
+    {
+        //our goal variable
+        control_msgs::FollowJointTrajectoryGoal goal;
+
+        // First, the joint names, which apply to all waypoints
+        goal.trajectory.joint_names.push_back("joint_1");
+        goal.trajectory.joint_names.push_back("joint_2");
+        goal.trajectory.joint_names.push_back("joint_3");
+        goal.trajectory.joint_names.push_back("joint_4");
+        goal.trajectory.joint_names.push_back("joint_5");
+        goal.trajectory.joint_names.push_back("joint_6");
+
+        // We will have two waypoints in this goal trajectory
+        goal.trajectory.points.resize(1);
+
+        // First trajectory point
+        // Positions
+        int ind = 0;
+        goal.trajectory.points[ind].positions.resize(6);
+        goal.trajectory.points[ind].positions[0] = 1.6;
+        goal.trajectory.points[ind].positions[1] = 0.0;
+        goal.trajectory.points[ind].positions[2] = 0.0;
+        goal.trajectory.points[ind].positions[3] = 0.0;
+        goal.trajectory.points[ind].positions[4] = 0.0;
+        goal.trajectory.points[ind].positions[5] = 0.0;
+        // goal.trajectory.points[ind].positions.resize(6);
+        // goal.trajectory.points[ind].positions[0] = 1.6;
+        // goal.trajectory.points[ind].positions[1] = 0.0;
+        // goal.trajectory.points[ind].positions[2] = 1.6;
+        // goal.trajectory.points[ind].positions[3] = -1.5;
+        // goal.trajectory.points[ind].positions[4] = -1.3;
+        // goal.trajectory.points[ind].positions[5] = -1;
+        // Velocities
+        goal.trajectory.points[ind].velocities.resize(6);
+        for (size_t j = 0; j < 6; ++j)
+        {
+            goal.trajectory.points[ind].velocities[j] = 0.0;
+        }
+        // To be reached 1 second after starting along the trajectory
+        goal.trajectory.points[ind].time_from_start = ros::Duration(1.0);
+
+        // Second trajectory point
+        // Positions
+        // ind += 1;
+        // goal.trajectory.points[ind].positions.resize(6);
+        // goal.trajectory.points[ind].positions[0] = -0.3;
+        // goal.trajectory.points[ind].positions[1] = 0.2;
+        // goal.trajectory.points[ind].positions[2] = -0.1;
+        // goal.trajectory.points[ind].positions[3] = -1.2;
+        // goal.trajectory.points[ind].positions[4] = 1.5;
+        // goal.trajectory.points[ind].positions[5] = -0.3;
+        // // Velocities
+        // goal.trajectory.points[ind].velocities.resize(6);
+        // for (size_t j = 0; j < 6; ++j)
+        // {
+        //     goal.trajectory.points[ind].velocities[j] = 0.0;
+        // }
+        // // To be reached 2 seconds after starting along the trajectory
+        // goal.trajectory.points[ind].time_from_start = ros::Duration(2.0);
+
+        //we are done; return the goal
+        return goal;
+    }
+
+    actionlib::SimpleClientGoalState getState()
+    {
+        return traj_client_->getState();
+    }
+
+    void test1()
+    {
+        ROS_INFO(" Joint interface - Test -  Deactivate Learning Mod ");
+        ros::Rate pause_1(1);
+        ros::Rate pause_2(2);
+        activeFreeDriveMod(false);
+        pause_2.sleep();
+
+        ROS_INFO(" Joint interface - Test -  Activate Learning Mod ");
+        activeFreeDriveMod(true);
+        pause_2.sleep();
+
+        ROS_INFO(" Joint interface - Test -  Activate Learning Mod ");
+        activeFreeDriveMod(true);
+        pause_2.sleep();
+
+        ROS_INFO(" Joint interface - Test -  Deactivate Learning Mod ");
+        activeFreeDriveMod(false);
+        pause_2.sleep();
+
+        ROS_INFO(" Joint interface - Test -  Deactivate Learning Mod ");
+        activeFreeDriveMod(false);
+        pause_2.sleep();
+
+        ROS_INFO(" Joint interface - Test -  Activate Learning Mod ");
+        activeFreeDriveMod(true);
+        pause_2.sleep();
+    }
+
+    void activeFreeDriveMod(bool active)
+    {
+        niryo_robot_msgs::SetBool msg;
+        msg.request.value = active;
+        if (learnig_mode_client.call(msg))
+        {
+            ROS_INFO(" Joint interface - Test - Free Drive Server return ");
+        }
+        else
+        {
+            ROS_INFO(" Joint interface - Test - Free Drive error");
+        }
+    }
+
+    void test2()
+    {
+        ROS_INFO(" Joint interface - Test -  Calibrate motors ");
+        niryo_robot_msgs::SetInt msg;
+        msg.request.value = 0;
+        if (calibrate_motor_client.call(msg))
+        {
+            ROS_INFO(" Joint interface - Test - Calibrate motor Server return ");
+        }
+        else
+        {
+            ROS_INFO(" Joint interface - Test - Calibrate motor error");
+        }
+    }
+
+    // void test3()
+    // {
+    //     activeFreeDriveMod(false);
+    //     ROS_INFO(" Joint interface - Test -  Move P ");
+    //     moveP(place_pose);
+
+    // }
+
+    // void moveP(const std::vector<double> &pose)
+    // {
+    //     geometry_msgs::Pose target_pose;
+    //     Eigen::Quaterniond quaternion_matrix;
+
+    //     target_pose.position.x = pose[0];
+    //     target_pose.position.y = pose[1];
+    //     target_pose.position.z = pose[2];
+    //     quaternion_matrix =
+    //         Eigen::AngleAxisd(pose[3], Eigen::Vector3d::UnitZ())
+    //         * Eigen::AngleAxisd(pose[4], Eigen::Vector3d::UnitY())
+    //         * Eigen::AngleAxisd(pose[5], Eigen::Vector3d::UnitX());
+    //     target_pose.orientation.x = quaternion_matrix.x();
+    //     target_pose.orientation.y = quaternion_matrix.y();
+    //     target_pose.orientation.z = quaternion_matrix.z();
+    //     target_pose.orientation.w = quaternion_matrix.w();
+
+    //     move_group->setPoseTarget(target_pose);
+    //     move_group->plan(computed_plan);
+
+    //     std_msgs::Empty empty_msg;
+    //     reset_stepper_publisher.publish(empty_msg);
+    //     std::this_thread::sleep_for(std::chrono::milliseconds(50));
+
+    //     move_group->move();
+
+    // }
+};
+
+int main(int argc, char **argv)
+{
+    ros::init(argc, argv, "stepper_driver_test");
+
+    ros::AsyncSpinner spinner(4);
+    spinner.start();
+
+    ros::NodeHandle nh;
+
+    JointsInterfaceTest test;
+
+    ros::waitForShutdown();
+
+    ROS_INFO(" Joint interface - Test - shutdown node");
+}
diff --git a/niryo_robot_hardware_stack/mcp_can_rpi/CMakeLists.txt b/niryo_robot_hardware_stack/mcp_can_rpi/CMakeLists.txt
new file mode 100644
index 000000000..e62e5de34
--- /dev/null
+++ b/niryo_robot_hardware_stack/mcp_can_rpi/CMakeLists.txt
@@ -0,0 +1,57 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(mcp_can_rpi)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+find_package(catkin REQUIRED COMPONENTS
+    roscpp
+)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES mcp_can_rpi
+)
+
+###########
+## Build ##
+###########
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_library(mcp_can_rpi
+    src/mcp_can_rpi.cpp
+)
+
+add_dependencies(mcp_can_rpi ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+EXECUTE_PROCESS( COMMAND uname -m COMMAND tr -d '\n' OUTPUT_VARIABLE ARCHITECTURE )
+
+if (${ARCHITECTURE} MATCHES "^(arm.*|aarch64.*|arm64.*)$")
+    message(STATUS "wiringPi library is required for mcp_can_rpi (ARM processor)")
+    target_link_libraries(mcp_can_rpi
+        ${catkin_LIBRARIES} 
+        -lwiringPi -lrt
+    )
+else()
+    message(STATUS "wiringPi library not required")
+    target_link_libraries(mcp_can_rpi 
+        ${catkin_LIBRARIES} 
+    )
+endif()
+
+#############
+## Install ##
+#############
+install(TARGETS mcp_can_rpi
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
diff --git a/niryo_robot_hardware_stack/mcp_can_rpi/README.md b/niryo_robot_hardware_stack/mcp_can_rpi/README.md
new file mode 100644
index 000000000..48800af6e
--- /dev/null
+++ b/niryo_robot_hardware_stack/mcp_can_rpi/README.md
@@ -0,0 +1,14 @@
+# mcp\_can\_rpi
+
+Raspberry Pi library for MCP2515 module (CAN bus interface) through SPI GPIOs
+
+Forked from [MCP_CAN](https://github.com/coryjfowler/MCP_CAN_lib) library.
+
+The MCP2515 module is a SPI-CAN interface. The MCP_CAN library is using the SPI protocol on Arduino to program and use this module. It has been adapted here to work with the Raspberry Pi 4 GPIOs, using the SPI functions of the  [wiringPi](http://wiringpi.com/) library.
+
+---
+
+One of the main difference is we don't handle SPI Chip Select PIN. This is already done by the wiringPi library, and
+all PINs for SPI are already predefined (spi channel 0 or 1).
+
+To poll the MCP2515 module (to see if there is any data to read), the _digitalRead_ function of wiringPi is used.
diff --git a/niryo_robot_hardware_stack/mcp_can_rpi/include/mcp_can_rpi/mcp_can_dfs_rpi.h b/niryo_robot_hardware_stack/mcp_can_rpi/include/mcp_can_rpi/mcp_can_dfs_rpi.h
new file mode 100644
index 000000000..e866975c3
--- /dev/null
+++ b/niryo_robot_hardware_stack/mcp_can_rpi/include/mcp_can_rpi/mcp_can_dfs_rpi.h
@@ -0,0 +1,489 @@
+/*
+    mcp_can_dfs_rpi.h<
+  	This library is an adaptation of MCP_CAN library for Raspberry Pi 4b with wiringPi
+    Copyright (C) 2017 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+	--> Below the original license (from MCP_CAN library):
+
+	mcp_can_dfs.h
+	2012 Copyright (c) Seeed Technology Inc.  All right reserved.
+	2017 Copyright (c) Cory J. Fowler  All Rights Reserved.
+	Author:Loovee
+	Contributor: Cory J. Fowler
+	2017-09-25
+	This library is free software; you can redistribute it and/or
+	modify it under the terms of the GNU Lesser General Public
+	License as published by the Free Software Foundation; either
+	version 2.1 of the License, or (at your option) any later version.
+	This library is distributed in the hope that it will be useful,
+	but WITHOUT ANY WARRANTY; without even the implied warranty of
+	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+	Lesser General Public License for more details.
+	You should have received a copy of the GNU Lesser General Public
+	License along with this library; if not, write to the Free Software
+	Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-
+	1301  USA
+*/
+
+#ifndef MCP_CAN_DFS_RPI_H
+#define MCP_CAN_DFS_RPI_H
+
+#include <stdint.h>
+
+#ifndef INT32U
+#define INT32U unsigned long
+#endif
+
+#ifndef INT8U
+#define INT8U uint8_t
+#endif
+
+// if print debug information
+#define DEBUG_MODE 0
+
+/*
+ *   Begin mt
+ */
+#define TIMEOUTVALUE    50
+#define MCP_SIDH        0
+#define MCP_SIDL        1
+#define MCP_EID8        2
+#define MCP_EID0        3
+
+#define MCP_TXB_EXIDE_M     0x08                                        /* In TXBnSIDL                  */
+#define MCP_DLC_MASK        0x0F                                        /* 4 LSBits                     */
+#define MCP_RTR_MASK        0x40                                        /* (1<<6) Bit 6                 */
+
+#define MCP_RXB_RX_ANY      0x60
+#define MCP_RXB_RX_EXT      0x40
+#define MCP_RXB_RX_STD      0x20
+#define MCP_RXB_RX_STDEXT   0x00
+#define MCP_RXB_RX_MASK     0x60
+#define MCP_RXB_BUKT_MASK   (1<<2)
+
+/*
+** Bits in the TXBnCTRL registers.
+*/
+#define MCP_TXB_TXBUFE_M    0x80
+#define MCP_TXB_ABTF_M      0x40
+#define MCP_TXB_MLOA_M      0x20
+#define MCP_TXB_TXERR_M     0x10
+#define MCP_TXB_TXREQ_M     0x08
+#define MCP_TXB_TXIE_M      0x04
+#define MCP_TXB_TXP10_M     0x03
+
+#define MCP_TXB_RTR_M       0x40                                        /* In TXBnDLC                   */
+#define MCP_RXB_IDE_M       0x08                                        /* In RXBnSIDL                  */
+#define MCP_RXB_RTR_M       0x40                                        /* In RXBnDLC                   */
+
+#define MCP_STAT_RXIF_MASK   (0x03)
+#define MCP_STAT_RX0IF       (1<<0)
+#define MCP_STAT_RX1IF       (1<<1)
+
+#define MCP_EFLG_RX1OVR     (1<<7)
+#define MCP_EFLG_RX0OVR     (1<<6)
+#define MCP_EFLG_TXBO       (1<<5)
+#define MCP_EFLG_TXEP       (1<<4)
+#define MCP_EFLG_RXEP       (1<<3)
+#define MCP_EFLG_TXWAR      (1<<2)
+#define MCP_EFLG_RXWAR      (1<<1)
+#define MCP_EFLG_EWARN      (1<<0)
+#define MCP_EFLG_ERRORMASK  (0xF8)                                      /* 5 MS-Bits                    */
+
+
+/*
+ *   Define MCP2515 register addresses
+ */
+#define MCP_RXF0SIDH    0x00
+#define MCP_RXF0SIDL    0x01
+#define MCP_RXF0EID8    0x02
+#define MCP_RXF0EID0    0x03
+#define MCP_RXF1SIDH    0x04
+#define MCP_RXF1SIDL    0x05
+#define MCP_RXF1EID8    0x06
+#define MCP_RXF1EID0    0x07
+#define MCP_RXF2SIDH    0x08
+#define MCP_RXF2SIDL    0x09
+#define MCP_RXF2EID8    0x0A
+#define MCP_RXF2EID0    0x0B
+#define MCP_CANSTAT     0x0E
+#define MCP_CANCTRL     0x0F
+#define MCP_RXF3SIDH    0x10
+#define MCP_RXF3SIDL    0x11
+#define MCP_RXF3EID8    0x12
+#define MCP_RXF3EID0    0x13
+#define MCP_RXF4SIDH    0x14
+#define MCP_RXF4SIDL    0x15
+#define MCP_RXF4EID8    0x16
+#define MCP_RXF4EID0    0x17
+#define MCP_RXF5SIDH    0x18
+#define MCP_RXF5SIDL    0x19
+#define MCP_RXF5EID8    0x1A
+#define MCP_RXF5EID0    0x1B
+#define MCP_TEC            0x1C
+#define MCP_REC            0x1D
+#define MCP_RXM0SIDH    0x20
+#define MCP_RXM0SIDL    0x21
+#define MCP_RXM0EID8    0x22
+#define MCP_RXM0EID0    0x23
+#define MCP_RXM1SIDH    0x24
+#define MCP_RXM1SIDL    0x25
+#define MCP_RXM1EID8    0x26
+#define MCP_RXM1EID0    0x27
+#define MCP_CNF3        0x28
+#define MCP_CNF2        0x29
+#define MCP_CNF1        0x2A
+#define MCP_CANINTE        0x2B
+#define MCP_CANINTF        0x2C
+#define MCP_EFLG        0x2D
+#define MCP_TXB0CTRL    0x30
+#define MCP_TXB1CTRL    0x40
+#define MCP_TXB2CTRL    0x50
+#define MCP_RXB0CTRL    0x60
+#define MCP_RXB0SIDH    0x61
+#define MCP_RXB1CTRL    0x70
+#define MCP_RXB1SIDH    0x71
+
+
+#define MCP_TX_INT          0x1C                                    // Enable all transmit interrup ts
+#define MCP_TX01_INT        0x0C                                    // Enable TXB0 and TXB1 interru pts
+#define MCP_RX_INT          0x03                                    // Enable receive interrupts
+#define MCP_NO_INT          0x00                                    // Disable all interrupts
+
+#define MCP_TX01_MASK       0x14
+#define MCP_TX_MASK        0x54
+
+/*
+ *   Define SPI Instruction Set
+ */
+#define MCP_WRITE           0x02
+
+#define MCP_READ            0x03
+
+#define MCP_BITMOD          0x05
+
+#define MCP_LOAD_TX0        0x40
+#define MCP_LOAD_TX1        0x42
+#define MCP_LOAD_TX2        0x44
+
+#define MCP_RTS_TX0         0x81
+#define MCP_RTS_TX1         0x82
+#define MCP_RTS_TX2         0x84
+#define MCP_RTS_ALL         0x87
+
+#define MCP_READ_RX0        0x90
+#define MCP_READ_RX1        0x94
+
+#define MCP_READ_STATUS     0xA0
+
+#define MCP_RX_STATUS       0xB0
+
+#define MCP_RESET           0xC0
+
+
+/*
+ *   CANCTRL Register Values
+ */
+#define MCP_NORMAL     0x00
+#define MCP_SLEEP      0x20
+#define MCP_LOOPBACK   0x40
+#define MCP_LISTENONLY 0x60
+#define MODE_CONFIG     0x80
+#define MODE_POWERUP    0xE0
+#define MODE_MASK       0xE0
+#define ABORT_TX        0x10
+#define MODE_ONESHOT    0x08
+#define CLKOUT_ENABLE   0x04
+#define CLKOUT_DISABLE  0x00
+#define CLKOUT_PS1      0x00
+#define CLKOUT_PS2      0x01
+#define CLKOUT_PS4      0x02
+#define CLKOUT_PS8      0x03
+
+
+/*
+ *   CNF1 Register Values
+ */
+#define SJW1            0x00
+#define SJW2            0x40
+#define SJW3            0x80
+#define SJW4            0xC0
+
+
+/*
+ *   CNF2 Register Values
+ */
+#define BTLMODE         0x80
+#define SAMPLE_1X       0x00
+#define SAMPLE_3X       0x40
+
+
+/*
+ *   CNF3 Register Values
+ */
+#define SOF_ENABLE      0x80
+#define SOF_DISABLE     0x00
+#define WAKFIL_ENABLE   0x40
+#define WAKFIL_DISABLE  0x00
+
+
+/*
+ *   CANINTF Register Bits
+ */
+#define MCP_RX0IF       0x01
+#define MCP_RX1IF       0x02
+#define MCP_TX0IF       0x04
+#define MCP_TX1IF       0x08
+#define MCP_TX2IF       0x10
+#define MCP_ERRIF       0x20
+#define MCP_WAKIF       0x40
+#define MCP_MERRF       0x80
+
+
+/*
+ *  Speed 8M
+ */
+#define MCP_8MHz_1000kBPS_CFG1 (0x00)
+#define MCP_8MHz_1000kBPS_CFG2 (0x80)
+#define MCP_8MHz_1000kBPS_CFG3 (0x80)
+
+#define MCP_8MHz_500kBPS_CFG1 (0x00)
+#define MCP_8MHz_500kBPS_CFG2 (0x90)
+#define MCP_8MHz_500kBPS_CFG3 (0x82)
+
+#define MCP_8MHz_250kBPS_CFG1 (0x00)
+#define MCP_8MHz_250kBPS_CFG2 (0xB1)
+#define MCP_8MHz_250kBPS_CFG3 (0x85)
+
+#define MCP_8MHz_200kBPS_CFG1 (0x00)
+#define MCP_8MHz_200kBPS_CFG2 (0xB4)
+#define MCP_8MHz_200kBPS_CFG3 (0x86)
+
+#define MCP_8MHz_125kBPS_CFG1 (0x01)
+#define MCP_8MHz_125kBPS_CFG2 (0xB1)
+#define MCP_8MHz_125kBPS_CFG3 (0x85)
+
+#define MCP_8MHz_100kBPS_CFG1 (0x01)
+#define MCP_8MHz_100kBPS_CFG2 (0xB4)
+#define MCP_8MHz_100kBPS_CFG3 (0x86)
+
+#define MCP_8MHz_80kBPS_CFG1 (0x01)
+#define MCP_8MHz_80kBPS_CFG2 (0xBF)
+#define MCP_8MHz_80kBPS_CFG3 (0x87)
+
+#define MCP_8MHz_50kBPS_CFG1 (0x03)
+#define MCP_8MHz_50kBPS_CFG2 (0xB4)
+#define MCP_8MHz_50kBPS_CFG3 (0x86)
+
+#define MCP_8MHz_40kBPS_CFG1 (0x03)
+#define MCP_8MHz_40kBPS_CFG2 (0xBF)
+#define MCP_8MHz_40kBPS_CFG3 (0x87)
+
+#define MCP_8MHz_33k3BPS_CFG1 (0x47)
+#define MCP_8MHz_33k3BPS_CFG2 (0xE2)
+#define MCP_8MHz_33k3BPS_CFG3 (0x85)
+
+#define MCP_8MHz_31k25BPS_CFG1 (0x07)
+#define MCP_8MHz_31k25BPS_CFG2 (0xA4)
+#define MCP_8MHz_31k25BPS_CFG3 (0x84)
+
+#define MCP_8MHz_20kBPS_CFG1 (0x07)
+#define MCP_8MHz_20kBPS_CFG2 (0xBF)
+#define MCP_8MHz_20kBPS_CFG3 (0x87)
+
+#define MCP_8MHz_10kBPS_CFG1 (0x0F)
+#define MCP_8MHz_10kBPS_CFG2 (0xBF)
+#define MCP_8MHz_10kBPS_CFG3 (0x87)
+
+#define MCP_8MHz_5kBPS_CFG1 (0x1F)
+#define MCP_8MHz_5kBPS_CFG2 (0xBF)
+#define MCP_8MHz_5kBPS_CFG3 (0x87)
+
+/*
+ *  speed 16M
+ */
+#define MCP_16MHz_1000kBPS_CFG1 (0x00)
+#define MCP_16MHz_1000kBPS_CFG2 (0xD0)
+#define MCP_16MHz_1000kBPS_CFG3 (0x82)
+
+#define MCP_16MHz_500kBPS_CFG1 (0x00)
+#define MCP_16MHz_500kBPS_CFG2 (0xF0)
+#define MCP_16MHz_500kBPS_CFG3 (0x86)
+
+#define MCP_16MHz_250kBPS_CFG1 (0x41)
+#define MCP_16MHz_250kBPS_CFG2 (0xF1)
+#define MCP_16MHz_250kBPS_CFG3 (0x85)
+
+#define MCP_16MHz_200kBPS_CFG1 (0x01)
+#define MCP_16MHz_200kBPS_CFG2 (0xFA)
+#define MCP_16MHz_200kBPS_CFG3 (0x87)
+
+#define MCP_16MHz_125kBPS_CFG1 (0x03)
+#define MCP_16MHz_125kBPS_CFG2 (0xF0)
+#define MCP_16MHz_125kBPS_CFG3 (0x86)
+
+#define MCP_16MHz_100kBPS_CFG1 (0x03)
+#define MCP_16MHz_100kBPS_CFG2 (0xFA)
+#define MCP_16MHz_100kBPS_CFG3 (0x87)
+
+#define MCP_16MHz_80kBPS_CFG1 (0x03)
+#define MCP_16MHz_80kBPS_CFG2 (0xFF)
+#define MCP_16MHz_80kBPS_CFG3 (0x87)
+
+#define MCP_16MHz_50kBPS_CFG1 (0x07)
+#define MCP_16MHz_50kBPS_CFG2 (0xFA)
+#define MCP_16MHz_50kBPS_CFG3 (0x87)
+
+#define MCP_16MHz_40kBPS_CFG1 (0x07)
+#define MCP_16MHz_40kBPS_CFG2 (0xFF)
+#define MCP_16MHz_40kBPS_CFG3 (0x87)
+
+#define MCP_16MHz_33k3BPS_CFG1 (0x4E)
+#define MCP_16MHz_33k3BPS_CFG2 (0xF1)
+#define MCP_16MHz_33k3BPS_CFG3 (0x85)
+
+#define MCP_16MHz_20kBPS_CFG1 (0x0F)
+#define MCP_16MHz_20kBPS_CFG2 (0xFF)
+#define MCP_16MHz_20kBPS_CFG3 (0x87)
+
+#define MCP_16MHz_10kBPS_CFG1 (0x1F)
+#define MCP_16MHz_10kBPS_CFG2 (0xFF)
+#define MCP_16MHz_10kBPS_CFG3 (0x87)
+
+#define MCP_16MHz_5kBPS_CFG1 (0x3F)
+#define MCP_16MHz_5kBPS_CFG2 (0xFF)
+#define MCP_16MHz_5kBPS_CFG3 (0x87)
+
+/*
+ *  speed 20M
+ */
+#define MCP_20MHz_1000kBPS_CFG1 (0x00)
+#define MCP_20MHz_1000kBPS_CFG2 (0xD9)
+#define MCP_20MHz_1000kBPS_CFG3 (0x82)
+
+#define MCP_20MHz_500kBPS_CFG1 (0x00)
+#define MCP_20MHz_500kBPS_CFG2 (0xFA)
+#define MCP_20MHz_500kBPS_CFG3 (0x87)
+
+#define MCP_20MHz_250kBPS_CFG1 (0x41)
+#define MCP_20MHz_250kBPS_CFG2 (0xFB)
+#define MCP_20MHz_250kBPS_CFG3 (0x86)
+
+#define MCP_20MHz_200kBPS_CFG1 (0x01)
+#define MCP_20MHz_200kBPS_CFG2 (0xFF)
+#define MCP_20MHz_200kBPS_CFG3 (0x87)
+
+#define MCP_20MHz_125kBPS_CFG1 (0x03)
+#define MCP_20MHz_125kBPS_CFG2 (0xFA)
+#define MCP_20MHz_125kBPS_CFG3 (0x87)
+
+#define MCP_20MHz_100kBPS_CFG1 (0x04)
+#define MCP_20MHz_100kBPS_CFG2 (0xFA)
+#define MCP_20MHz_100kBPS_CFG3 (0x87)
+
+#define MCP_20MHz_80kBPS_CFG1 (0x04)
+#define MCP_20MHz_80kBPS_CFG2 (0xFF)
+#define MCP_20MHz_80kBPS_CFG3 (0x87)
+
+#define MCP_20MHz_50kBPS_CFG1 (0x09)
+#define MCP_20MHz_50kBPS_CFG2 (0xFA)
+#define MCP_20MHz_50kBPS_CFG3 (0x87)
+
+#define MCP_20MHz_40kBPS_CFG1 (0x09)
+#define MCP_20MHz_40kBPS_CFG2 (0xFF)
+#define MCP_20MHz_40kBPS_CFG3 (0x87)
+
+
+#define MCPDEBUG        (0)
+#define MCPDEBUG_TXBUF  (0)
+#define MCP_N_TXBUFFERS (3)
+
+#define MCP_RXBUF_0 (MCP_RXB0SIDH)
+#define MCP_RXBUF_1 (MCP_RXB1SIDH)
+
+//#define MCP2515_SELECT()   digitalWrite(MCPCS, LOW)
+//#define MCP2515_UNSELECT() digitalWrite(MCPCS, HIGH)
+
+#define MCP2515_SELECT()  // wiringPi already handles CS pin
+#define MCP2515_UNSELECT()
+
+#define MCP2515_OK         (0)
+#define MCP2515_FAIL       (1)
+#define MCP_ALLTXBUSY      (2)
+
+#define CANDEBUG   1
+
+#define CANUSELOOP 0
+
+#define CANSENDTIMEOUT (200)                                            /* milliseconds                 */
+
+/*
+ *   initial value of gCANAutoProcess
+ */
+#define CANAUTOPROCESS (1)
+#define CANAUTOON  (1)
+#define CANAUTOOFF (0)
+
+#define CAN_STDID (0)
+#define CAN_EXTID (1)
+
+#define CANDEFAULTIDENT    (0x55CC)
+#define CANDEFAULTIDENTEXT (CAN_EXTID)
+
+#define MCP_STDEXT   0                                                  /* Standard and Extended        */
+#define MCP_STD      1                                                  /* Standard IDs ONLY            */
+#define MCP_EXT      2                                                  /* Extended IDs ONLY            */
+#define MCP_ANY      3                                                  /* Disables Masks and Filters   */
+
+#define MCP_20MHZ    0
+#define MCP_16MHZ    1
+#define MCP_8MHZ     2
+
+#define CAN_4K096BPS 0
+#define CAN_5KBPS    1
+#define CAN_10KBPS   2
+#define CAN_20KBPS   3
+#define CAN_31K25BPS 4
+#define CAN_33K3BPS  5
+#define CAN_40KBPS   6
+#define CAN_50KBPS   7
+#define CAN_80KBPS   8
+#define CAN_100KBPS  9
+#define CAN_125KBPS  10
+#define CAN_200KBPS  11
+#define CAN_250KBPS  12
+#define CAN_500KBPS  13
+#define CAN_1000KBPS 14
+
+#define CAN_OK             (0)
+#define CAN_FAILINIT       (1)
+#define CAN_FAILTX         (2)
+#define CAN_MSGAVAIL       (3)
+#define CAN_NOMSG          (4)
+#define CAN_CTRLERROR      (5)
+#define CAN_GETTXBFTIMEOUT (6)
+#define CAN_SENDMSGTIMEOUT (7)
+
+#define CAN_SPI_FAILINIT   (10)
+#define CAN_GPIO_FAILINIT  (11)
+
+#define CAN_MAX_CHAR_IN_MESSAGE (8)
+
+#define CAN_INVALID_CMD (0xfe)
+#define CAN_FAIL       (0xff)
+
+#endif
diff --git a/niryo_robot_hardware_stack/mcp_can_rpi/include/mcp_can_rpi/mcp_can_rpi.h b/niryo_robot_hardware_stack/mcp_can_rpi/include/mcp_can_rpi/mcp_can_rpi.h
new file mode 100644
index 000000000..0e16f5d42
--- /dev/null
+++ b/niryo_robot_hardware_stack/mcp_can_rpi/include/mcp_can_rpi/mcp_can_rpi.h
@@ -0,0 +1,169 @@
+/*
+    mcp_can_rpi.h
+  	This library is an adaptation of MCP_CAN library for Raspberry Pi 4b with wiringPi
+    Copyright (C) 2017 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+	--> Below the original license (from MCP_CAN library):
+
+	mcp_can.h
+	2012 Copyright (c) Seeed Technology Inc.  All right reserved.
+	2017 Copyright (c) Cory J. Fowler  All Rights Reserved.
+	Author:Loovee
+	Contributor: Cory J. Fowler
+	2017-09-25
+	This library is free software; you can redistribute it and/or
+	modify it under the terms of the GNU Lesser General Public
+	License as published by the Free Software Foundation; either
+	version 2.1 of the License, or (at your option) any later version.
+	This library is distributed in the hope that it will be useful,
+	but WITHOUT ANY WARRANTY; without even the implied warranty of
+	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+	Lesser General Public License for more details.
+	You should have received a copy of the GNU Lesser General Public
+	License along with this library; if not, write to the Free Software
+	Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-
+	1301  USA
+*/
+
+
+#ifndef MCP_CAN_RPI_H
+#define MCP_CAN_RPI_H
+
+#if defined __arm__ || defined __aarch64__
+#include <wiringPi.h>
+#include <wiringPiSPI.h>
+#endif
+
+// for debug
+#include <stdio.h>
+
+#include <time.h>
+
+#include "mcp_can_rpi/mcp_can_dfs_rpi.h"
+#define MAX_CHAR_IN_MESSAGE 8
+
+#define CAN_MODEL_NUMBER 10000
+
+class MCP_CAN
+{
+    private:
+    
+    INT8U   m_nExtFlg;                                                  // Identifier Type
+                                                                        // Extended (29 bit) or Standard (11 bit)
+    INT32U  m_nID;                                                      // CAN ID
+    INT8U   m_nDlc;                                                     // Data Length Code
+    INT8U   m_nDta[MAX_CHAR_IN_MESSAGE];                            	// Data array
+    INT8U   m_nRtr;                                                     // Remote request flag
+    INT8U   m_nfilhit;                                                  // The number of the filter that matched the message
+    //INT8U   MCPCS;  (NOT NEEDED, wiringPi already handles CS pin)     // Chip Select pin number 
+    INT8U   mcpMode;                                                    // Mode to return to after configurations are performed.
+    
+    int spi_channel;
+    int spi_baudrate;
+    INT8U gpio_can_interrupt;
+
+/*********************************************************************************************************
+ *  mcp2515 driver function 
+ *********************************************************************************************************/
+   // private:
+   private:
+
+    struct timespec delay_spi_can = {0};
+    
+    void spiTransfer(uint8_t byte_number, unsigned char *buf);
+    
+    void mcp2515_reset(void);                                           // Soft Reset MCP2515
+
+    INT8U mcp2515_readRegister(const INT8U address);                    // Read MCP2515 register
+    
+    void mcp2515_readRegisterS(const INT8U address,                     // Read MCP2515 successive registers
+	                             INT8U values[], 
+                               const INT8U n);
+   
+    void mcp2515_setRegister(const INT8U address,                       // Set MCP2515 register
+                             const INT8U value);
+
+    void mcp2515_setRegisterS(const INT8U address,                      // Set MCP2515 successive registers
+                              const INT8U values[],
+                              const INT8U n);
+    
+    void mcp2515_initCANBuffers(void);
+    
+    void mcp2515_modifyRegister(const INT8U address,                    // Set specific bit(s) of a register
+                                const INT8U mask,
+                                const INT8U data);
+
+    INT8U mcp2515_readStatus(void);                                     // Read MCP2515 Status
+    INT8U mcp2515_setCANCTRL_Mode(const INT8U newmode);                 // Set mode
+    INT8U mcp2515_configRate(const INT8U canSpeed,                      // Set baudrate
+                             const INT8U canClock);
+                             
+    INT8U mcp2515_init(const INT8U canIDMode,                           // Initialize Controller
+                       const INT8U canSpeed,
+                       const INT8U canClock);
+		       
+    void mcp2515_write_mf( const INT8U mcp_addr,                        // Write CAN Mask or Filter
+                           const INT8U ext,
+                           const INT32U id );
+			       
+    void mcp2515_write_id( const INT8U mcp_addr,                        // Write CAN ID
+                           const INT8U ext,
+                           const INT32U id );
+
+    void mcp2515_read_id( const INT8U mcp_addr,                         // Read CAN ID
+				INT8U* ext,
+                                INT32U* id );
+
+    void mcp2515_write_canMsg( const INT8U buffer_sidh_addr );          // Write CAN message
+    void mcp2515_read_canMsg( const INT8U buffer_sidh_addr);            // Read CAN message
+    INT8U mcp2515_getNextFreeTXBuf(INT8U *txbuf_n);                     // Find empty transmit buffer
+
+/*********************************************************************************************************
+ *  CAN operator function
+ *********************************************************************************************************/
+
+    INT8U setMsg(INT32U id, INT8U rtr, INT8U ext, INT8U len, INT8U *pData);        // Set message
+    INT8U clearMsg();                                                   // Clear all message to zero
+    INT8U readMsg();                                                    // Read message
+    INT8U sendMsg();                                                    // Send message
+
+public:
+    MCP_CAN(int spi_channel, int spi_baudrate, INT8U gpio_can_interrupt);
+    INT8U begin(INT8U idmodeset, INT8U speedset, INT8U clockset);       // Initilize controller prameters
+    INT8U init_Mask(INT8U num, INT8U ext, INT32U ulData);               // Initilize Mask(s)
+    INT8U init_Mask(INT8U num, INT32U ulData);                          // Initilize Mask(s)
+    INT8U init_Filt(INT8U num, INT8U ext, INT32U ulData);               // Initilize Filter(s)
+    INT8U init_Filt(INT8U num, INT32U ulData);                          // Initilize Filter(s)
+    INT8U setMode(INT8U opMode);                                        // Set operational mode
+    INT8U sendMsgBuf(INT32U id, INT8U ext, INT8U len, INT8U *buf);      // Send message to transmit buffer
+    INT8U sendMsgBuf(INT32U id, INT8U len, INT8U *buf);                 // Send message to transmit buffer
+    INT8U readMsgBuf(INT32U *id, INT8U *ext, INT8U *len, INT8U *buf);   // Read message from receive buffer
+    INT8U readMsgBuf(INT32U *id, INT8U *len, INT8U *buf);               // Read message from receive buffer
+    INT8U checkReceive(void);                                           // Check for received data
+    INT8U checkError(void);                                             // Check for errors
+    INT8U getError(void);                                               // Check for errors
+    INT8U errorCountRX(void);                                           // Get error count
+    INT8U errorCountTX(void);                                           // Get error count
+    INT8U enOneShotTX(void);                                            // Enable one-shot transmission
+    INT8U disOneShotTX(void);                                           // Disable one-shot transmission
+
+    bool setupInterruptGpio();
+    bool setupSpi();
+    bool canReadData();
+};
+
+#endif
diff --git a/niryo_robot_hardware_stack/mcp_can_rpi/package.xml b/niryo_robot_hardware_stack/mcp_can_rpi/package.xml
new file mode 100644
index 000000000..b87c3b10a
--- /dev/null
+++ b/niryo_robot_hardware_stack/mcp_can_rpi/package.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>mcp_can_rpi</name>
+  <version>1.0.0</version>
+  <description>RPI library for MCP2515 module (CAN bus interface) through SPI GPIOs</description>
+  <author>Edouard Renard</author>
+  <maintainer email="v.pitre@niryo.com">Valentin Pitre</maintainer>
+
+  <license>GPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+
+  <export>
+  </export>
+</package>
diff --git a/niryo_robot_hardware_stack/mcp_can_rpi/src/mcp_can_rpi.cpp b/niryo_robot_hardware_stack/mcp_can_rpi/src/mcp_can_rpi.cpp
new file mode 100644
index 000000000..961d2f3d7
--- /dev/null
+++ b/niryo_robot_hardware_stack/mcp_can_rpi/src/mcp_can_rpi.cpp
@@ -0,0 +1,1326 @@
+/*
+    mcp_can_rpi.cpp
+  	This library is an adaptation of MCP_CAN library for Raspberry Pi 4b with wiringPi
+    Copyright (C) 2017 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+	--> Below the original license (from MCP_CAN library):
+
+	mcp_can.cpp
+	2012 Copyright (c) Seeed Technology Inc.  All right reserved.
+	2017 Copyright (c) Cory J. Fowler  All Rights Reserved.
+	Author:Loovee
+	Contributor: Cory J. Fowler
+	2017-09-25
+	This library is free software; you can redistribute it and/or
+	modify it under the terms of the GNU Lesser General Public
+	License as published by the Free Software Foundation; either
+	version 2.1 of the License, or (at your option) any later version.
+	This library is distributed in the hope that it will be useful,
+	but WITHOUT ANY WARRANTY; without even the implied warranty of
+	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+	Lesser General Public License for more details.
+	You should have received a copy of the GNU Lesser General Public
+	License along with this library; if not, write to the Free Software
+	Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-
+	1301  USA
+*/
+
+#include "mcp_can_rpi/mcp_can_rpi.h"
+
+/*********************************************************************************************************
+** Function name:           spiTransfer
+** Descriptions:            Performs a spi transfer on Raspberry Pi (using wiringPi)
+*********************************************************************************************************/
+void MCP_CAN::spiTransfer(uint8_t byte_number, unsigned char *buf)
+{
+#if defined __arm__ || defined __aarch64__
+    wiringPiSPIDataRW(spi_channel, buf, byte_number);
+    nanosleep(&delay_spi_can, (struct timespec *)NULL); 
+#endif
+}
+
+/*********************************************************************************************************
+** Function name:           setupInterruptGpio
+** Descriptions:            Setups interrupt GPIO pin as input on Raspberry Pi (using wiringPi)
+*********************************************************************************************************/
+bool MCP_CAN::setupInterruptGpio()
+{
+#if defined __arm__ || defined __aarch64__
+    int result = wiringPiSetupGpio();
+    if (!result) {
+        #if DEBUG_MODE
+            printf("Gpio started\n");
+        #endif
+    }
+    else {
+        #if DEBUG_MODE
+            printf("Gpio startup fail\n");
+        #endif
+        return false;
+    }
+    
+    pinMode(gpio_can_interrupt, INPUT);
+    nanosleep((const struct timespec[]){{0, 500000L}}, NULL);
+    return true;
+#else
+    #if DEBUG_MODE
+        printf("Can't use GPIO on non-ARM processor");
+    #endif
+    return false;
+#endif
+}
+
+/*********************************************************************************************************
+** Function name:           setupSpi
+** Descriptions:            Setups spi communication on Raspberry Pi (using wiringPi)
+*********************************************************************************************************/
+bool MCP_CAN::setupSpi()
+{
+#if defined __arm__ || defined __aarch64__
+	int result_spi = wiringPiSPISetup(spi_channel, spi_baudrate);
+    #if DEBUG_MODE
+        printf("Started SPI : %d\n", result_spi);
+    #endif
+    if (result_spi < 0) {
+        return false;
+    }
+    nanosleep((const struct timespec[]){{0, 500000L}}, NULL);
+    return true;
+#else
+    #if DEBUG_MODE
+     printf("Can't use SPI on non-ARM processor");
+    #endif
+    return false;
+#endif
+}
+
+/*********************************************************************************************************
+** Function name:           canReadData
+** Descriptions:            Checks GPIO interrupt pin to see if data is available (using wiringPi)
+*********************************************************************************************************/
+bool MCP_CAN::canReadData()
+{
+#if defined __arm__ || defined __aarch64__
+    return !digitalRead(gpio_can_interrupt);
+#else
+    return false;
+#endif
+}
+
+/*********************************************************************************************************
+** Function name:           mcp2515_reset
+** Descriptions:            Performs a software reset
+*********************************************************************************************************/
+void MCP_CAN::mcp2515_reset(void)                                      
+{
+    unsigned char cmd[1] = { MCP_RESET }; 
+    spiTransfer(1, cmd);
+
+    nanosleep((const struct timespec[]){{0, 10000L}}, NULL);
+}
+
+/*********************************************************************************************************
+** Function name:           mcp2515_readRegister
+** Descriptions:            Read data register
+*********************************************************************************************************/
+INT8U MCP_CAN::mcp2515_readRegister(const INT8U address)                                                                     
+{
+    INT8U ret;
+    
+    unsigned char buf[3] = { MCP_READ, address, 0x00 };
+    spiTransfer(3, buf);
+    ret = buf[2];
+
+    return ret;
+}
+
+/*********************************************************************************************************
+** Function name:           mcp2515_readRegisterS
+** Descriptions:            Reads sucessive data registers
+*********************************************************************************************************/
+void MCP_CAN::mcp2515_readRegisterS(const INT8U address, INT8U values[], const INT8U n)
+{
+    INT8U i;
+
+    int buf_size = 2 + n; 
+    unsigned char buf[buf_size] = { 0x00 };
+    buf[0] = MCP_READ;
+    buf[1] = address;
+
+    spiTransfer(buf_size, buf);
+
+    // mcp2515 has auto-increment of address-pointer
+    for (i = 0 ; i < n ; ++i) {
+        values[i] = buf[i+2];
+    }
+}
+
+/*********************************************************************************************************
+** Function name:           mcp2515_setRegister
+** Descriptions:            Sets data register
+*********************************************************************************************************/
+void MCP_CAN::mcp2515_setRegister(const INT8U address, const INT8U value)
+{
+    unsigned char buf[3] = { MCP_WRITE, address, value };
+    spiTransfer(3, buf);
+}
+
+/*********************************************************************************************************
+** Function name:           mcp2515_setRegisterS
+** Descriptions:            Sets sucessive data registers
+*********************************************************************************************************/
+void MCP_CAN::mcp2515_setRegisterS(const INT8U address, const INT8U values[], const INT8U n)
+{
+    INT8U i;
+    
+    int buf_size = 2 + n;
+    unsigned char buf[buf_size];
+    buf[0] = MCP_WRITE;
+    buf[1] = address;
+    for (i = 0; i < n ; ++i) {
+        buf[i+2] = values[i];
+    }
+
+    spiTransfer(buf_size, buf);
+}
+
+/*********************************************************************************************************
+** Function name:           mcp2515_modifyRegister
+** Descriptions:            Sets specific bits of a register
+*********************************************************************************************************/
+void MCP_CAN::mcp2515_modifyRegister(const INT8U address, const INT8U mask, const INT8U data)
+{
+    unsigned char buf[4] = { MCP_BITMOD, address, mask, data };
+    spiTransfer(4, buf);
+}
+
+/*********************************************************************************************************
+** Function name:           mcp2515_readStatus
+** Descriptions:            Reads status register
+*********************************************************************************************************/
+INT8U MCP_CAN::mcp2515_readStatus(void)                             
+{
+    INT8U i;
+    
+    unsigned char buf[2] = { MCP_READ_STATUS, 0x00 };
+    spiTransfer(2, buf);
+    i = buf[1];
+    
+    return i;
+}
+
+/*********************************************************************************************************
+** Function name:           setMode
+** Descriptions:            Sets control mode
+*********************************************************************************************************/
+INT8U MCP_CAN::setMode(const INT8U opMode)
+{
+    mcpMode = opMode;
+    return mcp2515_setCANCTRL_Mode(mcpMode);
+}
+
+/*********************************************************************************************************
+** Function name:           mcp2515_setCANCTRL_Mode
+** Descriptions:            Set control mode
+*********************************************************************************************************/
+INT8U MCP_CAN::mcp2515_setCANCTRL_Mode(const INT8U newmode)
+{
+    INT8U i;
+
+    mcp2515_modifyRegister(MCP_CANCTRL, MODE_MASK, newmode);
+
+    i = mcp2515_readRegister(MCP_CANCTRL);
+    i &= MODE_MASK;
+
+    if ( i == newmode ) 
+        return MCP2515_OK;
+
+    return MCP2515_FAIL;
+}
+
+/*********************************************************************************************************
+** Function name:           mcp2515_configRate
+** Descriptions:            Set baudrate
+*********************************************************************************************************/
+INT8U MCP_CAN::mcp2515_configRate(const INT8U canSpeed, const INT8U canClock)            
+{
+    INT8U set, cfg1, cfg2, cfg3;
+    set = 1;
+    switch (canClock)
+    {
+        case (MCP_8MHZ):
+        switch (canSpeed) 
+        {
+            case (CAN_5KBPS):                                               //   5KBPS                  
+            cfg1 = MCP_8MHz_5kBPS_CFG1;
+            cfg2 = MCP_8MHz_5kBPS_CFG2;
+            cfg3 = MCP_8MHz_5kBPS_CFG3;
+            break;
+
+            case (CAN_10KBPS):                                              //  10KBPS                  
+            cfg1 = MCP_8MHz_10kBPS_CFG1;
+            cfg2 = MCP_8MHz_10kBPS_CFG2;
+            cfg3 = MCP_8MHz_10kBPS_CFG3;
+            break;
+
+            case (CAN_20KBPS):                                              //  20KBPS                  
+            cfg1 = MCP_8MHz_20kBPS_CFG1;
+            cfg2 = MCP_8MHz_20kBPS_CFG2;
+            cfg3 = MCP_8MHz_20kBPS_CFG3;
+            break;
+
+            case (CAN_31K25BPS):                                            //  31.25KBPS                  
+            cfg1 = MCP_8MHz_31k25BPS_CFG1;
+            cfg2 = MCP_8MHz_31k25BPS_CFG2;
+            cfg3 = MCP_8MHz_31k25BPS_CFG3;
+            break;
+
+            case (CAN_33K3BPS):                                             //  33.33KBPS                  
+            cfg1 = MCP_8MHz_33k3BPS_CFG1;
+            cfg2 = MCP_8MHz_33k3BPS_CFG2;
+            cfg3 = MCP_8MHz_33k3BPS_CFG3;
+            break;
+
+            case (CAN_40KBPS):                                              //  40Kbps
+            cfg1 = MCP_8MHz_40kBPS_CFG1;
+            cfg2 = MCP_8MHz_40kBPS_CFG2;
+            cfg3 = MCP_8MHz_40kBPS_CFG3;
+            break;
+
+            case (CAN_50KBPS):                                              //  50Kbps
+            cfg1 = MCP_8MHz_50kBPS_CFG1;
+            cfg2 = MCP_8MHz_50kBPS_CFG2;
+            cfg3 = MCP_8MHz_50kBPS_CFG3;
+            break;
+
+            case (CAN_80KBPS):                                              //  80Kbps
+            cfg1 = MCP_8MHz_80kBPS_CFG1;
+            cfg2 = MCP_8MHz_80kBPS_CFG2;
+            cfg3 = MCP_8MHz_80kBPS_CFG3;
+            break;
+
+            case (CAN_100KBPS):                                             // 100Kbps
+            cfg1 = MCP_8MHz_100kBPS_CFG1;
+            cfg2 = MCP_8MHz_100kBPS_CFG2;
+            cfg3 = MCP_8MHz_100kBPS_CFG3;
+            break;
+
+            case (CAN_125KBPS):                                             // 125Kbps
+            cfg1 = MCP_8MHz_125kBPS_CFG1;
+            cfg2 = MCP_8MHz_125kBPS_CFG2;
+            cfg3 = MCP_8MHz_125kBPS_CFG3;
+            break;
+
+            case (CAN_200KBPS):                                             // 200Kbps
+            cfg1 = MCP_8MHz_200kBPS_CFG1;
+            cfg2 = MCP_8MHz_200kBPS_CFG2;
+            cfg3 = MCP_8MHz_200kBPS_CFG3;
+            break;
+
+            case (CAN_250KBPS):                                             // 250Kbps
+            cfg1 = MCP_8MHz_250kBPS_CFG1;
+            cfg2 = MCP_8MHz_250kBPS_CFG2;
+            cfg3 = MCP_8MHz_250kBPS_CFG3;
+            break;
+
+            case (CAN_500KBPS):                                             // 500Kbps
+            cfg1 = MCP_8MHz_500kBPS_CFG1;
+            cfg2 = MCP_8MHz_500kBPS_CFG2;
+            cfg3 = MCP_8MHz_500kBPS_CFG3;
+            break;
+        
+            case (CAN_1000KBPS):                                            //   1Mbps
+            cfg1 = MCP_8MHz_1000kBPS_CFG1;
+            cfg2 = MCP_8MHz_1000kBPS_CFG2;
+            cfg3 = MCP_8MHz_1000kBPS_CFG3;
+            break;  
+
+            default:
+            set = 0;
+	    return MCP2515_FAIL;
+            break;
+        }
+        break;
+
+        case (MCP_16MHZ):
+        switch (canSpeed) 
+        {
+            case (CAN_5KBPS):                                               //   5Kbps
+            cfg1 = MCP_16MHz_5kBPS_CFG1;
+            cfg2 = MCP_16MHz_5kBPS_CFG2;
+            cfg3 = MCP_16MHz_5kBPS_CFG3;
+            break;
+
+            case (CAN_10KBPS):                                              //  10Kbps
+            cfg1 = MCP_16MHz_10kBPS_CFG1;
+            cfg2 = MCP_16MHz_10kBPS_CFG2;
+            cfg3 = MCP_16MHz_10kBPS_CFG3;
+            break;
+
+            case (CAN_20KBPS):                                              //  20Kbps
+            cfg1 = MCP_16MHz_20kBPS_CFG1;
+            cfg2 = MCP_16MHz_20kBPS_CFG2;
+            cfg3 = MCP_16MHz_20kBPS_CFG3;
+            break;
+
+            case (CAN_33K3BPS):                                              //  20Kbps
+            cfg1 = MCP_16MHz_33k3BPS_CFG1;
+            cfg2 = MCP_16MHz_33k3BPS_CFG2;
+            cfg3 = MCP_16MHz_33k3BPS_CFG3;
+            break;
+
+            case (CAN_40KBPS):                                              //  40Kbps
+            cfg1 = MCP_16MHz_40kBPS_CFG1;
+            cfg2 = MCP_16MHz_40kBPS_CFG2;
+            cfg3 = MCP_16MHz_40kBPS_CFG3;
+            break;
+
+            case (CAN_50KBPS):                                              //  50Kbps
+            cfg2 = MCP_16MHz_50kBPS_CFG2;
+            cfg3 = MCP_16MHz_50kBPS_CFG3;
+            break;
+
+            case (CAN_80KBPS):                                              //  80Kbps
+            cfg1 = MCP_16MHz_80kBPS_CFG1;
+            cfg2 = MCP_16MHz_80kBPS_CFG2;
+            cfg3 = MCP_16MHz_80kBPS_CFG3;
+            break;
+
+            case (CAN_100KBPS):                                             // 100Kbps
+            cfg1 = MCP_16MHz_100kBPS_CFG1;
+            cfg2 = MCP_16MHz_100kBPS_CFG2;
+            cfg3 = MCP_16MHz_100kBPS_CFG3;
+            break;
+
+            case (CAN_125KBPS):                                             // 125Kbps
+            cfg1 = MCP_16MHz_125kBPS_CFG1;
+            cfg2 = MCP_16MHz_125kBPS_CFG2;
+            cfg3 = MCP_16MHz_125kBPS_CFG3;
+            break;
+
+            case (CAN_200KBPS):                                             // 200Kbps
+            cfg1 = MCP_16MHz_200kBPS_CFG1;
+            cfg2 = MCP_16MHz_200kBPS_CFG2;
+            cfg3 = MCP_16MHz_200kBPS_CFG3;
+            break;
+
+            case (CAN_250KBPS):                                             // 250Kbps
+            cfg1 = MCP_16MHz_250kBPS_CFG1;
+            cfg2 = MCP_16MHz_250kBPS_CFG2;
+            cfg3 = MCP_16MHz_250kBPS_CFG3;
+            break;
+
+            case (CAN_500KBPS):                                             // 500Kbps
+            cfg1 = MCP_16MHz_500kBPS_CFG1;
+            cfg2 = MCP_16MHz_500kBPS_CFG2;
+            cfg3 = MCP_16MHz_500kBPS_CFG3;
+            break;
+        
+            case (CAN_1000KBPS):                                            //   1Mbps
+            cfg1 = MCP_16MHz_1000kBPS_CFG1;
+            cfg2 = MCP_16MHz_1000kBPS_CFG2;
+            cfg3 = MCP_16MHz_1000kBPS_CFG3;
+            break;  
+
+            default:
+            set = 0;
+	    return MCP2515_FAIL;
+            break;
+        }
+        break;
+        
+        case (MCP_20MHZ):
+        switch (canSpeed) 
+        {
+            case (CAN_40KBPS):                                              //  40Kbps
+            cfg1 = MCP_20MHz_40kBPS_CFG1;
+            cfg2 = MCP_20MHz_40kBPS_CFG2;
+            cfg3 = MCP_20MHz_40kBPS_CFG3;
+            break;
+
+            case (CAN_50KBPS):                                              //  50Kbps
+            cfg1 = MCP_20MHz_50kBPS_CFG1;
+            cfg2 = MCP_20MHz_50kBPS_CFG2;
+            cfg3 = MCP_20MHz_50kBPS_CFG3;
+            break;
+
+            case (CAN_80KBPS):                                              //  80Kbps
+            cfg1 = MCP_20MHz_80kBPS_CFG1;
+            cfg2 = MCP_20MHz_80kBPS_CFG2;
+            cfg3 = MCP_20MHz_80kBPS_CFG3;
+            break;
+
+            case (CAN_100KBPS):                                             // 100Kbps
+            cfg1 = MCP_20MHz_100kBPS_CFG1;
+            cfg2 = MCP_20MHz_100kBPS_CFG2;
+            cfg3 = MCP_20MHz_100kBPS_CFG3;
+            break;
+
+            case (CAN_125KBPS):                                             // 125Kbps
+            cfg1 = MCP_20MHz_125kBPS_CFG1;
+            cfg2 = MCP_20MHz_125kBPS_CFG2;
+            cfg3 = MCP_20MHz_125kBPS_CFG3;
+            break;
+
+            case (CAN_200KBPS):                                             // 200Kbps
+            cfg1 = MCP_20MHz_200kBPS_CFG1;
+            cfg2 = MCP_20MHz_200kBPS_CFG2;
+            cfg3 = MCP_20MHz_200kBPS_CFG3;
+            break;
+
+            case (CAN_250KBPS):                                             // 250Kbps
+            cfg1 = MCP_20MHz_250kBPS_CFG1;
+            cfg2 = MCP_20MHz_250kBPS_CFG2;
+            cfg3 = MCP_20MHz_250kBPS_CFG3;
+            break;
+
+            case (CAN_500KBPS):                                             // 500Kbps
+            cfg1 = MCP_20MHz_500kBPS_CFG1;
+            cfg2 = MCP_20MHz_500kBPS_CFG2;
+            cfg3 = MCP_20MHz_500kBPS_CFG3;
+            break;
+        
+            case (CAN_1000KBPS):                                            //   1Mbps
+            cfg1 = MCP_20MHz_1000kBPS_CFG1;
+            cfg2 = MCP_20MHz_1000kBPS_CFG2;
+            cfg3 = MCP_20MHz_1000kBPS_CFG3;
+            break;  
+
+            default:
+            set = 0;
+            return MCP2515_FAIL;
+            break;
+        }
+        break;
+        
+        default:
+        set = 0;
+	return MCP2515_FAIL;
+        break;
+    }
+
+    if (set) {
+        mcp2515_setRegister(MCP_CNF1, cfg1);
+        mcp2515_setRegister(MCP_CNF2, cfg2);
+        mcp2515_setRegister(MCP_CNF3, cfg3);
+        return MCP2515_OK;
+    }
+     
+    return MCP2515_FAIL;
+}
+
+/*********************************************************************************************************
+** Function name:           mcp2515_initCANBuffers
+** Descriptions:            Initialize Buffers, Masks, and Filters
+*********************************************************************************************************/
+void MCP_CAN::mcp2515_initCANBuffers(void)
+{
+    INT8U i, a1, a2, a3;
+    
+    INT8U std = 0;               
+    INT8U ext = 1;
+    INT32U ulMask = 0x00, ulFilt = 0x00;
+
+
+    mcp2515_write_mf(MCP_RXM0SIDH, ext, ulMask);			/*Set both masks to 0           */
+    mcp2515_write_mf(MCP_RXM1SIDH, ext, ulMask);			/*Mask register ignores ext bit */
+    
+                                                                        /* Set all filters to 0         */
+    mcp2515_write_mf(MCP_RXF0SIDH, ext, ulFilt);			/* RXB0: extended               */
+    mcp2515_write_mf(MCP_RXF1SIDH, std, ulFilt);			/* RXB1: standard               */
+    mcp2515_write_mf(MCP_RXF2SIDH, ext, ulFilt);			/* RXB2: extended               */
+    mcp2515_write_mf(MCP_RXF3SIDH, std, ulFilt);			/* RXB3: standard               */
+    mcp2515_write_mf(MCP_RXF4SIDH, ext, ulFilt);
+    mcp2515_write_mf(MCP_RXF5SIDH, std, ulFilt);
+
+                                                                        /* Clear, deactivate the three  */
+                                                                        /* transmit buffers             */
+                                                                        /* TXBnCTRL -> TXBnD7           */
+    a1 = MCP_TXB0CTRL;
+    a2 = MCP_TXB1CTRL;
+    a3 = MCP_TXB2CTRL;
+    for (i = 0; i < 14; i++) {                                          /* in-buffer loop               */
+        mcp2515_setRegister(a1, 0);
+        mcp2515_setRegister(a2, 0);
+        mcp2515_setRegister(a3, 0);
+        a1++;
+        a2++;
+        a3++;
+    }
+    mcp2515_setRegister(MCP_RXB0CTRL, 0);
+    mcp2515_setRegister(MCP_RXB1CTRL, 0);
+}
+
+/*********************************************************************************************************
+** Function name:           mcp2515_init
+** Descriptions:            Initialize the controller
+*********************************************************************************************************/
+INT8U MCP_CAN::mcp2515_init(const INT8U canIDMode, const INT8U canSpeed, const INT8U canClock)
+{
+
+  INT8U res;
+
+    mcp2515_reset();
+    
+    mcpMode = MCP_LOOPBACK;
+
+    res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
+    if(res > 0)
+    {
+#if DEBUG_MODE
+      printf("Entering Configuration Mode Failure...\r\n"); 
+#endif
+      return res;
+    }
+#if DEBUG_MODE
+    printf("Entering Configuration Mode Successful!\r\n");
+#endif
+
+    // Set Baudrate
+    if(mcp2515_configRate(canSpeed, canClock))
+    {
+#if DEBUG_MODE
+      printf("Setting Baudrate Failure...\r\n");
+#endif
+      return res;
+    }
+#if DEBUG_MODE
+    printf("Setting Baudrate Successful!\r\n");
+#endif
+
+    if ( res == MCP2515_OK ) {
+
+                                                                        /* init canbuffers              */
+        mcp2515_initCANBuffers();
+
+                                                                        /* interrupt mode               */
+        mcp2515_setRegister(MCP_CANINTE, MCP_RX0IF | MCP_RX1IF);
+
+        switch(canIDMode)
+        {
+            case (MCP_ANY):
+            mcp2515_modifyRegister(MCP_RXB0CTRL,
+            MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK,
+            MCP_RXB_RX_ANY | MCP_RXB_BUKT_MASK);
+            mcp2515_modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK,
+            MCP_RXB_RX_ANY);
+            break;
+/*          The followingn two functions of the MCP2515 do not work, there is a bug in the silicon.
+            case (MCP_STD): 
+            mcp2515_modifyRegister(MCP_RXB0CTRL,
+            MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK,
+            MCP_RXB_RX_STD | MCP_RXB_BUKT_MASK );
+            mcp2515_modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK,
+            MCP_RXB_RX_STD);
+            break;
+            case (MCP_EXT): 
+            mcp2515_modifyRegister(MCP_RXB0CTRL,
+            MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK,
+            MCP_RXB_RX_EXT | MCP_RXB_BUKT_MASK );
+            mcp2515_modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK,
+            MCP_RXB_RX_EXT);
+            break;
+*/
+            case (MCP_STDEXT): 
+            mcp2515_modifyRegister(MCP_RXB0CTRL,
+            MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK,
+            MCP_RXB_RX_STDEXT | MCP_RXB_BUKT_MASK );
+            mcp2515_modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK,
+            MCP_RXB_RX_STDEXT);
+            break;
+    
+            default:
+#if DEBUG_MODE        
+            printf("`Setting ID Mode Failure...\r\n");
+#endif           
+            return MCP2515_FAIL;
+            break;
+}    
+
+
+        res = mcp2515_setCANCTRL_Mode(mcpMode);                                                                
+        if(res)
+        {
+#if DEBUG_MODE        
+          printf("Returning to Previous Mode Failure...\r\n");
+#endif           
+          return res;
+        }
+
+    }
+    return res;
+
+}
+
+/*********************************************************************************************************
+** Function name:           mcp2515_write_id
+** Descriptions:            Write CAN ID
+*********************************************************************************************************/
+void MCP_CAN::mcp2515_write_id( const INT8U mcp_addr, const INT8U ext, const INT32U id )
+{
+    uint16_t canid;
+    INT8U tbufdata[4];
+
+    canid = (uint16_t)(id & 0x0FFFF);
+
+    if ( ext == 1) 
+    {
+        tbufdata[MCP_EID0] = (INT8U) (canid & 0xFF);
+        tbufdata[MCP_EID8] = (INT8U) (canid >> 8);
+        canid = (uint16_t)(id >> 16);
+        tbufdata[MCP_SIDL] = (INT8U) (canid & 0x03);
+        tbufdata[MCP_SIDL] += (INT8U) ((canid & 0x1C) << 3);
+        tbufdata[MCP_SIDL] |= MCP_TXB_EXIDE_M;
+        tbufdata[MCP_SIDH] = (INT8U) (canid >> 5 );
+    }
+    else 
+    {
+        tbufdata[MCP_SIDH] = (INT8U) (canid >> 3 );
+        tbufdata[MCP_SIDL] = (INT8U) ((canid & 0x07 ) << 5);
+        tbufdata[MCP_EID0] = 0;
+        tbufdata[MCP_EID8] = 0;
+    }
+    
+    mcp2515_setRegisterS( mcp_addr, tbufdata, 4 );
+}
+
+/*********************************************************************************************************
+** Function name:           mcp2515_write_mf
+** Descriptions:            Write Masks and Filters
+*********************************************************************************************************/
+void MCP_CAN::mcp2515_write_mf( const INT8U mcp_addr, const INT8U ext, const INT32U id )
+{
+    uint16_t canid;
+    INT8U tbufdata[4];
+
+    canid = (uint16_t)(id & 0x0FFFF);
+
+    if ( ext == 1) 
+    {
+        tbufdata[MCP_EID0] = (INT8U) (canid & 0xFF);
+        tbufdata[MCP_EID8] = (INT8U) (canid >> 8);
+        canid = (uint16_t)(id >> 16);
+        tbufdata[MCP_SIDL] = (INT8U) (canid & 0x03);
+        tbufdata[MCP_SIDL] += (INT8U) ((canid & 0x1C) << 3);
+        tbufdata[MCP_SIDL] |= MCP_TXB_EXIDE_M;
+        tbufdata[MCP_SIDH] = (INT8U) (canid >> 5 );
+    }
+    else 
+    {
+        tbufdata[MCP_EID0] = (INT8U) (canid & 0xFF);
+        tbufdata[MCP_EID8] = (INT8U) (canid >> 8);
+        canid = (uint16_t)(id >> 16);
+        tbufdata[MCP_SIDL] = (INT8U) ((canid & 0x07) << 5);
+        tbufdata[MCP_SIDH] = (INT8U) (canid >> 3 );
+    }
+    
+    mcp2515_setRegisterS( mcp_addr, tbufdata, 4 );
+}
+
+/*********************************************************************************************************
+** Function name:           mcp2515_read_id
+** Descriptions:            Read CAN ID
+*********************************************************************************************************/
+void MCP_CAN::mcp2515_read_id( const INT8U mcp_addr, INT8U* ext, INT32U* id )
+{
+    INT8U tbufdata[4];
+
+    *ext = 0;
+    *id = 0;
+
+    mcp2515_readRegisterS( mcp_addr, tbufdata, 4 );
+
+    *id = (tbufdata[MCP_SIDH]<<3) + (tbufdata[MCP_SIDL]>>5);
+
+    if ( (tbufdata[MCP_SIDL] & MCP_TXB_EXIDE_M) ==  MCP_TXB_EXIDE_M ) 
+    {
+                                                                        /* extended id                  */
+        *id = (*id<<2) + (tbufdata[MCP_SIDL] & 0x03);
+        *id = (*id<<8) + tbufdata[MCP_EID8];
+        *id = (*id<<8) + tbufdata[MCP_EID0];
+        *ext = 1;
+    }
+}
+
+/*********************************************************************************************************
+** Function name:           mcp2515_write_canMsg
+** Descriptions:            Write message
+*********************************************************************************************************/
+void MCP_CAN::mcp2515_write_canMsg( const INT8U buffer_sidh_addr)
+{
+    INT8U mcp_addr;
+    mcp_addr = buffer_sidh_addr;
+    mcp2515_setRegisterS(mcp_addr+5, m_nDta, m_nDlc );                  /* write data bytes             */
+	
+    if ( m_nRtr == 1)                                                   /* if RTR set bit in byte       */
+        m_nDlc |= MCP_RTR_MASK;  
+
+    mcp2515_setRegister((mcp_addr+4), m_nDlc );                         /* write the RTR and DLC        */
+    mcp2515_write_id(mcp_addr, m_nExtFlg, m_nID );                      /* write CAN id                 */
+
+}
+
+/*********************************************************************************************************
+** Function name:           mcp2515_read_canMsg
+** Descriptions:            Read message
+*********************************************************************************************************/
+void MCP_CAN::mcp2515_read_canMsg( const INT8U buffer_sidh_addr)        /* read can msg                 */
+{
+    INT8U mcp_addr, ctrl;
+
+    mcp_addr = buffer_sidh_addr;
+
+    mcp2515_read_id( mcp_addr, &m_nExtFlg,&m_nID );
+
+    ctrl = mcp2515_readRegister( mcp_addr-1 );
+    m_nDlc = mcp2515_readRegister( mcp_addr+4 );
+
+    if (ctrl & 0x08)
+        m_nRtr = 1;
+    else
+        m_nRtr = 0;
+
+    m_nDlc &= MCP_DLC_MASK;
+    mcp2515_readRegisterS( mcp_addr+5, &(m_nDta[0]), m_nDlc );
+}
+
+/*********************************************************************************************************
+** Function name:           mcp2515_getNextFreeTXBuf
+** Descriptions:            Send message
+*********************************************************************************************************/
+INT8U MCP_CAN::mcp2515_getNextFreeTXBuf(INT8U *txbuf_n)                 /* get Next free txbuf          */
+{
+    INT8U res, i, ctrlval;
+    INT8U ctrlregs[MCP_N_TXBUFFERS] = { MCP_TXB0CTRL, MCP_TXB1CTRL, MCP_TXB2CTRL };
+
+    res = MCP_ALLTXBUSY;
+    *txbuf_n = 0x00;
+
+                                                                        /* check all 3 TX-Buffers       */
+    for (i=0; i<MCP_N_TXBUFFERS; i++) {
+        ctrlval = mcp2515_readRegister( ctrlregs[i] );
+        if ( (ctrlval & MCP_TXB_TXREQ_M) == 0 ) {
+            *txbuf_n = ctrlregs[i]+1;                                   /* return SIDH-address of Buffer*/
+            
+            res = MCP2515_OK;
+            return res;                                                 /* ! function exit              */
+        }
+    }
+    return res;
+}
+
+/*********************************************************************************************************
+** Function name:           MCP_CAN
+** Descriptions:            Public function to declare CAN class and the /CS pin.
+*********************************************************************************************************/
+MCP_CAN::MCP_CAN(int spi_channel, int spi_baudrate, INT8U gpio_can_interrupt)
+{
+    this->spi_channel = spi_channel;
+    this->spi_baudrate = spi_baudrate;
+    this->gpio_can_interrupt = gpio_can_interrupt;
+    
+    delay_spi_can.tv_sec = 0;
+    delay_spi_can.tv_nsec = 5000L; // wait 5 microseconds between 2 spi transfers
+}
+
+/*********************************************************************************************************
+** Function name:           begin
+** Descriptions:            Public function to declare controller initialization parameters.
+*********************************************************************************************************/
+INT8U MCP_CAN::begin(INT8U idmodeset, INT8U speedset, INT8U clockset)
+{
+    INT8U res;
+ 
+    res = mcp2515_init(idmodeset, speedset, clockset);
+    if (res == MCP2515_OK)
+        return CAN_OK;
+    
+    return CAN_FAILINIT;
+}
+
+/*********************************************************************************************************
+** Function name:           init_Mask
+** Descriptions:            Public function to set mask(s).
+*********************************************************************************************************/
+INT8U MCP_CAN::init_Mask(INT8U num, INT8U ext, INT32U ulData)
+{
+    INT8U res = MCP2515_OK;
+#if DEBUG_MODE
+    printf("Starting to Set Mask!\r\n");
+#endif
+    res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
+    if(res > 0){
+#if DEBUG_MODE
+    printf("Entering Configuration Mode Failure...\r\n"); 
+#endif
+  return res;
+}
+    
+    if (num == 0){
+        mcp2515_write_mf(MCP_RXM0SIDH, ext, ulData);
+
+    }
+    else if(num == 1){
+        mcp2515_write_mf(MCP_RXM1SIDH, ext, ulData);
+    }
+    else res =  MCP2515_FAIL;
+    
+    res = mcp2515_setCANCTRL_Mode(mcpMode);
+    if(res > 0){
+#if DEBUG_MODE
+    printf("Entering Previous Mode Failure...\r\nSetting Mask Failure...\r\n"); 
+#endif
+    return res;
+  }
+#if DEBUG_MODE
+    printf("Setting Mask Successful!\r\n");
+#endif
+    return res;
+}
+
+/*********************************************************************************************************
+** Function name:           init_Mask
+** Descriptions:            Public function to set mask(s).
+*********************************************************************************************************/
+INT8U MCP_CAN::init_Mask(INT8U num, INT32U ulData)
+{
+    INT8U res = MCP2515_OK;
+    INT8U ext = 0;
+#if DEBUG_MODE
+    printf("Starting to Set Mask!\r\n");
+#endif
+    res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
+    if(res > 0){
+#if DEBUG_MODE
+    printf("Entering Configuration Mode Failure...\r\n"); 
+#endif
+  return res;
+}
+    
+    if((num & 0x80000000) == 0x80000000)
+        ext = 1;
+    
+    if (num == 0){
+        mcp2515_write_mf(MCP_RXM0SIDH, ext, ulData);
+
+    }
+    else if(num == 1){
+        mcp2515_write_mf(MCP_RXM1SIDH, ext, ulData);
+    }
+    else res =  MCP2515_FAIL;
+    
+    res = mcp2515_setCANCTRL_Mode(mcpMode);
+    if(res > 0){
+#if DEBUG_MODE
+    printf("Entering Previous Mode Failure...\r\nSetting Mask Failure...\r\n"); 
+#endif
+    return res;
+  }
+#if DEBUG_MODE
+    printf("Setting Mask Successful!\r\n");
+#endif
+    return res;
+}
+
+/*********************************************************************************************************
+** Function name:           init_Filt
+** Descriptions:            Public function to set filter(s).
+*********************************************************************************************************/
+INT8U MCP_CAN::init_Filt(INT8U num, INT8U ext, INT32U ulData)
+{
+    INT8U res = MCP2515_OK;
+#if DEBUG_MODE
+    printf("Starting to Set Filter!\r\n");
+#endif
+    res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
+    if(res > 0)
+    {
+#if DEBUG_MODE
+      printf("Enter Configuration Mode Failure...\r\n"); 
+#endif
+      return res;
+    }
+    
+    switch( num )
+    {
+        case 0:
+        mcp2515_write_mf(MCP_RXF0SIDH, ext, ulData);
+        break;
+
+        case 1:
+        mcp2515_write_mf(MCP_RXF1SIDH, ext, ulData);
+        break;
+
+        case 2:
+        mcp2515_write_mf(MCP_RXF2SIDH, ext, ulData);
+        break;
+
+        case 3:
+        mcp2515_write_mf(MCP_RXF3SIDH, ext, ulData);
+        break;
+
+        case 4:
+        mcp2515_write_mf(MCP_RXF4SIDH, ext, ulData);
+        break;
+
+        case 5:
+        mcp2515_write_mf(MCP_RXF5SIDH, ext, ulData);
+        break;
+
+        default:
+        res = MCP2515_FAIL;
+    }
+    
+    res = mcp2515_setCANCTRL_Mode(mcpMode);
+    if(res > 0)
+    {
+#if DEBUG_MODE
+      printf("Entering Previous Mode Failure...\r\nSetting Filter Failure...\r\n"); 
+#endif
+      return res;
+    }
+#if DEBUG_MODE
+    printf("Setting Filter Successfull!\r\n");
+#endif
+    
+    return res;
+}
+
+/*********************************************************************************************************
+** Function name:           init_Filt
+** Descriptions:            Public function to set filter(s).
+*********************************************************************************************************/
+INT8U MCP_CAN::init_Filt(INT8U num, INT32U ulData)
+{
+    INT8U res = MCP2515_OK;
+    INT8U ext = 0;
+    
+#if DEBUG_MODE
+    printf("Starting to Set Filter!\r\n");
+#endif
+    res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
+    if(res > 0)
+    {
+#if DEBUG_MODE
+      printf("Enter Configuration Mode Failure...\r\n"); 
+#endif
+      return res;
+    }
+    
+    if((num & 0x80000000) == 0x80000000)
+        ext = 1;
+    
+    switch( num )
+    {
+        case 0:
+        mcp2515_write_mf(MCP_RXF0SIDH, ext, ulData);
+        break;
+
+        case 1:
+        mcp2515_write_mf(MCP_RXF1SIDH, ext, ulData);
+        break;
+
+        case 2:
+        mcp2515_write_mf(MCP_RXF2SIDH, ext, ulData);
+        break;
+
+        case 3:
+        mcp2515_write_mf(MCP_RXF3SIDH, ext, ulData);
+        break;
+
+        case 4:
+        mcp2515_write_mf(MCP_RXF4SIDH, ext, ulData);
+        break;
+
+        case 5:
+        mcp2515_write_mf(MCP_RXF5SIDH, ext, ulData);
+        break;
+
+        default:
+        res = MCP2515_FAIL;
+    }
+    
+    res = mcp2515_setCANCTRL_Mode(mcpMode);
+    if(res > 0)
+    {
+#if DEBUG_MODE
+      printf("Entering Previous Mode Failure...\r\nSetting Filter Failure...\r\n"); 
+#endif
+      return res;
+    }
+#if DEBUG_MODE
+    printf("Setting Filter Successfull!\r\n");
+#endif
+    
+    return res;
+}
+
+/*********************************************************************************************************
+** Function name:           setMsg
+** Descriptions:            Set can message, such as dlc, id, dta[] and so on
+*********************************************************************************************************/
+INT8U MCP_CAN::setMsg(INT32U id, INT8U rtr, INT8U ext, INT8U len, INT8U *pData)
+{
+    int i = 0;
+    m_nID     = id;
+    m_nRtr    = rtr;
+    m_nExtFlg = ext;
+    m_nDlc    = len;
+    for(i = 0; i<MAX_CHAR_IN_MESSAGE; i++)
+        m_nDta[i] = *(pData+i);
+	
+    return MCP2515_OK;
+}
+
+/*********************************************************************************************************
+** Function name:           clearMsg
+** Descriptions:            Set all messages to zero
+*********************************************************************************************************/
+INT8U MCP_CAN::clearMsg()
+{
+    m_nID       = 0;
+    m_nDlc      = 0;
+    m_nExtFlg   = 0;
+    m_nRtr      = 0;
+    m_nfilhit   = 0;
+    for(int i = 0; i<m_nDlc; i++ )
+      m_nDta[i] = 0x00;
+
+    return MCP2515_OK;
+}
+
+/*********************************************************************************************************
+** Function name:           sendMsg
+** Descriptions:            Send message
+*********************************************************************************************************/
+INT8U MCP_CAN::sendMsg()
+{
+    INT8U res, res1, txbuf_n;
+    uint16_t uiTimeOut = 0;
+
+    do {
+        res = mcp2515_getNextFreeTXBuf(&txbuf_n);                       /* info = addr.                 */
+        uiTimeOut++;
+    } while (res == MCP_ALLTXBUSY && (uiTimeOut < TIMEOUTVALUE));
+
+    if(uiTimeOut == TIMEOUTVALUE) 
+    {   
+        return CAN_GETTXBFTIMEOUT;                                      /* get tx buff time out         */
+    }
+    uiTimeOut = 0;
+    mcp2515_write_canMsg( txbuf_n);
+    mcp2515_modifyRegister( txbuf_n-1 , MCP_TXB_TXREQ_M, MCP_TXB_TXREQ_M );
+    
+    do
+    {
+        uiTimeOut++;        
+        res1 = mcp2515_readRegister(txbuf_n-1);                         /* read send buff ctrl reg 	*/
+        res1 = res1 & 0x08;                               		
+    } while (res1 && (uiTimeOut < TIMEOUTVALUE));   
+    
+    if(uiTimeOut == TIMEOUTVALUE)                                       /* send msg timeout             */	
+        return CAN_SENDMSGTIMEOUT;
+    
+    return CAN_OK;
+}
+
+/*********************************************************************************************************
+** Function name:           sendMsgBuf
+** Descriptions:            Send message to transmitt buffer
+*********************************************************************************************************/
+INT8U MCP_CAN::sendMsgBuf(INT32U id, INT8U ext, INT8U len, INT8U *buf)
+{
+    INT8U res;
+	
+    setMsg(id, 0, ext, len, buf);
+    res = sendMsg();
+    
+    return res;
+}
+
+/*********************************************************************************************************
+** Function name:           sendMsgBuf
+** Descriptions:            Send message to transmitt buffer
+*********************************************************************************************************/
+INT8U MCP_CAN::sendMsgBuf(INT32U id, INT8U len, INT8U *buf)
+{
+    INT8U ext = 0, rtr = 0;
+    INT8U res;
+    
+    if((id & 0x80000000) == 0x80000000)
+        ext = 1;
+ 
+    if((id & 0x40000000) == 0x40000000)
+        rtr = 1;
+        
+    setMsg(id, rtr, ext, len, buf);
+    res = sendMsg();
+    
+    return res;
+}
+
+/*********************************************************************************************************
+** Function name:           readMsg
+** Descriptions:            Read message
+*********************************************************************************************************/
+INT8U MCP_CAN::readMsg()
+{
+    INT8U stat, res;
+
+    stat = mcp2515_readStatus();
+
+    if ( stat & MCP_STAT_RX0IF )                                        /* Msg in Buffer 0              */
+    {
+        mcp2515_read_canMsg( MCP_RXBUF_0);
+        mcp2515_modifyRegister(MCP_CANINTF, MCP_RX0IF, 0);
+        res = CAN_OK;
+    }
+    else if ( stat & MCP_STAT_RX1IF )                                   /* Msg in Buffer 1              */
+    {
+        mcp2515_read_canMsg( MCP_RXBUF_1);
+        mcp2515_modifyRegister(MCP_CANINTF, MCP_RX1IF, 0);
+        res = CAN_OK;
+    }
+    else 
+        res = CAN_NOMSG;
+    
+    return res;
+}
+
+/*********************************************************************************************************
+** Function name:           readMsgBuf
+** Descriptions:            Public function, Reads message from receive buffer.
+*********************************************************************************************************/
+INT8U MCP_CAN::readMsgBuf(INT32U *id, INT8U *ext, INT8U *len, INT8U buf[])
+{
+    if(readMsg() == CAN_NOMSG)
+	return CAN_NOMSG;
+	
+    *id  = m_nID;
+    *len = m_nDlc;
+    *ext = m_nExtFlg;
+    for(int i = 0; i<m_nDlc; i++)
+        buf[i] = m_nDta[i];
+
+    return CAN_OK;
+}
+
+/*********************************************************************************************************
+** Function name:           readMsgBuf
+** Descriptions:            Public function, Reads message from receive buffer.
+*********************************************************************************************************/
+INT8U MCP_CAN::readMsgBuf(INT32U *id, INT8U *len, INT8U buf[])
+{
+    if(readMsg() == CAN_NOMSG)
+	return CAN_NOMSG;
+
+    if (m_nExtFlg)
+        m_nID |= 0x80000000;
+
+    if (m_nRtr)
+        m_nID |= 0x40000000;
+	
+    *id  = m_nID;
+    *len = m_nDlc;
+    
+    for(int i = 0; i<m_nDlc; i++)
+        buf[i] = m_nDta[i];
+
+    return CAN_OK;
+}
+
+/*********************************************************************************************************
+** Function name:           checkReceive
+** Descriptions:            Public function, Checks for received data.  (Used if not using the interrupt output)
+*********************************************************************************************************/
+INT8U MCP_CAN::checkReceive(void)
+{
+    INT8U res;
+    res = mcp2515_readStatus();                                         /* RXnIF in Bit 1 and 0         */
+    if ( res & MCP_STAT_RXIF_MASK )
+        return CAN_MSGAVAIL;
+    else 
+        return CAN_NOMSG;
+}
+
+/*********************************************************************************************************
+** Function name:           checkError
+** Descriptions:            Public function, Returns error register data.
+*********************************************************************************************************/
+INT8U MCP_CAN::checkError(void)
+{
+    INT8U eflg = mcp2515_readRegister(MCP_EFLG);
+
+    if ( eflg & MCP_EFLG_ERRORMASK ) 
+        return CAN_CTRLERROR;
+    else
+        return CAN_OK;
+}
+
+/*********************************************************************************************************
+** Function name:           getError
+** Descriptions:            Returns error register value.
+*********************************************************************************************************/
+INT8U MCP_CAN::getError(void)
+{
+    return mcp2515_readRegister(MCP_EFLG);
+}
+
+/*********************************************************************************************************
+** Function name:           mcp2515_errorCountRX
+** Descriptions:            Returns REC register value
+*********************************************************************************************************/
+INT8U MCP_CAN::errorCountRX(void)                             
+{
+    return mcp2515_readRegister(MCP_REC);
+}
+
+/*********************************************************************************************************
+** Function name:           mcp2515_errorCountTX
+** Descriptions:            Returns TEC register value
+*********************************************************************************************************/
+INT8U MCP_CAN::errorCountTX(void)                             
+{
+    return mcp2515_readRegister(MCP_TEC);
+}
+
+/*********************************************************************************************************
+** Function name:           mcp2515_enOneShotTX
+** Descriptions:            Enables one shot transmission mode
+*********************************************************************************************************/
+INT8U MCP_CAN::enOneShotTX(void)                             
+{
+    mcp2515_modifyRegister(MCP_CANCTRL, MODE_ONESHOT, MODE_ONESHOT);
+    if((mcp2515_readRegister(MCP_CANCTRL) & MODE_ONESHOT) != MODE_ONESHOT)
+	    return CAN_FAIL;
+    else
+	    return CAN_OK;
+}
+
+/*********************************************************************************************************
+** Function name:           mcp2515_disOneShotTX
+** Descriptions:            Disables one shot transmission mode
+*********************************************************************************************************/
+INT8U MCP_CAN::disOneShotTX(void)                             
+{
+    mcp2515_modifyRegister(MCP_CANCTRL, MODE_ONESHOT, 0);
+    if((mcp2515_readRegister(MCP_CANCTRL) & MODE_ONESHOT) != 0)
+        return CAN_FAIL;
+    else
+        return CAN_OK;
+}
+
diff --git a/niryo_robot_hardware_stack/niryo_robot_debug/CMakeLists.txt b/niryo_robot_hardware_stack/niryo_robot_debug/CMakeLists.txt
new file mode 100644
index 000000000..979c548a6
--- /dev/null
+++ b/niryo_robot_hardware_stack/niryo_robot_debug/CMakeLists.txt
@@ -0,0 +1,55 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(niryo_robot_debug)
+
+add_compile_options(-std=c++11)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  niryo_robot_msgs
+  mcp_can_rpi
+  dynamixel_sdk
+)
+ 
+find_package(Boost REQUIRED COMPONENTS system program_options)
+
+catkin_package(
+  CATKIN_DEPENDS 
+    roscpp 
+    rospy 
+    std_msgs 
+    niryo_robot_msgs
+    mcp_can_rpi
+    dynamixel_sdk
+)
+
+include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
+
+add_executable(dxl_debug_tools
+    src/dxl_debug.cpp
+    src/dxl_tools.cpp
+)
+
+#
+# wiringPi should be installed only on a Raspberry Pi board
+#
+
+EXECUTE_PROCESS( COMMAND uname -m COMMAND tr -d '\n' OUTPUT_VARIABLE ARCHITECTURE )
+
+if (${ARCHITECTURE} MATCHES "^(arm.*|aarch64.*|arm64.*)$")
+    message(STATUS "wiringPi library is required - arm processor")
+    target_link_libraries(dxl_debug_tools
+        ${catkin_LIBRARIES} 
+        ${Boost_LIBRARIES}
+        -lwiringPi -lrt
+    )
+else()
+    message(STATUS "wiringPi library not required")
+    target_link_libraries(dxl_debug_tools
+        ${catkin_LIBRARIES} 
+        ${Boost_LIBRARIES}
+    )
+endif()
+
+
diff --git a/niryo_robot_hardware_stack/niryo_robot_debug/include/niryo_robot_debug/dxl_tools.h b/niryo_robot_hardware_stack/niryo_robot_debug/include/niryo_robot_debug/dxl_tools.h
new file mode 100644
index 000000000..c93036eeb
--- /dev/null
+++ b/niryo_robot_hardware_stack/niryo_robot_debug/include/niryo_robot_debug/dxl_tools.h
@@ -0,0 +1,46 @@
+/*
+    dxl_tools.h
+    Copyright (C) 2018 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef DXL_TOOLS_H
+#define DXL_TOOLS_H
+
+#include "dynamixel_sdk/dynamixel_sdk.h"
+#include <string>
+#include <vector>
+
+class DxlTools {
+
+    protected:
+        dynamixel::PortHandler* portHandler;
+        dynamixel::PacketHandler* packetHandler;
+
+    public:
+        DxlTools() {}
+        DxlTools(dynamixel::PortHandler* portHandler, dynamixel::PacketHandler* packetHandler);
+
+        int setupDxlBus(int baudrate);
+        void broadcastPing();
+        void ping(int id);
+        void setRegister(int id, int reg_address, int value, int size);
+
+        void closePort();
+
+};
+
+#endif
diff --git a/niryo_robot_hardware_stack/niryo_robot_debug/package.xml b/niryo_robot_hardware_stack/niryo_robot_debug/package.xml
new file mode 100644
index 000000000..294b8cac9
--- /dev/null
+++ b/niryo_robot_hardware_stack/niryo_robot_debug/package.xml
@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<package>
+  <name>niryo_robot_debug</name>
+  <version>3.0.0</version>
+  <description>Ned's debug tools</description>
+  <author>Edouard Renard</author>
+  <maintainer email="v.pitre@niryo.com">Valentin Pitre</maintainer>
+  <license>GPLv3</license>
+  
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>niryo_robot_msgs</build_depend>
+  <build_depend>dynamixel_sdk</build_depend>
+  <build_depend>mcp_can_rpi</build_depend>
+
+  <run_depend>roscpp</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>niryo_robot_msgs</run_depend>
+  <run_depend>dynamixel_sdk</run_depend>
+  <run_depend>mcp_can_rpi</run_depend>
+
+  <export>
+  </export>
+</package>
diff --git a/niryo_robot_hardware_stack/niryo_robot_debug/scripts/send_custom_dxl_value.py b/niryo_robot_hardware_stack/niryo_robot_debug/scripts/send_custom_dxl_value.py
new file mode 100755
index 000000000..66beebc10
--- /dev/null
+++ b/niryo_robot_hardware_stack/niryo_robot_debug/scripts/send_custom_dxl_value.py
@@ -0,0 +1,55 @@
+#!/usr/bin/env python
+
+# send_custom_dxl_value.py
+# Copyright (C) 2018 Niryo
+# All rights reserved.
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+import rospy
+import argparse
+
+from dynamixel_driver.srv import SendCustomDxlValue
+
+if __name__ == '__main__':
+    rospy.init_node("send_custom_dxl_value")
+
+    # 1. Parse args
+    parser = argparse.ArgumentParser(description='Send custom value to a Dynamixel motor during Ned runtime')
+
+    parser.add_argument('--type', type=int, required=True, help='Motor type (3 for XL-320, 2 for XL-430)')
+    parser.add_argument('--id', type=int, required=True, help='Motor ID')
+    parser.add_argument('--address', type=int, required=True, help='Register address')
+    parser.add_argument('--value', type=int, required=True, help='Value to send to the motor')
+    parser.add_argument('--size', type=int, required=True, help='Size(bytes) of the value to send (1,2 or 4)')
+
+    args = parser.parse_args()
+
+    # 2. Call ROS Service
+    service_name = "/niryo_robot/dynamixel_driver/send_custom_dxl_value"
+
+    try:
+        rospy.wait_for_service(service_name, 1.0)
+    except rospy.ROSException as e:
+        rospy.logwarn(e)
+        rospy.logwarn("Check that Ned ROS stack is running")
+        exit()
+
+    try:
+        send_cmd = rospy.ServiceProxy(service_name, SendCustomDxlValue)
+        response = send_cmd(args.type, args.id, args.value, args.address, args.size)
+        rospy.loginfo(response.message)
+    except rospy.ServiceException as e:
+        rospy.logwarn(e)
+        exit()
diff --git a/niryo_robot_hardware_stack/niryo_robot_debug/src/dxl_debug.cpp b/niryo_robot_hardware_stack/niryo_robot_debug/src/dxl_debug.cpp
new file mode 100644
index 000000000..b005958b1
--- /dev/null
+++ b/niryo_robot_hardware_stack/niryo_robot_debug/src/dxl_debug.cpp
@@ -0,0 +1,134 @@
+/*
+    dxl_debug.cpp
+    Copyright (C) 2018 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include <ros/ros.h>
+#include "dynamixel_sdk/dynamixel_sdk.h"
+#include "niryo_robot_debug/dxl_tools.h"
+#include "boost/program_options.hpp"
+#include <iostream>
+#include <string>
+#include <vector>
+
+#define PROTOCOL_VERSION 2.0
+
+// params:
+// - baud_rate (optional)
+// - serial port (optional)
+// - motor ID
+
+// available actions:
+// - scan
+// - ping specific ID
+// - set register
+
+namespace po = boost::program_options;
+
+#ifdef __arm
+    #define DEFAULT_PORT "/dev/serial0"
+#elif __aarch64__
+    #define DEFAULT_PORT "/dev/ttyAMA0"
+#else
+    #define DEFAULT_PORT ""
+#endif
+
+int main (int argc, char **argv)
+{
+    ros::init(argc, argv, "dxl_debug_tools");
+
+    try {
+        // Get args
+        po::options_description description("Options");
+        description.add_options()
+            ("help,h", "Print help message")
+            ("baudrate,b", po::value<int>()->default_value(1000000), "Baud rate")
+            ("port,p", po::value<std::string>()->default_value(DEFAULT_PORT), "Set port")
+            ("id,i", po::value<int>()->default_value(0), "Dxl motor ID")
+            ("scan", "Scan all Dxl motors on the bus")
+            ("ping", "ping specific ID")
+            ("set-register", po::value<std::vector<int>>(), "Set a value to a register (args: reg_addr, value, size)");
+
+        po::positional_options_description p;
+        p.add("set-register", -1);
+        po::variables_map vars;
+        po::store(po::command_line_parser(argc, argv).options(description).positional(p).run(), vars);
+        po::notify(vars);
+
+        // Display usage if no args or --help
+        if (argc == 1 || vars.count("help")) {
+            std::cout << description << "\n";
+            return 0;
+        }
+
+        int baudrate = vars["baudrate"].as<int>();
+        std::string serial_port = vars["port"].as<std::string>();
+        int id = vars["id"].as<int>();
+
+        std::cout << "Using baudrate: " << baudrate << ", port: " << serial_port << "\n";
+        std::cout << "Dxl ID: " << id << "\n";
+
+        // Setup Dxl communication
+        dynamixel::PortHandler *portHandler = dynamixel::PortHandler::getPortHandler(serial_port.c_str());
+        dynamixel::PacketHandler *packetHandler = dynamixel::PacketHandler::getPacketHandler(PROTOCOL_VERSION);
+
+        DxlTools dxlTools(portHandler, packetHandler);
+
+        if (dxlTools.setupDxlBus(baudrate) == -1) {
+            return -1;
+        }
+
+        // Execute action from args
+        if (vars.count("scan")) {
+            printf("--> SCAN Dxl bus\n"); 
+            dxlTools.broadcastPing();
+        }
+        else if (vars.count("ping")) {
+            if (id == 0) {
+                printf("Ping: you need to give an ID! (--id)\n");
+            }
+            else {
+                printf("--> PING Motor (ID: %d)\n", id);
+                dxlTools.ping(id);
+            }
+        }
+        else if (vars.count("set-register")) {
+            std::vector<int> params = vars["set-register"].as<std::vector<int>>();
+            if (params.size() != 3) {
+                printf("ERROR: set-register needs 3 arguments (reg_addr, value, size)\n");
+            }
+            else {
+                printf("--> SET REGISTER for Motor (ID:%d)\n", id);
+                printf("Register address: %d, Value: %d, Size (bytes): %d\n",
+                        params.at(0), params.at(1), params.at(2));
+                dxlTools.setRegister(id, params.at(0), params.at(1), params.at(2));
+            }
+        }
+        else {
+            std::cout << description << "\n";
+        }
+        
+        // close port before exit
+        dxlTools.closePort();
+        return 0;
+    }
+    catch(po::error& e)
+    {
+        std::cout << e.what() << "\n";
+        return 0;
+    }
+}
diff --git a/niryo_robot_hardware_stack/niryo_robot_debug/src/dxl_tools.cpp b/niryo_robot_hardware_stack/niryo_robot_debug/src/dxl_tools.cpp
new file mode 100644
index 000000000..883495792
--- /dev/null
+++ b/niryo_robot_hardware_stack/niryo_robot_debug/src/dxl_tools.cpp
@@ -0,0 +1,114 @@
+/*
+    dxl_tools.cpp
+    Copyright (C) 2018 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "niryo_robot_debug/dxl_tools.h"
+
+DxlTools::DxlTools(dynamixel::PortHandler* portHandler, dynamixel::PacketHandler* packetHandler)
+{
+    this->portHandler = portHandler;
+    this->packetHandler = packetHandler;
+}
+
+int DxlTools::setupDxlBus(int baudrate)
+{
+    if (!portHandler->setupGpio()) {
+        printf("ERROR: Failed to setup direction GPIO pin for Dynamixel half-duplex serial\n");
+        return -1;
+    }
+    if (!portHandler->openPort()) {
+        printf("Error: Failed to open Uart port for Dynamixel bus\n");
+        return -1;
+    }
+    if (!portHandler->setBaudRate(baudrate)) {
+        printf("Error: Failed to set baudrate for Dynamixel bus\n");
+        return -1;
+    }
+
+    printf("Dxl Bus successfully setup\n");
+    return 1;
+}
+
+void DxlTools::broadcastPing()
+{
+    int dxl_comm_result = COMM_TX_FAIL;
+    std::vector<uint8_t> id_list;
+
+    dxl_comm_result = packetHandler->broadcastPing(portHandler, id_list);
+    if (dxl_comm_result != COMM_SUCCESS) {
+        printf("Failed to scan Dynamixel bus: %d\n", dxl_comm_result);
+        return;
+    }
+
+    printf("Detected Dxl motor IDs:\n");
+    for (int i = 0; i < id_list.size(); i++) {
+        printf("- %d\n", id_list.at(i));
+    }
+}
+
+void DxlTools::ping(int id)
+{
+    int dxl_comm_result = COMM_TX_FAIL;
+    uint8_t dxl_error = 0;
+    uint16_t dxl_model_number;
+
+    dxl_comm_result = packetHandler->ping(portHandler, (uint8_t)id, &dxl_model_number, &dxl_error);
+    if (dxl_comm_result != COMM_SUCCESS) {
+        printf("Ping failed: %d\n", dxl_comm_result);
+    }
+    else if (dxl_error != 0) {
+        printf("Ping OK for ID: %d, but an error flag is set on the motor: %d\n", id, (int)dxl_error);
+    }
+    else {
+        printf("Ping succeeded for ID: %d\n", id);
+    }
+}
+        
+void DxlTools::setRegister(int id, int reg_address, int value, int size)
+{
+    int dxl_comm_result = COMM_TX_FAIL;
+
+    if (size == 1) {
+        dxl_comm_result = packetHandler->write1ByteTxOnly(portHandler, (uint8_t) id,
+                (uint32_t)reg_address, (uint8_t)value);
+    }
+    else if (size == 2) {
+        dxl_comm_result = packetHandler->write2ByteTxOnly(portHandler, (uint8_t) id,
+                (uint32_t)reg_address, (uint16_t)value);
+    }
+    else if (size == 4) {
+        dxl_comm_result = packetHandler->write4ByteTxOnly(portHandler, (uint8_t) id,
+                (uint32_t)reg_address, (uint32_t)value);
+    }
+    else {
+        printf("ERROR: Size param must be 1, 2 or 4 bytes\n");
+        return;
+    }
+
+    if (dxl_comm_result != COMM_SUCCESS) {
+        printf("Failed to set register: %d\n", dxl_comm_result);
+    }
+    else {
+        printf("Successfully sent register command\n");
+    }
+}
+
+void DxlTools::closePort()
+{
+    portHandler->closePort();
+}
diff --git a/niryo_robot_hardware_stack/niryo_robot_hardware_interface/CMakeLists.txt b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/CMakeLists.txt
new file mode 100644
index 000000000..f10e58676
--- /dev/null
+++ b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/CMakeLists.txt
@@ -0,0 +1,77 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(niryo_robot_hardware_interface)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+find_package(catkin REQUIRED
+    COMPONENTS
+        roscpp
+        tools_interface
+        joints_interface
+        conveyor_interface
+        cpu_interface
+        fake_interface
+        message_generation
+        niryo_robot_msgs
+)
+
+find_package(Boost REQUIRED COMPONENTS system)
+
+catkin_package(
+    INCLUDE_DIRS
+        include
+    LIBRARIES
+        ${PROJECT_NAME}
+    CATKIN_DEPENDS
+        roscpp
+        tools_interface
+        joints_interface
+        conveyor_interface
+        cpu_interface
+        fake_interface
+        message_runtime
+        niryo_robot_msgs
+)
+
+include_directories(
+    include
+    ${catkin_INCLUDE_DIRS}
+)
+
+add_library(${PROJECT_NAME}
+    src/hardware_interface.cpp
+)
+
+add_executable(${PROJECT_NAME}_node
+  src/hardware_interface_node.cpp
+)
+
+add_dependencies(${PROJECT_NAME}_node
+  ${catkin_EXPORTED_TARGETS}
+)
+
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+)
+
+target_link_libraries(${PROJECT_NAME}_node
+  ${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+)
+
+install(
+  TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
+
+install(
+  DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+add_dependencies(${PROJECT_NAME} conveyor_interface_generate_messages_cpp)
+add_dependencies(${PROJECT_NAME} tools_interface_generate_messages_cpp)
+add_dependencies(${PROJECT_NAME} niryo_robot_msgs_generate_messages_cpp)
diff --git a/niryo_robot_hardware_stack/niryo_robot_hardware_interface/config/default.yaml b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/config/default.yaml
new file mode 100644
index 000000000..5312edd86
--- /dev/null
+++ b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/config/default.yaml
@@ -0,0 +1,3 @@
+publish_hw_status_frequency:             2.0
+publish_software_version_frequency:      2.0
+publish_learning_mode_frequency:         2.0
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/niryo_robot_hardware_interface/include/niryo_robot_hardware_interface/hardware_interface.hpp b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/include/niryo_robot_hardware_interface/hardware_interface.hpp
new file mode 100644
index 000000000..0bd57820f
--- /dev/null
+++ b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/include/niryo_robot_hardware_interface/hardware_interface.hpp
@@ -0,0 +1,94 @@
+/*
+    hardware_interface.cpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef HARDWARE_INTERFACE_HPP
+#define HARDWARE_INTERFACE_HPP
+
+#include <ros/ros.h>
+#include <boost/shared_ptr.hpp>
+
+#include "joints_interface/joints_interface_core.hpp"
+#include "tools_interface/tools_interface_core.hpp"
+#include "conveyor_interface/conveyor_interface_core.hpp"
+#include "cpu_interface/cpu_interface_core.hpp"
+#include "dynamixel_driver/dxl_driver_core.hpp"
+#include "stepper_driver/stepper_driver_core.hpp"
+#include "fake_interface/fake_interface_core.hpp"
+#include "dynamixel_driver/dxl_enum.hpp"
+
+#include "niryo_robot_msgs/Trigger.h"
+#include "niryo_robot_msgs/SetBool.h"
+
+#include "niryo_robot_msgs/HardwareStatus.h"
+#include "niryo_robot_msgs/SoftwareVersion.h"
+#include "niryo_robot_msgs/CommandStatus.h"
+
+namespace NiryoRobotHardwareInterface
+{
+    class HardwareInterface
+    {
+    public:
+        HardwareInterface(ros::NodeHandle &nh);
+
+    private:
+        ros::NodeHandle &_nh;
+
+        bool _simulation_mode;
+        bool _gazebo;
+        bool _can_enabled;
+        bool _dxl_enabled;
+
+        ros::Publisher _hardware_status_publisher;
+        ros::Publisher _software_version_publisher;
+
+        double _publish_hw_status_frequency;
+        double _publish_software_version_frequency;
+
+        std::string _rpi_image_version;
+        std::string _ros_niryo_robot_version;
+
+        void initNodes();
+        void initPublishers();
+        void initParams();
+
+        void _publishHardwareStatus();
+        void _publishSoftwareVersion();
+
+        bool _callbackLaunchMotorsReport(niryo_robot_msgs::Trigger::Request &req, niryo_robot_msgs::Trigger::Response &res);
+        ros::ServiceServer _motors_report_service;
+
+        bool _callbackStopMotorsReport(niryo_robot_msgs::Trigger::Request &req, niryo_robot_msgs::Trigger::Response &res);
+        ros::ServiceServer _stop_motors_report_service;
+
+        bool _callbackRebootMotors(niryo_robot_msgs::Trigger::Request &req, niryo_robot_msgs::Trigger::Response &res);
+        ros::ServiceServer _reboot_motors_service;
+
+        boost::shared_ptr<DynamixelDriver::DynamixelDriverCore> _dynamixel_driver;
+        boost::shared_ptr<StepperDriver::StepperDriverCore> _stepper_driver;
+        boost::shared_ptr<CpuInterfaceCore> _cpu_interface;
+        boost::shared_ptr<ConveyorInterfaceCore> _conveyor_interface;
+        boost::shared_ptr<ToolsInterfaceCore> _tools_interface;
+        boost::shared_ptr<JointsInterfaceCore> _joints_interface;
+        boost::shared_ptr<FakeInterfaceCore> _fake_interface;
+
+        boost::shared_ptr<std::thread> _publish_hardware_status_thread;
+        boost::shared_ptr<std::thread> _publish_software_version_thread;
+    };
+} // namespace NiryoRobotHardwareInterface
+#endif
diff --git a/niryo_robot_hardware_stack/niryo_robot_hardware_interface/launch/controllers.launch b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/launch/controllers.launch
new file mode 100644
index 000000000..b02c9d7fa
--- /dev/null
+++ b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/launch/controllers.launch
@@ -0,0 +1,53 @@
+<launch>
+
+    <!-- set to true if you want to launch ROS on your computer 
+        - controller will just echo position command
+        - all hardware relative stuff is deactivated            -->
+    <arg name="simulation_mode" default="false"/>
+    <arg name="gazebo" default="false"/>
+    <arg name="simu_gripper" default="false"/>
+    <arg name="hardware_version" value="ned"/>
+    <arg name="debug" default="false"/>
+    <!-- set to true to disable hardware communication for CAN bus (Niryo Steppers)
+     or DXl bus (DEBUG PURPOSES) -->
+    <arg name="can_enabled" default="true"/>
+    <arg name="dxl_enabled" default="true"/>
+
+    <node name="niryo_robot_tools" pkg="niryo_robot_tools" type="tool_controller_node.py" output="screen"
+          respawn="false">
+        <param name="simulation_mode" type="bool" value="$(arg simulation_mode)"/>
+        <rosparam file="$(find niryo_robot_tools)/config/end_effectors.yaml"/>
+    </node>
+    <!-- Load controller settings -->
+
+    <group unless="$(arg simu_gripper)">
+        <rosparam file="$(find niryo_ned_moveit_config_standalone)/config/ros_controllers.yaml" command="load"/>
+        <!-- spawn controllers -->
+
+        <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="log"
+              args="joint_state_controller niryo_robot_follow_joint_trajectory_controller"/>
+    </group>
+
+    <group if="$(arg simu_gripper)">
+        <rosparam file="$(find niryo_ned_moveit_config_w_gripper1)/config/ros_controllers.yaml" command="load"/>
+
+        <!-- spawn controllers -->
+
+        <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="log"
+              args="niryo_robot_follow_joint_trajectory_controller gazebo_tool_controller"/>
+    </group>
+
+    <!-- robot state publisher -->
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen">
+    </node>
+
+    <include file="$(find niryo_robot_hardware_interface)/launch/niryo_robot_hardware_interface.launch">
+        <arg name="simulation_mode" value="$(arg simulation_mode)"/>
+        <arg name="simu_gripper" value="$(arg simu_gripper)"/>
+        <arg name="gazebo" value="$(arg gazebo)"/>
+        <arg name="can_enabled" value="$(arg can_enabled)"/>
+        <arg name="dxl_enabled" value="$(arg dxl_enabled)"/>
+        <arg name="debug" value="$(arg debug)"/>
+    </include>
+
+</launch>
diff --git a/niryo_robot_hardware_stack/niryo_robot_hardware_interface/launch/niryo_robot_hardware_interface.launch b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/launch/niryo_robot_hardware_interface.launch
new file mode 100644
index 000000000..e53d08f7c
--- /dev/null
+++ b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/launch/niryo_robot_hardware_interface.launch
@@ -0,0 +1,49 @@
+<launch>
+    <arg name="execute_on_niryo_robot_raspberry_pi_image" default="true" />
+    <arg name="simulation_mode" default="true"/>
+    <arg name="simu_gripper" default="false"/>
+    <arg name="gazebo" default="false"/>
+    <arg name="can_enabled" default="true"/>
+    <arg name="dxl_enabled" default="true"/>
+    <arg name="hardware_version" value="ned"/>
+    <arg name="debug" default="false"/>
+
+    <group ns="niryo_robot/info">
+        <param name="ros_version"               type="string" command="rosversion niryo_robot_bringup" />
+        <param name="niryo_robot_type"  type="string" value="NIRYO_NED" />
+    </group>
+
+    <node pkg="niryo_robot_hardware_interface" type="niryo_robot_hardware_interface_node"
+          name="niryo_robot_hardware_interface" output="screen">
+
+        <param name="hardware_version" type="string" value="$(arg hardware_version)"/>
+
+        <rosparam file="$(find niryo_robot_hardware_interface)/config/default.yaml" command="load"/>
+        <rosparam file="$(find cpu_interface)/config/default.yaml" command="load"/>
+
+        <rosparam file="$(find dynamixel_driver)/config/$(arg hardware_version)/dxl_bus_config.yaml" command="load" ns="dynamixel_driver"/>
+        <rosparam file="$(find dynamixel_driver)/config/default.yaml" command="load"  ns="dynamixel_driver"/>
+
+        <rosparam file="$(find stepper_driver)/config/can_bus.yaml" command="load" ns="stepper_driver"/>
+        <rosparam file="$(find stepper_driver)/config/default.yaml" command="load" ns="stepper_driver"/>
+
+        <rosparam file="$(find joints_interface)/config/default.yaml" command="load" />
+        <rosparam file="$(find joints_interface)/config/motors_param.yaml" command="load"/>
+        <rosparam file="$(find joints_interface)/config/joints_params.yaml" command="load" />
+        <rosparam file="$(find joints_interface)/config/$(arg hardware_version)/dynamixels_params.yaml" command="load" />
+        <rosparam file="$(find joints_interface)/config/$(arg hardware_version)/steppers_params.yaml" command="load" />
+
+        <rosparam file="$(find tools_interface)/config/default.yaml" command="load" ns="tools_interface"/>
+
+        <rosparam file="$(find conveyor_interface)/config/default.yaml" command="load"/>
+
+        <param name="simulation_mode" type="bool" value="$(arg simulation_mode)"/>
+        <param name="gazebo" type="bool" value="$(arg gazebo)"/>
+        <param name="simu_gripper" type="bool" value="$(arg simu_gripper)"/>
+        <param name="can_enabled" type="bool" value="$(arg can_enabled)"/>
+        <param name="dxl_enabled" type="bool" value="$(arg dxl_enabled)"/>
+        <param name="debug" type="bool" value="$(arg debug)"/>
+
+    </node>
+
+</launch>
diff --git a/niryo_robot_hardware_stack/niryo_robot_hardware_interface/package.xml b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/package.xml
new file mode 100644
index 000000000..a5a3999c6
--- /dev/null
+++ b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/package.xml
@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>niryo_robot_hardware_interface</name>
+  <version>0.0.0</version>
+  <description>The hardware_interface package</description>
+  <author>Etienne Rey-Coquais</author>
+  <author>Edouard Renard</author>
+  <maintainer email="e.rey-coquais@niryo.com">Etienne Rey-Coquais</maintainer>
+
+  <license>GPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>roscpp</build_depend>
+  <build_depend>tools_interface</build_depend>
+  <build_depend>joints_interface</build_depend>
+  <build_depend>conveyor_interface</build_depend>
+  <build_depend>cpu_interface</build_depend>
+  <build_depend>fake_interface</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>niryo_robot_msgs</build_depend>
+  
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>tools_interface</exec_depend>
+  <exec_depend>joints_interface</exec_depend>
+  <exec_depend>conveyor_interface</exec_depend>
+  <exec_depend>cpu_interface</exec_depend>
+  <exec_depend>fake_interface</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>niryo_robot_msgs</exec_depend>
+
+</package>
diff --git a/niryo_robot_hardware_stack/niryo_robot_hardware_interface/src/hardware_interface.cpp b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/src/hardware_interface.cpp
new file mode 100644
index 000000000..f302b0390
--- /dev/null
+++ b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/src/hardware_interface.cpp
@@ -0,0 +1,382 @@
+#include "niryo_robot_hardware_interface/hardware_interface.hpp"
+#include "dynamixel_driver/dxl_enum.hpp"
+
+namespace NiryoRobotHardwareInterface
+{
+    HardwareInterface::HardwareInterface(ros::NodeHandle &nh) : _nh(nh)
+    {
+        initParams();
+        initNodes();
+        initPublishers();
+    }
+
+    bool HardwareInterface::_callbackStopMotorsReport(niryo_robot_msgs::Trigger::Request &req, niryo_robot_msgs::Trigger::Response &res)
+    {
+        if (!_simulation_mode)
+        {
+            ROS_WARN("Hardware Interface - Stop Motor Report");
+            _stepper_driver->activeDebugMode(false);
+            _dynamixel_driver->activeDebugMode(false);
+            res.status = niryo_robot_msgs::CommandStatus::SUCCESS;
+            res.message = "";
+            return true;
+        }
+
+    }
+
+    bool HardwareInterface::_callbackLaunchMotorsReport(niryo_robot_msgs::Trigger::Request &req, niryo_robot_msgs::Trigger::Response &res)
+    {
+        if (!_simulation_mode)
+        {
+            ROS_WARN("Hardware Interface - Start Motors Report");
+            _stepper_driver->activeDebugMode(true);
+            _dynamixel_driver->activeDebugMode(true);
+            int stepper_status = _stepper_driver->launchMotorsReport();
+            int dxl_status = _dynamixel_driver->launchMotorsReport();
+            _stepper_driver->activeDebugMode(false);
+            _dynamixel_driver->activeDebugMode(false);
+            ROS_WARN("Hardware Interface - Motors report ended");
+            if ((stepper_status == niryo_robot_msgs::CommandStatus::SUCCESS) and (dxl_status == niryo_robot_msgs::CommandStatus::SUCCESS))
+            {
+                res.status = niryo_robot_msgs::CommandStatus::SUCCESS;
+                res.message = "Hardware interface seems working properly";
+            }
+            else
+            {
+                res.status = niryo_robot_msgs::CommandStatus::FAILURE;
+                res.message = "Steppers status: ";
+                res.message += (stepper_status == niryo_robot_msgs::CommandStatus::SUCCESS) ? "Ok" : "Error";
+                res.message += ", Dxl status: ";
+                res.message += (dxl_status == niryo_robot_msgs::CommandStatus::SUCCESS) ? "Ok" : "Error";
+            }
+        }
+        return true;
+    }
+
+    bool HardwareInterface::_callbackRebootMotors(niryo_robot_msgs::Trigger::Request &req, niryo_robot_msgs::Trigger::Response &res)
+    {
+        if (!_simulation_mode)
+        {
+            res.status = _dynamixel_driver->rebootMotors();
+            if (res.status != COMM_SUCCESS)
+            {
+                res.message = "Reboot motors Problems";
+                return true;
+            }
+            res.message = "Reboot motors done";
+
+            _joints_interface->sendMotorsParams();
+            int resp_learning_mode_status;
+            std::string resp_learning_mode_message = "";
+            _joints_interface->activateLearningMode(false, resp_learning_mode_status, resp_learning_mode_message);
+            _joints_interface->activateLearningMode(true, resp_learning_mode_status, resp_learning_mode_message);
+        }
+        return true;
+    }
+
+    void HardwareInterface::initNodes()
+    {
+        ROS_DEBUG("Hardware Interface - Init Nodes");
+        if (!_simulation_mode)
+        {
+
+            if (!_dxl_enabled)
+            {
+                ROS_WARN("Hardware Interface - DXL communication is disabled for debug purposes");
+            }
+            else
+            {
+                ROS_DEBUG("Hardware Interface - Start Dynamixel Driver Node");
+                _dynamixel_driver.reset(new DynamixelDriver::DynamixelDriverCore());
+                ros::Duration(0.25).sleep();
+            }
+
+            if (!_can_enabled)
+            {
+                ROS_DEBUG("Hardware Interface - CAN communication is disabled for debug purposes");
+            }
+            else
+            {
+                ROS_DEBUG("Hardware Interface - Start Stepper Driver Node");
+                _stepper_driver.reset(new StepperDriver::StepperDriverCore());
+                ros::Duration(0.25).sleep();
+            }
+
+            if (_can_enabled && _dxl_enabled)
+            {
+                ROS_DEBUG("Hardware Interface - Start Joints Interface Node");
+                _joints_interface.reset(new JointsInterfaceCore(_dynamixel_driver, _stepper_driver));
+                ros::Duration(0.25).sleep();
+
+                ROS_DEBUG("Hardware Interface - Start End Effector Interface Node");
+                _tools_interface.reset(new ToolsInterfaceCore(_dynamixel_driver));
+                ros::Duration(0.25).sleep();
+
+                ROS_DEBUG("Hardware Interface - Start Tools Interface Node");
+                _conveyor_interface.reset(new ConveyorInterfaceCore(_stepper_driver));
+                ros::Duration(0.25).sleep();
+            }
+            else
+            {
+                ROS_WARN("Hardware Interface - CAN or DXL communication is disabled. Interfaces will not start");
+            }
+
+            ROS_DEBUG("Hardware Interface - Start CPU Interface Node");
+            _cpu_interface.reset(new CpuInterfaceCore());
+            ros::Duration(0.25).sleep();
+        }
+        else
+        {
+            ROS_DEBUG("Hardware Interface - Start Fake Interface Node");
+            _fake_interface.reset(new FakeInterfaceCore());
+        }
+    }
+
+    void HardwareInterface::initPublishers()
+    {
+        ROS_DEBUG("Hardware Interface - Init Publisher");
+        _hardware_status_publisher = _nh.advertise<niryo_robot_msgs::HardwareStatus>("niryo_robot_hardware_interface/hardware_status", 10);
+        _publish_hardware_status_thread.reset(new std::thread(boost::bind(&HardwareInterface::_publishHardwareStatus, this)));
+
+        _software_version_publisher = _nh.advertise<niryo_robot_msgs::SoftwareVersion>("niryo_robot_hardware_interface/software_version", 10);
+        _publish_software_version_thread.reset(new std::thread(boost::bind(&HardwareInterface::_publishSoftwareVersion, this)));
+
+        _motors_report_service = _nh.advertiseService("/niryo_robot_hardware_interface/launch_motors_report", &HardwareInterface::_callbackLaunchMotorsReport, this);
+        _stop_motors_report_service = _nh.advertiseService("/niryo_robot_hardware_interface/stop_motors_report", &HardwareInterface::_callbackStopMotorsReport, this);
+        _reboot_motors_service = _nh.advertiseService("/niryo_robot_hardware_interface/reboot_motors", &HardwareInterface::_callbackRebootMotors, this);
+    }
+
+    void HardwareInterface::initParams()
+    {
+        bool debug_mode = false;
+        _nh.getParam("/niryo_robot_hardware_interface/debug", debug_mode);
+        if (debug_mode)
+        {
+            if (ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug))
+            {
+                ros::console::notifyLoggerLevelsChanged();
+            }
+        }
+
+        ROS_DEBUG("Hardware Interface - Init Params");
+        ros::param::get("~publish_hw_status_frequency", _publish_hw_status_frequency);
+        ros::param::get("~publish_software_version_frequency", _publish_software_version_frequency);
+
+        ros::param::get("/niryo_robot/info/image_version", _rpi_image_version);
+        ros::param::get("/niryo_robot/info/ros_version", _ros_niryo_robot_version);
+
+        ros::param::get("~simulation_mode", _simulation_mode);
+        ros::param::get("~gazebo", _gazebo);
+
+        ros::param::get("~can_enabled", _can_enabled);
+        ros::param::get("~dxl_enabled", _dxl_enabled);
+
+        
+        _rpi_image_version.erase(_rpi_image_version.find_last_not_of(" \n\r\t") + 1);
+        _ros_niryo_robot_version.erase(_ros_niryo_robot_version.find_last_not_of(" \n\r\t") + 1);
+
+        ROS_DEBUG("Hardware Interface - publish_hw_status_frequency : %f", _publish_hw_status_frequency);
+        ROS_DEBUG("Hardware Interface - publish_software_version_frequency : %f", _publish_software_version_frequency);
+
+        ROS_DEBUG("Hardware Interface - can_enabled : %s", _can_enabled ? "true" : "false");
+        ROS_DEBUG("Hardware Interface - dxl_enabled : %s", _dxl_enabled ? "true" : "false");
+    }
+
+    void HardwareInterface::_publishHardwareStatus()
+    {
+        ros::Rate publish_hardware_status_rate = ros::Rate(_publish_hw_status_frequency);
+        while (ros::ok())
+        {
+            std::vector<int32_t> temperatures;
+            std::vector<double> voltages;
+            std::vector<int32_t> hw_errors;
+            std::vector<std::string> hw_errors_msg;
+
+            dynamixel_driver::DxlArrayMotorHardwareStatus dxl_motor_state;
+            stepper_driver::StepperArrayMotorHardwareStatus stepper_motor_state;
+
+            niryo_robot_msgs::BusState dxl_bus_state;
+            niryo_robot_msgs::BusState can_bus_state;
+
+            std::vector<JointState> joints_state;
+
+            int cpu_temperature;
+            std::string error_message;
+
+            boost::shared_ptr<bool> need_calibration(new bool());
+            boost::shared_ptr<bool> calibration_in_progress(new bool());
+
+            std::vector<std::string> motor_names;
+            std::vector<std::string> motor_types;
+
+            niryo_robot_msgs::HardwareStatus msg;
+            msg.header.stamp = ros::Time::now();
+
+            if (!_simulation_mode)
+            {
+                if (_dxl_enabled)
+                {
+                    dxl_motor_state = _dynamixel_driver->getHwStatus();
+                    dxl_bus_state = _dynamixel_driver->getDxlBusState();
+                }
+                if (_can_enabled)
+                {
+                    stepper_motor_state = _stepper_driver->getHwStatus();
+                    can_bus_state = _stepper_driver->getCanBusState();
+                }
+                if (_can_enabled && _dxl_enabled)
+                {
+                    joints_state = _joints_interface->getJointsState();
+                    _joints_interface->getCalibrationState(need_calibration, calibration_in_progress);
+                }
+
+                cpu_temperature = _cpu_interface->getCpuTemperature();
+            }
+            else
+            {
+                dxl_motor_state = _fake_interface->getDxlHwStatus();
+                stepper_motor_state = _fake_interface->getStepperHwStatus();
+
+                dxl_bus_state = _fake_interface->getDxlBusState();
+                can_bus_state = _fake_interface->getCanBusState();
+
+                cpu_temperature = _fake_interface->getCpuTemperature();
+
+                _fake_interface->getCalibrationState(need_calibration, calibration_in_progress);
+            }
+
+            msg.rpi_temperature = cpu_temperature;
+            msg.hardware_version = 1;
+            
+            msg.connection_up = (dxl_bus_state.connection_status && can_bus_state.connection_status);
+
+            error_message = "";
+            error_message += can_bus_state.error;
+            if (dxl_bus_state.error != "")
+            {
+                error_message += "\n";
+            }
+            error_message += dxl_bus_state.error;
+            msg.error_message = error_message;
+
+            msg.calibration_needed = *need_calibration.get();
+            msg.calibration_in_progress = *calibration_in_progress.get();
+
+            motor_names.clear();
+            motor_types.clear();
+
+            for (int i = 0; i < stepper_motor_state.motors_hw_status.size(); i++)
+            {
+                temperatures.push_back(stepper_motor_state.motors_hw_status.at(i).temperature);
+                voltages.push_back(stepper_motor_state.motors_hw_status.at(i).voltage);
+                hw_errors.push_back(stepper_motor_state.motors_hw_status.at(i).error);
+                hw_errors_msg.push_back("");
+                motor_types.push_back("Niryo Stepper");
+                std::string joint_name = "";
+                if (!_simulation_mode)
+                    joint_name = _joints_interface->jointIdToJointName(stepper_motor_state.motors_hw_status.at(i).motor_identity.motor_id, (uint8_t)StepperDriver::StepperMotorType::MOTOR_TYPE_STEPPER);
+                else
+                    joint_name = _fake_interface->jointIdToJointName(stepper_motor_state.motors_hw_status.at(i).motor_identity.motor_id, (uint8_t)StepperDriver::StepperMotorType::MOTOR_TYPE_STEPPER);
+
+                joint_name = joint_name == "" ? ("Stepper " + std::to_string(dxl_motor_state.motors_hw_status.at(i).motor_identity.motor_id)) : joint_name;
+                motor_names.push_back(joint_name);
+            }
+            for (int i = 0; i < dxl_motor_state.motors_hw_status.size(); i++)
+            {
+                temperatures.push_back(dxl_motor_state.motors_hw_status.at(i).temperature);
+                voltages.push_back(dxl_motor_state.motors_hw_status.at(i).voltage);
+                hw_errors.push_back(dxl_motor_state.motors_hw_status.at(i).error);
+                hw_errors_msg.push_back(dxl_motor_state.motors_hw_status.at(i).error_msg);
+
+                if (dxl_motor_state.motors_hw_status.at(i).motor_identity.motor_type == (uint8_t)DynamixelDriver::DxlMotorType::MOTOR_TYPE_XL430)
+                {
+                    motor_types.push_back("DXL XL-430");
+                }
+                else if (dxl_motor_state.motors_hw_status.at(i).motor_identity.motor_type == (uint8_t)DynamixelDriver::DxlMotorType::MOTOR_TYPE_XL320)
+                {
+                    motor_types.push_back("DXL XL-320");
+                }
+                else
+                {
+                    motor_types.push_back("DXL UNKOWN");
+                }
+                std::string joint_name = "";
+                if (!_simulation_mode)
+                    joint_name = _joints_interface->jointIdToJointName(dxl_motor_state.motors_hw_status.at(i).motor_identity.motor_id, dxl_motor_state.motors_hw_status.at(i).motor_identity.motor_type);
+                else
+                    joint_name = _fake_interface->jointIdToJointName(dxl_motor_state.motors_hw_status.at(i).motor_identity.motor_id, dxl_motor_state.motors_hw_status.at(i).motor_identity.motor_type);
+
+                joint_name = joint_name == "" ? "Tool" : joint_name;
+                motor_names.push_back(joint_name);
+            }
+
+            msg.motor_names = motor_names;
+            msg.motor_types = motor_types;
+
+            msg.temperatures = temperatures;
+            msg.voltages = voltages;
+            msg.hardware_errors = hw_errors;
+            msg.hardware_errors_message = hw_errors_msg;
+
+            _hardware_status_publisher.publish(msg);
+
+            publish_hardware_status_rate.sleep();
+        }
+    }
+
+    void HardwareInterface::_publishSoftwareVersion()
+    {
+        ros::Rate publish_software_version_rate = ros::Rate(_publish_software_version_frequency);
+        while (ros::ok())
+        {
+
+            stepper_driver::StepperArrayMotorHardwareStatus stepper_motor_state;
+            std::vector<std::string> motor_names;
+            std::vector<std::string> firmware_versions;
+            std::vector<JointState> joints_state;
+
+            if (!_simulation_mode)
+            {
+                if (_can_enabled)
+                {
+                    stepper_motor_state = _stepper_driver->getHwStatus();
+                }
+                if (_can_enabled && _dxl_enabled)
+                {
+                    joints_state = _joints_interface->getJointsState();
+                }
+
+                for (int i = 0; i < joints_state.size(); i++)
+                {
+                    motor_names.push_back(joints_state.at(i).getName());
+                }
+            }
+            else
+            {
+                stepper_motor_state = _fake_interface->getStepperHwStatus();
+
+                motor_names.push_back("joint_1");
+                motor_names.push_back("joint_2");
+                motor_names.push_back("joint_3");
+                motor_names.push_back("joint_4");
+                motor_names.push_back("joint_5");
+                motor_names.push_back("joint_6");
+            }
+
+            for (int i = 0; i < stepper_motor_state.motors_hw_status.size(); i++)
+            {
+                firmware_versions.push_back(stepper_motor_state.motors_hw_status.at(i).firmware_version);
+            }
+
+            niryo_robot_msgs::SoftwareVersion msg;
+            msg.motor_names = motor_names;
+            msg.stepper_firmware_versions = firmware_versions;
+            msg.rpi_image_version = _rpi_image_version;
+            msg.ros_niryo_robot_version = _ros_niryo_robot_version;
+
+            _software_version_publisher.publish(msg);
+            publish_software_version_rate.sleep();
+        }
+    }
+
+} // namespace NiryoRobotHardwareInterface
diff --git a/niryo_robot_hardware_stack/niryo_robot_hardware_interface/src/hardware_interface_node.cpp b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/src/hardware_interface_node.cpp
new file mode 100644
index 000000000..23151ec3e
--- /dev/null
+++ b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/src/hardware_interface_node.cpp
@@ -0,0 +1,17 @@
+#include <ros/ros.h>
+#include "niryo_robot_hardware_interface/hardware_interface.hpp"
+
+int main(int argc, char **argv)
+{
+    ros::init(argc, argv, "hardware_interface_node");
+
+    ros::AsyncSpinner spinner(4);
+    spinner.start();
+
+    ros::NodeHandle nh;
+
+    NiryoRobotHardwareInterface::HardwareInterface nd(nh);
+    ros::waitForShutdown();
+
+    ROS_INFO("Hardware Interface - Shutdown node");
+}
diff --git a/niryo_robot_hardware_stack/stepper_driver/CMakeLists.txt b/niryo_robot_hardware_stack/stepper_driver/CMakeLists.txt
new file mode 100644
index 000000000..c545c3b93
--- /dev/null
+++ b/niryo_robot_hardware_stack/stepper_driver/CMakeLists.txt
@@ -0,0 +1,120 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(stepper_driver)
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+find_package(catkin REQUIRED
+    COMPONENTS
+        roscpp
+        mcp_can_rpi
+        niryo_robot_msgs
+        message_generation
+)
+
+find_package(Boost REQUIRED COMPONENTS system)
+
+add_message_files(
+  FILES
+    StepperArrayMotorHardwareStatus.msg
+    StepperMotorCommand.msg
+    StepperMotorHardwareStatus.msg
+)
+
+add_service_files(
+  DIRECTORY
+    srv
+  FILES
+    StepperCmd.srv
+)
+
+generate_messages(
+  DEPENDENCIES
+    std_msgs
+    niryo_robot_msgs
+)
+
+catkin_package(
+    INCLUDE_DIRS
+        include
+    LIBRARIES
+        ${PROJECT_NAME}
+        ${PROJECT_NAME}_core
+    CATKIN_DEPENDS
+        roscpp
+        mcp_can_rpi
+        niryo_robot_msgs
+)
+
+include_directories(
+    include
+    ${catkin_INCLUDE_DIRS}
+)
+
+add_library(${PROJECT_NAME}
+    src/stepper_motor_state.cpp
+    src/stepper_motor_cmd.cpp
+    src/conveyor_state.cpp
+)
+
+add_library(${PROJECT_NAME}_core
+    src/stepper_driver_core.cpp
+    src/stepper_driver.cpp
+)
+
+add_executable(${PROJECT_NAME}_node
+  src/stepper_driver_node.cpp
+)
+
+add_executable(${PROJECT_NAME}_test
+  test/stepper_driver_test.cpp
+)
+
+add_dependencies(${PROJECT_NAME}_node
+  ${catkin_EXPORTED_TARGETS}
+)
+#
+# wiringPi should be installed only on a Raspberry Pi board
+#
+
+EXECUTE_PROCESS( COMMAND uname -m COMMAND tr -d '\n' OUTPUT_VARIABLE ARCHITECTURE )
+
+if (${ARCHITECTURE} MATCHES "^(arm.*|aarch64.*|arm64.*)$")
+    message(STATUS "wiringPi library is required - arm processor")
+    target_link_libraries(${PROJECT_NAME}
+        ${catkin_LIBRARIES} 
+        -lwiringPi -lrt)
+else()
+    message(STATUS "wiringPi library not required")
+    target_link_libraries(${PROJECT_NAME}
+        ${catkin_LIBRARIES} 
+    )
+endif()
+
+target_link_libraries(${PROJECT_NAME}_core
+    ${PROJECT_NAME}
+    ${catkin_LIBRARIES}
+)
+
+target_link_libraries(${PROJECT_NAME}_node
+  ${PROJECT_NAME}_core
+  ${catkin_LIBRARIES}
+)
+
+target_link_libraries(${PROJECT_NAME}_test
+  ${PROJECT_NAME}_core
+  ${catkin_LIBRARIES}
+)
+
+install(
+  TARGETS ${PROJECT_NAME}_core
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
+
+install(
+  DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+add_dependencies(${PROJECT_NAME} stepper_driver_generate_messages_cpp)
diff --git a/niryo_robot_hardware_stack/stepper_driver/config/can_bus.yaml b/niryo_robot_hardware_stack/stepper_driver/config/can_bus.yaml
new file mode 100644
index 000000000..e1b936651
--- /dev/null
+++ b/niryo_robot_hardware_stack/stepper_driver/config/can_bus.yaml
@@ -0,0 +1,4 @@
+can_bus:
+    spi_channel: 0
+    spi_baudrate: 1000000
+    gpio_can_interrupt: 25
diff --git a/niryo_robot_hardware_stack/stepper_driver/config/default.yaml b/niryo_robot_hardware_stack/stepper_driver/config/default.yaml
new file mode 100644
index 000000000..83c19b950
--- /dev/null
+++ b/niryo_robot_hardware_stack/stepper_driver/config/default.yaml
@@ -0,0 +1,3 @@
+can_hardware_control_loop_frequency:     1500.0
+can_hw_write_frequency:                  50.0
+can_hw_check_connection_frequency:       3.0
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/stepper_driver/config/motors_config.yaml b/niryo_robot_hardware_stack/stepper_driver/config/motors_config.yaml
new file mode 100644
index 000000000..3298c3a43
--- /dev/null
+++ b/niryo_robot_hardware_stack/stepper_driver/config/motors_config.yaml
@@ -0,0 +1,2 @@
+motors_params:
+    stepper_motor_id_list: [1,2,3]
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/conveyor_state.hpp b/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/conveyor_state.hpp
new file mode 100644
index 000000000..e3d69c2b4
--- /dev/null
+++ b/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/conveyor_state.hpp
@@ -0,0 +1,56 @@
+/*
+    conveyor_state.h
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef CONVEYOR_STATE_H
+#define CONVEYOR_STATE_H
+
+#include <string>
+
+namespace StepperDriver
+{
+    class ConveyorState {
+
+        public:
+        
+            ConveyorState(uint8_t id);
+
+            uint8_t getId();
+            void setId(uint8_t motor_id);
+
+            bool getState();
+            void setState(bool state);
+
+            int16_t getSpeed();
+            void setSpeed(int16_t speed);
+
+            int8_t getDirection();
+            void setDirection(int8_t direction);
+
+            bool operator==(const ConveyorState& other);
+
+        private:
+
+            uint8_t _id;
+            bool _state;
+            int16_t _speed;
+            int8_t _direction;
+    };
+}
+
+#endif
diff --git a/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_driver.hpp b/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_driver.hpp
new file mode 100644
index 000000000..0f2b83132
--- /dev/null
+++ b/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_driver.hpp
@@ -0,0 +1,207 @@
+/*
+    StepperDriver.hpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef STEPPER_DRIVER_HPP
+#define STEPPER_DRIVER_HPP
+
+#include <boost/shared_ptr.hpp>
+#include <functional>
+#include <string>
+#include <thread>
+#include <map>
+#include <ros/ros.h>
+#include "mcp_can_rpi/mcp_can_rpi.h"
+#include "stepper_driver/stepper_motor_state.hpp"
+#include "stepper_driver/stepper_motor_cmd.hpp"
+#include "stepper_driver/StepperMotorCommand.h"
+#include "stepper_driver/StepperCmd.h"
+#include "stepper_driver/conveyor_state.hpp"
+
+#define CAN_CMD_POSITION     0x03
+#define CAN_CMD_TORQUE       0x04
+#define CAN_CMD_MODE         0x07
+#define CAN_CMD_MICRO_STEPS  0x13
+#define CAN_CMD_OFFSET       0x14
+#define CAN_CMD_CALIBRATE    0x15
+#define CAN_CMD_SYNCHRONIZE  0x16
+#define CAN_CMD_MAX_EFFORT   0x17
+#define CAN_CMD_MOVE_REL     0x18
+#define CAN_CMD_RESET        0x19 // not yet implemented
+
+enum class e_CanStepperCalibrationStatus {
+    CAN_STEPPERS_CALIBRATION_UNINITIALIZED = 0,
+    CAN_STEPPERS_CALIBRATION_OK = 1,
+    CAN_STEPPERS_CALIBRATION_TIMEOUT = 2,
+    CAN_STEPPERS_CALIBRATION_BAD_PARAM = 3,
+    CAN_STEPPERS_CALIBRATION_FAIL = 4,
+    CAN_STEPPERS_CALIBRATION_WAITING_USER_INPUT = 5,
+    CAN_STEPPERS_CALIBRATION_IN_PROGRESS = 6,
+};
+
+#define CAN_STEPPERS_CALIBRATION_MODE_AUTO   1
+#define CAN_STEPPERS_CALIBRATION_MODE_MANUAL 2
+
+#define CAN_STEPPERS_WRITE_OFFSET_FAIL -3
+
+#define CAN_DATA_POSITION    0x03
+#define CAN_DATA_DIAGNOSTICS 0x08
+#define CAN_DATA_CALIBRATION_RESULT 0x09
+#define CAN_DATA_FIRMWARE_VERSION 0x10
+#define CAN_DATA_CONVEYOR_STATE 0x07
+
+#define STEPPER_CONTROL_MODE_RELAX    0
+#define STEPPER_CONTROL_MODE_STANDARD 1
+#define STEPPER_CONTROL_MODE_PID_POS  2 
+#define STEPPER_CONTROL_MODE_TORQUE   3
+
+#define STEPPER_CONVEYOR_OFF 20
+#define STEPPER_CONVEYOR_ON 21
+#define CAN_UPDATE_CONVEYOR_ID 23
+#define STEPPER_CONTROL_MODE_PID_POS  2
+#define STEPPER_CONTROL_MODE_TORQUE   3
+
+#define MESSAGE_POSITION_LENGTH 4
+#define MESSAGE_DIAGNOSTICS_LENGTH 4
+#define MESSAGE_FIRMWARE_LENGTH 4
+
+#define CAN_MODEL_NUMBER 10000
+
+#define CAN_SCAN_OK 0
+#define CAN_SCAN_TIMEOUT     -10003
+#define TIME_TO_WAIT_IF_BUSY 0.0005
+
+#define STEPPER_MOTOR_TIMEOUT_VALUE 1.0f // s
+
+namespace StepperDriver
+{
+    struct CalibrationStepperData
+    {
+        INT32U rxId;
+        INT8U len;
+        std::array<INT8U, 8> rxBuf;
+    };
+
+    struct CalibrationStepperCmdStatus
+    {
+        StepperMotorCmd cmd;
+        ros::Time cmd_time;
+    };
+
+    class StepperDriver
+    {
+        public:
+
+            StepperDriver();
+            ~StepperDriver();
+
+            bool setupInterruptGpio();
+            bool setupSpi();
+            INT8U init();
+
+            bool isConnectionOk() const;
+
+            void updateMotorList();
+            void addMotor(uint8_t motor_id);
+            void removeMotor(uint8_t motor_id);
+
+            void addConveyor(uint8_t conveyor_id);
+            void removeConveyor(uint8_t conveyor_id);
+            std::vector<ConveyorState>& getConveyorsState();
+
+            std::vector<StepperMotorState>& getMotorsState();
+            void getBusState(bool& connection_status, std::vector<uint8_t>& motor_list, std::string& error);
+
+            void readMotorsState();
+            void clearCalibrationTab();
+            e_CanStepperCalibrationStatus getCalibrationResult(uint8_t id, boost::shared_ptr<int32_t> &result);
+
+            void executeJointTrajectoryCmd(std::vector<int32_t> &cmd);
+            std::vector<int32_t> &getJointTrajectoryState();
+            int32_t getStepperPose(int32_t motor_id);
+            int readCommand(StepperMotorCmd cmd);
+
+            bool canReadData();
+            INT8U readMsgBuf(INT32U *id, INT8U *len, std::array<INT8U, 8> &buf);
+        
+            void scanAndCheck();
+            
+            INT8U sendPositionCommand(int id, int cmd);
+            INT8U sendRelativeMoveCommand(int id, int steps, int delay);
+            INT8U sendTorqueOnCommand(int id, int torque_on);
+            INT8U sendPositionOffsetCommand(int id, int cmd, int absolute_steps_at_offset_position);
+            INT8U sendCalibrationCommand(int i, int offset, int delay, int direction, int timeout);
+            INT8U sendSynchronizePositionCommand(int id, bool begin_traj);
+            INT8U sendMicroStepsCommand(int id, int micro_steps);
+            INT8U sendMaxEffortCommand(int id, int effort);
+
+            INT8U sendConveyoOnCommand(int id, bool conveyor_on, int conveyor_speed, int8_t direction);
+            INT8U sendUpdateConveyorId(uint8_t old_id, uint8_t new_id);
+
+            INT8U sendCanMsgBuf(INT32U id, INT8U ext, INT8U len, INT8U *buf);
+
+            std::string getErrorMessage();
+            bool scanMotorId(int motor_to_find);
+
+            std::vector<uint8_t> getConnectedMotors();
+            void setCalibrationInProgress(bool in_progress);
+
+        private:
+
+            ros::NodeHandle _nh;
+            std::vector<int> _arm_id_list;
+            std::vector<int> _motor_id_list;
+
+            std::vector<ConveyorState> _conveyor_list;
+
+            std::vector<StepperMotorState> _motor_list;
+            std::vector<uint8_t> _all_motor_connected;
+            std::vector<uint8_t> _calibration_motor_list;
+            std::map<uint8_t, int> _motor_calibration_map;
+            std::map<uint8_t, CalibrationStepperCmdStatus> _motor_calibration_map_cmd;
+
+            boost::shared_ptr<MCP_CAN> mcp_can;
+            std::thread _calibration_thread;
+            std::thread _stepper_timeout_thread;
+            std::vector<CalibrationStepperData> _calibration_readed_datas;
+
+            void readCalibrationStates();
+            bool checkMessageLength(const INT8U &message_length, int message_type);
+            bool checkMotorsId(int motor_id);
+            void fillMotorPosition(int motor_id, const INT8U &len, const std::array<INT8U, 8> &data);
+            void fillMotorDiagnostics(int motor_id, const INT8U &len, const std::array<INT8U, 8> &data);
+            void fillMotorFirmware(int motor_id, const INT8U &len, const std::array<INT8U, 8> &data);
+            void fillConveyorState(int motor_id, const std::array<INT8U, 8> &data);
+            void interpreteCalibrationCommand();
+
+            void _verifyMotorTimeoutLoop();
+            void _refreshMotorTimeout();
+
+            bool _is_can_connection_ok;
+            bool _calibration_in_progress;
+
+            bool _debug_mode;
+
+            std::string _debug_error_message;
+
+            std::vector<int32_t> _stepper_states;
+            e_CanStepperCalibrationStatus _calibration_result;
+    };
+}
+
+#endif
diff --git a/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_driver_core.hpp b/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_driver_core.hpp
new file mode 100644
index 000000000..aa8e3e36a
--- /dev/null
+++ b/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_driver_core.hpp
@@ -0,0 +1,114 @@
+/*
+    dxl_driver.hpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef STEPPER_DRIVER_CORE_HPP
+#define STEPPER_DRIVER_CORE_HPP
+
+#include <boost/shared_ptr.hpp>
+#include <ros/ros.h>
+#include <string>
+#include <thread>
+#include <mutex>
+#include <functional>
+
+#include "stepper_driver/stepper_driver.hpp"
+#include "stepper_driver/StepperArrayMotorHardwareStatus.h"
+#include "niryo_robot_msgs/BusState.h"
+#include "niryo_robot_msgs/CommandStatus.h"
+#include <std_msgs/Int64MultiArray.h>
+
+namespace StepperDriver
+{
+    class StepperDriverCore
+    {
+        public:
+
+            StepperDriverCore();
+
+            void init();
+
+            void initParameters();
+
+            void startControlLoop();
+            void resetHardwareControlLoopRates();
+            void controlLoop();
+
+            stepper_driver::StepperArrayMotorHardwareStatus getHwStatus();
+            niryo_robot_msgs::BusState getCanBusState();
+
+            std::vector<StepperMotorState>& getStepperStates();
+
+            void setStepperCommands(StepperMotorCmd &cmd);
+
+            void setTrajectoryControllerCommands(std::vector<int32_t> &cmd); 
+            std::vector<int32_t>& getTrajectoryControllerStates();
+
+            int setConveyor(uint8_t motor_id);
+            void unsetConveyor(uint8_t motor_id);
+            void setConveyorCommands(StepperMotorCmd &cmd);
+            std::vector<ConveyorState> &getConveyorStates();
+
+            void clearCalibrationTab();
+            bool getCalibrationState();
+            e_CanStepperCalibrationStatus getCalibrationResult(uint8_t id, boost::shared_ptr<int32_t> &calibration_result);
+            void startCalibration(bool enable);
+
+            void activeDebugMode(bool mode);
+            int motorReport(int motor_id);
+            int launchMotorsReport();
+
+            bool scanMotorId(int motor_to_find);
+
+            bool isConnectionOk() const;
+
+        private:
+
+            ros::NodeHandle _nh;
+
+            bool _control_loop_flag;
+            bool _calibration_in_progress;
+            bool _debug_flag;
+
+            std::mutex _control_loop_mutex;
+
+            boost::shared_ptr<std::thread> _control_loop_thread;
+
+            std::vector<int32_t> _joint_trajectory_controller_cmd;
+            std::shared_ptr<StepperMotorCmd> _stepper_cmd;
+            std::shared_ptr<StepperMotorCmd> _conveyor_cmd;
+
+            double _control_loop_frequency;
+            double _write_frequency;
+            double _check_connection_frequency;
+
+            double _time_hw_last_write;
+            double _time_hw_last_check_connection;
+
+            boost::shared_ptr<StepperDriver> _stepper;
+
+            std::vector<std::thread> _calibration_thread_list;
+
+            void _executeCommand();
+
+            ros::Publisher cmd_pub;
+
+    };    
+}
+
+#endif
diff --git a/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_enum.hpp b/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_enum.hpp
new file mode 100644
index 000000000..82a7b851f
--- /dev/null
+++ b/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_enum.hpp
@@ -0,0 +1,31 @@
+#ifndef STEPPER_ENUM_HPP
+#define STEPPER_ENUM_HPP
+
+namespace StepperDriver
+{
+    enum class StepperCommandType
+    {
+        CMD_TYPE_NONE=0,
+        CMD_TYPE_POSITION=1,
+        CMD_TYPE_VELOCITY=2,
+        CMD_TYPE_EFFORT=3,
+        CMD_TYPE_TORQUE=4,
+        CMD_TYPE_SYNCHRONIZE=5,
+        CMD_TYPE_RELATIVE_MOVE=6,
+        CMD_TYPE_MAX_EFFORT=7,
+        CMD_TYPE_MICRO_STEPS=8,
+        CMD_TYPE_POSITION_OFFSET=9,
+        CMD_TYPE_CALIBRATION=10,
+        CMD_TYPE_CONVEYOR=11,
+        CMD_TYPE_UPDATE_CONVEYOR=12,
+        CMD_TYPE_LEARNING_MODE=13,
+    };
+
+    enum class StepperMotorType
+    {
+        MOTOR_TYPE_STEPPER=1
+    };
+
+}
+
+#endif
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_motor_cmd.hpp b/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_motor_cmd.hpp
new file mode 100644
index 000000000..0585d7672
--- /dev/null
+++ b/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_motor_cmd.hpp
@@ -0,0 +1,53 @@
+/*
+    stepper_motor_cmd.hpp
+    Copyright (C) 2017 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef STEPPER_MOTOR_CMD_H
+#define STEPPER_MOTOR_CMD_H
+
+#include <string>
+#include <vector>
+#include "stepper_driver/stepper_enum.hpp"
+
+namespace StepperDriver
+{
+    class StepperMotorCmd {
+
+        public:
+
+            StepperMotorCmd( );
+            StepperMotorCmd(StepperCommandType type, std::vector<uint8_t> motor_id, std::vector<int32_t> params);
+            
+            StepperCommandType getType();
+            void setType(StepperCommandType type);
+
+            std::vector<uint8_t>& getMotorsId();
+            void setMotorsId(std::vector<uint8_t> motor_id);
+
+            std::vector<int32_t>& getParams();
+            void setParams(std::vector<int32_t> params);
+
+        private:
+
+            StepperCommandType _type = StepperCommandType::CMD_TYPE_NONE;
+            std::vector<uint8_t> _motor_id_list;
+            std::vector<int32_t> _param_list;
+    };
+}
+
+#endif
diff --git a/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_motor_state.hpp b/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_motor_state.hpp
new file mode 100644
index 000000000..7a1db474e
--- /dev/null
+++ b/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_motor_state.hpp
@@ -0,0 +1,69 @@
+/*
+    stepper_motor_state.h
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef STEPPER_MOTOR_STATE_H
+#define STEPPER_MOTOR_STATE_H
+
+#include <string>
+#include "stepper_driver/stepper_enum.hpp"
+
+namespace StepperDriver
+{
+    class StepperMotorState {
+
+        public:
+        
+            StepperMotorState(uint8_t id);
+
+            uint8_t getId() const;
+            void setId(uint8_t motor_id);
+
+            int32_t getPositionState() const;
+            void setPositionState(int32_t pos);
+
+            int32_t getTemperatureState() const;
+            void setTemperatureState(int32_t temp);
+
+            int32_t getHardwareErrorState() const;
+            void setHardwareError(int32_t hw_error);
+
+            double getLastTimeRead() const;
+            void setLastTimeRead(double last_time);
+
+            int getHwFailCounter() const;
+            void setHwFailCounter(double fail_counter);
+
+            std::string getFirmwareVersion() const;
+            void setFirmwareVersion(std::string& firmware_version);
+
+            bool operator==(const StepperMotorState& other);
+
+        private:
+
+            uint8_t _id;
+            int32_t _state_pos=0;
+            int32_t _state_temperature=0;
+            int32_t _hw_error=0;
+            double _last_time_read = 0;
+            double _hw_fail_counter;
+            std::string _firmware_version;
+    };
+}
+
+#endif
diff --git a/niryo_robot_hardware_stack/stepper_driver/launch/stepper_driver.launch b/niryo_robot_hardware_stack/stepper_driver/launch/stepper_driver.launch
new file mode 100644
index 000000000..035a5edd8
--- /dev/null
+++ b/niryo_robot_hardware_stack/stepper_driver/launch/stepper_driver.launch
@@ -0,0 +1,8 @@
+<launch>
+
+  <node pkg="stepper_driver" type="stepper_driver_node" name="stepper_driver" output="screen">  
+    <rosparam file="$(find stepper_driver)/config/can_bus.yaml" command="load"/>
+    <rosparam file="$(find stepper_driver)/config/motors_config.yaml" command="load"/>
+    <rosparam file="$(find stepper_driver)/config/default.yaml" command="load"/>
+  </node>
+</launch>
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/stepper_driver/launch/test.launch b/niryo_robot_hardware_stack/stepper_driver/launch/test.launch
new file mode 100644
index 000000000..1e7ff9f58
--- /dev/null
+++ b/niryo_robot_hardware_stack/stepper_driver/launch/test.launch
@@ -0,0 +1,8 @@
+<launch>
+
+  <node pkg="stepper_driver" type="stepper_driver_test" name="stepper_driver" output="screen">  
+    <rosparam file="$(find stepper_driver)/config/can_bus.yaml" command="load"/>
+    <rosparam file="$(find stepper_driver)/config/motors_config.yaml" command="load"/>
+    <rosparam file="$(find stepper_driver)/config/default.yaml" command="load"/>
+  </node>
+</launch>
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/stepper_driver/msg/StepperArrayMotorHardwareStatus.msg b/niryo_robot_hardware_stack/stepper_driver/msg/StepperArrayMotorHardwareStatus.msg
new file mode 100644
index 000000000..4a20acfce
--- /dev/null
+++ b/niryo_robot_hardware_stack/stepper_driver/msg/StepperArrayMotorHardwareStatus.msg
@@ -0,0 +1,2 @@
+std_msgs/Header header
+stepper_driver/StepperMotorHardwareStatus[] motors_hw_status
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/stepper_driver/msg/StepperMotorCommand.msg b/niryo_robot_hardware_stack/stepper_driver/msg/StepperMotorCommand.msg
new file mode 100644
index 000000000..7e3813cf1
--- /dev/null
+++ b/niryo_robot_hardware_stack/stepper_driver/msg/StepperMotorCommand.msg
@@ -0,0 +1,8 @@
+uint8 cmd_type
+uint8 CMD_TYPE_POSITION=1
+uint8 CMD_TYPE_VELOCITY=2
+uint8 CMD_TYPE_EFFORT=3
+uint8 CMD_TYPE_TORQUE=4
+
+uint8[] motors_id
+int32[] params
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/stepper_driver/msg/StepperMotorHardwareStatus.msg b/niryo_robot_hardware_stack/stepper_driver/msg/StepperMotorHardwareStatus.msg
new file mode 100644
index 000000000..9001c1638
--- /dev/null
+++ b/niryo_robot_hardware_stack/stepper_driver/msg/StepperMotorHardwareStatus.msg
@@ -0,0 +1,6 @@
+niryo_robot_msgs/MotorHeader motor_identity
+
+string firmware_version
+int32 temperature
+int32 voltage
+int32 error
diff --git a/niryo_robot_hardware_stack/stepper_driver/package.xml b/niryo_robot_hardware_stack/stepper_driver/package.xml
new file mode 100644
index 000000000..da7fcf980
--- /dev/null
+++ b/niryo_robot_hardware_stack/stepper_driver/package.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>stepper_driver</name>
+  <version>0.0.0</version>
+  <description>The stepper_driver package provides an interface bewteen high level ROS packages and stepper motors</description>
+  <author>Etienne Rey-Coquais</author>
+  <author>Edouard Renard</author>
+  <maintainer email="e.rey-coquais@niryo.com">Etienne Rey-Coquais</maintainer>
+
+  <license>GPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>roscpp</build_depend>
+  <build_depend>mcp_can_rpi</build_depend>
+  <build_depend>niryo_robot_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>mcp_can_rpi</exec_depend>
+  <exec_depend>niryo_robot_msgs</exec_depend>
+
+</package>
+
+
diff --git a/niryo_robot_hardware_stack/stepper_driver/src/conveyor_state.cpp b/niryo_robot_hardware_stack/stepper_driver/src/conveyor_state.cpp
new file mode 100644
index 000000000..affa6602e
--- /dev/null
+++ b/niryo_robot_hardware_stack/stepper_driver/src/conveyor_state.cpp
@@ -0,0 +1,75 @@
+/*
+    conveyor_state.cpp
+    Copyright (C) 2017 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "stepper_driver/conveyor_state.hpp"
+
+namespace StepperDriver
+{
+    bool ConveyorState::operator==(const ConveyorState& m)
+    {
+        return(this->_id == m._id);
+    }
+
+    ConveyorState::ConveyorState(uint8_t id) 
+        : _id(id)
+    {
+
+    }
+
+    uint8_t ConveyorState::getId()
+    {
+        return _id;
+    }
+
+    void ConveyorState::setId(uint8_t motor_id)
+    {
+        _id = motor_id;
+    }
+
+    bool ConveyorState::getState()
+    {
+        return _state;
+    }
+
+    void ConveyorState::setState(bool state)
+    {
+        _state = state;
+    }
+
+    int16_t ConveyorState::getSpeed()
+    {
+        return _speed;
+    }
+
+    void ConveyorState::setSpeed(int16_t speed)
+    {
+        _speed = speed;
+    }
+
+    int8_t ConveyorState::getDirection()
+    {
+        return _direction;
+    }
+
+    void ConveyorState::setDirection(int8_t direction)
+    {
+        _direction = direction;
+    }
+
+}
diff --git a/niryo_robot_hardware_stack/stepper_driver/src/stepper_driver.cpp b/niryo_robot_hardware_stack/stepper_driver/src/stepper_driver.cpp
new file mode 100644
index 000000000..e70524f62
--- /dev/null
+++ b/niryo_robot_hardware_stack/stepper_driver/src/stepper_driver.cpp
@@ -0,0 +1,941 @@
+/*
+    stepper_driver.cpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "stepper_driver/stepper_driver.hpp"
+
+namespace StepperDriver
+{
+    StepperDriver::StepperDriver() : _calibration_result(e_CanStepperCalibrationStatus::CAN_STEPPERS_CALIBRATION_UNINITIALIZED), _calibration_in_progress(false), _stepper_timeout_thread(boost::bind(&StepperDriver::_verifyMotorTimeoutLoop, this))
+    {
+        _nh.getParam("/niryo_robot_hardware_interface/debug", _debug_mode);
+        if (_debug_mode)
+        {
+            if (ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug))
+            {
+                ros::console::notifyLoggerLevelsChanged();
+            }
+        }
+
+        int spi_channel, spi_baudrate, gpio_can_interrupt;
+
+        _nh.getParam("/niryo_robot_hardware_interface/stepper_driver/can_bus/spi_channel", spi_channel);
+        _nh.getParam("/niryo_robot_hardware_interface/stepper_driver/can_bus/spi_baudrate", spi_baudrate);
+        _nh.getParam("/niryo_robot_hardware_interface/stepper_driver/can_bus/gpio_can_interrupt", gpio_can_interrupt);
+
+        if (_nh.hasParam("/niryo_robot_hardware_interface/stepper_driver/motors_params/stepper_motor_id_list"))
+        {
+            _nh.getParam("/niryo_robot_hardware_interface/stepper_driver/motors_params/stepper_motor_id_list", _motor_id_list);
+        }
+        else
+        {
+            _nh.getParam("/niryo_robot_hardware_interface/motors_params/stepper_motor_id_list", _motor_id_list);
+        }
+
+        _conveyor_list.clear();
+        _arm_id_list.clear();
+        _arm_id_list = _motor_id_list;
+        ROS_DEBUG("Stepper Driver - Can bus parameters: spi_channel : %d", spi_channel);
+        ROS_DEBUG("Stepper Driver - Can bus parameters: spi_baudrate : %d", spi_baudrate);
+        ROS_DEBUG("Stepper Driver - Can bus parameters: spi_baudrate : %d", gpio_can_interrupt);
+
+        _is_can_connection_ok = false;
+        _debug_error_message = "";
+
+        mcp_can.reset(new MCP_CAN(spi_channel, spi_baudrate, gpio_can_interrupt));
+        _calibration_motor_list.clear();
+        setupInterruptGpio();
+        setupSpi();
+        init();
+        updateMotorList();
+
+        _stepper_states.clear();
+        _stepper_states.push_back(0);
+        _stepper_states.push_back(0);
+        _stepper_states.push_back(0);
+    }
+
+    StepperDriver::~StepperDriver()
+    {
+        if (_stepper_timeout_thread.joinable())
+        {
+            _stepper_timeout_thread.join();
+        }
+    }
+
+    bool StepperDriver::setupInterruptGpio()
+    {
+        if (!mcp_can->setupInterruptGpio())
+        {
+            ROS_WARN("Stepper Driver - Failed to start gpio");
+            _debug_error_message = "Failed to start gpio";
+            return CAN_GPIO_FAILINIT;
+        }
+        return CAN_OK;
+    }
+
+    bool StepperDriver::setupSpi()
+    {
+        if (!mcp_can->setupSpi())
+        {
+            ROS_WARN("Stepper Driver - Failed to start spi");
+            _debug_error_message = "Failed to start spi";
+            return CAN_SPI_FAILINIT;
+        }
+        return CAN_OK;
+    }
+
+    INT8U StepperDriver::init()
+    {
+        // no mask or filter used, receive all messages from CAN bus
+        // messages with ids != motor_id will be sent to another ROS interface
+        // so we can use many CAN devices with this only driver
+        int result = mcp_can->begin(MCP_ANY, CAN_1000KBPS, MCP_16MHZ);
+        ROS_DEBUG("Stepper Driver - Result begin can : %d", result);
+
+        if (result != CAN_OK)
+        {
+            ROS_ERROR("Stepper Driver - Failed to init MCP2515 (CAN bus)");
+            _debug_error_message = "Failed to init MCP2515 (CAN bus)";
+            return result;
+        }
+
+        // set mode to normal
+        mcp_can->setMode(MCP_NORMAL);
+        _is_can_connection_ok = false;
+        ros::Duration(0.05).sleep();
+        return result;
+    }
+
+    bool StepperDriver::isConnectionOk() const
+    {
+        return _is_can_connection_ok;
+    }
+
+    void StepperDriver::addMotor(uint8_t motor_id)
+    {
+        ROS_DEBUG("Stepper Driver - Add motor id: %d", motor_id);
+        _motor_id_list.push_back(motor_id);
+        updateMotorList();
+    }
+
+    void StepperDriver::removeMotor(uint8_t motor_id)
+    {
+        ROS_DEBUG("Stepper Driver - Remove motor id: %d", motor_id);
+        for (int i = 0; i < _motor_id_list.size(); i++)
+        {
+            if (_motor_id_list.at(i) == motor_id)
+            {
+                _motor_id_list.erase(_motor_id_list.begin() + i);
+                break;
+            }
+        }
+        updateMotorList();
+    }
+
+    void StepperDriver::updateMotorList()
+    {
+        _motor_list.clear();
+        for (int i = 0; i < _motor_id_list.size(); i++)
+        {
+            StepperMotorState m(_motor_id_list.at(i));
+            ROS_DEBUG("Stepper Driver - Push back id %d", _motor_id_list.at(i));
+            _motor_list.push_back(m);
+        }
+
+        std::string motor_string_list = "[";
+        for (int i = 0; i < _motor_id_list.size(); i++)
+        {
+            if (i != 0)
+                motor_string_list += ", ";
+            motor_string_list += std::to_string(_motor_id_list.at(i));
+        }
+        motor_string_list += "]";
+        ROS_INFO("Stepper Driver - Motor list: %s ", motor_string_list.c_str());
+    }
+
+    void StepperDriver::addConveyor(uint8_t conveyor_id)
+    {
+        ConveyorState c(conveyor_id);
+        c.setDirection(-1);
+        c.setSpeed(0);
+        c.setState(false);
+        _conveyor_list.push_back(c);
+    }
+    void StepperDriver::removeConveyor(uint8_t conveyor_id)
+    {
+        for (int i = 0; i < _conveyor_list.size(); i++)
+        {
+            if (_conveyor_list.at(i).getId() == conveyor_id)
+            {
+                _conveyor_list.erase(_conveyor_list.begin() + i);
+            }
+        }
+    }
+
+    std::vector<StepperMotorState> &StepperDriver::getMotorsState()
+    {
+        return _motor_list;
+    }
+
+    void StepperDriver::getBusState(bool &connection_status, std::vector<uint8_t> &motor_list, std::string &error)
+    {
+        error = _debug_error_message;
+        motor_list = _all_motor_connected;
+        connection_status = isConnectionOk();
+    }
+
+    void StepperDriver::executeJointTrajectoryCmd(std::vector<int32_t> &cmd)
+    {
+        int result;
+        for (int i = 0; i < _arm_id_list.size(); i++)
+        {
+            result = sendPositionCommand(_arm_id_list.at(i), cmd.at(i));
+            if (result != CAN_OK)
+            {
+                ROS_WARN("Stepper Driver - send positions to motor id %d failed", _arm_id_list.at(i));
+            }
+        }
+    }
+
+    int32_t StepperDriver::getStepperPose(int32_t motor_id)
+    {
+        for (std::vector<StepperMotorState>::iterator motor_it = _motor_list.begin(); motor_it != _motor_list.end(); motor_it++)
+        {
+            if (motor_it->getId() == motor_id)
+            {
+                return motor_it->getPositionState();
+            }
+        }
+        ROS_WARN("Stepper Driver - Get positionsfrom motor id %d failed because doesn't exist", motor_id);
+        return -1;
+    }
+
+    std::vector<int32_t> &StepperDriver::getJointTrajectoryState()
+    {
+        return _stepper_states;
+    }
+
+    int StepperDriver::readCommand(StepperMotorCmd cmd)
+    {
+        int result = CAN_INVALID_CMD;
+        ROS_DEBUG("Stepper Driver - Received stepper cmd with type %d", int(cmd.getType()));
+
+        std::string ids_string = "";
+        for (int i = 0; i < cmd.getMotorsId().size(); i++)
+            ids_string += std::to_string(cmd.getMotorsId().at(i)) + " ";
+        ROS_DEBUG("Stepper Driver - Received stepper cmd with ids %s", ids_string.c_str());
+
+        std::string params_string = "";
+        for (int i = 0; i < cmd.getParams().size(); i++)
+            params_string += std::to_string(cmd.getParams().at(i)) + " ";
+        ROS_DEBUG("Stepper Driver - Received stepper cmd with params %s", params_string.c_str());
+
+        if (cmd.getType() == StepperCommandType::CMD_TYPE_POSITION)
+        {
+            if (cmd.getMotorsId().size() <= cmd.getParams().size())
+            {
+                for (int i = 0; i < cmd.getMotorsId().size(); i++)
+                {
+                    result = sendPositionCommand(cmd.getMotorsId().at(i), cmd.getParams().at(i));
+                }
+            }
+        }
+        else if (cmd.getType() == StepperCommandType::CMD_TYPE_TORQUE)
+        {
+            if (cmd.getMotorsId().size() <= cmd.getParams().size())
+            {
+                for (int i = 0; i < cmd.getMotorsId().size(); i++)
+                {
+                    result = sendTorqueOnCommand(cmd.getMotorsId().at(i), cmd.getParams().at(i));
+                }
+            }
+        }
+        else if (cmd.getType() == StepperCommandType::CMD_TYPE_SYNCHRONIZE)
+        {
+            if (cmd.getMotorsId().size() <= cmd.getParams().size())
+            {
+                for (int i = 0; i < cmd.getMotorsId().size(); i++)
+                {
+                    result = sendSynchronizePositionCommand(cmd.getMotorsId().at(i), cmd.getParams().at(i));
+                }
+            }
+        }
+        else if (cmd.getType() == StepperCommandType::CMD_TYPE_RELATIVE_MOVE)
+        {
+
+            if (cmd.getMotorsId().size() > 0 && cmd.getParams().size() >= 2)
+            {
+                result = sendRelativeMoveCommand(cmd.getMotorsId().at(0), cmd.getParams().at(0), cmd.getParams().at(1));
+            }
+        }
+        else if (cmd.getType() == StepperCommandType::CMD_TYPE_MAX_EFFORT)
+        {
+            if (cmd.getMotorsId().size() <= cmd.getParams().size())
+            {
+                for (int i = 0; i < cmd.getMotorsId().size(); i++)
+                {
+                    result = sendMaxEffortCommand(cmd.getMotorsId().at(i), cmd.getParams().at(i));
+                }
+            }
+        }
+        else if (cmd.getType() == StepperCommandType::CMD_TYPE_MICRO_STEPS)
+        {
+            if (cmd.getMotorsId().size() <= cmd.getParams().size())
+            {
+                for (int i = 0; i < cmd.getMotorsId().size(); i++)
+                {
+                    result = sendMicroStepsCommand(cmd.getMotorsId().at(i), cmd.getParams().at(i));
+                }
+            }
+        }
+        else if (cmd.getType() == StepperCommandType::CMD_TYPE_CALIBRATION)
+        {
+            if (cmd.getMotorsId().size() > 0 && cmd.getParams().size() >= 4)
+            {
+                _calibration_motor_list.push_back(cmd.getMotorsId().at(0));
+                _motor_calibration_map[cmd.getMotorsId().at(0)] = 0;
+                _motor_calibration_map_cmd[cmd.getMotorsId().at(0)] = {cmd, ros::Time::now()};
+                result = sendCalibrationCommand(cmd.getMotorsId().at(0), cmd.getParams().at(0), cmd.getParams().at(1), cmd.getParams().at(2), cmd.getParams().at(3));
+                if (result == CAN_OK && _calibration_result != e_CanStepperCalibrationStatus::CAN_STEPPERS_CALIBRATION_IN_PROGRESS)
+                {
+                    // Join the previous calibration thread (otherwise we cannot reassign the thread)
+                    if (_calibration_thread.joinable())
+                        _calibration_thread.join();
+                    _calibration_thread = std::thread(boost::bind(&StepperDriver::readCalibrationStates, this));
+                }
+            }
+        }
+        else if (cmd.getType() == StepperCommandType::CMD_TYPE_POSITION_OFFSET)
+        {
+            if (cmd.getMotorsId().size() > 0 && cmd.getParams().size() >= 2)
+            {
+                result = sendPositionOffsetCommand(cmd.getMotorsId().at(0), cmd.getParams().at(0), cmd.getParams().at(1));
+            }
+        }
+        else if (cmd.getType() == StepperCommandType::CMD_TYPE_CONVEYOR)
+        {
+            if (cmd.getMotorsId().size() > 0 && cmd.getParams().size() >= 3)
+            {
+                result = sendConveyoOnCommand(cmd.getMotorsId().at(0), cmd.getParams().at(0), cmd.getParams().at(1), cmd.getParams().at(2));
+            }
+        }
+        else if (cmd.getType() == StepperCommandType::CMD_TYPE_UPDATE_CONVEYOR)
+        {
+            if (cmd.getMotorsId().size() > 0 && cmd.getParams().size() >= 1)
+            {
+                result = sendUpdateConveyorId(cmd.getMotorsId().at(0), cmd.getParams().at(0));
+                if (result == CAN_OK)
+                {
+                    removeConveyor(cmd.getMotorsId().at(0));
+                    addConveyor(cmd.getParams().at(0));
+                }
+            }
+        }
+        ROS_DEBUG("Stepper Driver - Received stepper cmd finished");
+        return result;
+    }
+
+    bool StepperDriver::canReadData()
+    {
+        return mcp_can->canReadData();
+    }
+
+    INT8U StepperDriver::readMsgBuf(INT32U *id, INT8U *len, std::array<INT8U, 8> &buf)
+    {
+        int hw_fail_counter_read = 0;
+        INT8U status;
+
+        while (hw_fail_counter_read < 10)
+        {
+            status = mcp_can->readMsgBuf(id, len, buf.data());
+            if (status == CAN_OK)
+            {
+                break;
+            }
+            else
+            {
+                _is_can_connection_ok = false;
+                ROS_WARN_THROTTLE(2, "Stepper Driver - Reading Stepper message on CAN Bus failed");
+            }
+        }
+        return status;
+    }
+
+    void StepperDriver::scanAndCheck()
+    {
+        double time_begin_scan = ros::Time::now().toSec();
+        double min_time_to_wait = 0.25;
+        double timeout = 0.5;
+
+        _all_motor_connected.clear();
+
+        std::vector<uint8_t> motors_unfound(_motor_id_list.begin(), _motor_id_list.end());
+        while ((motors_unfound.size() != 0) || (ros::Time::now().toSec() - time_begin_scan < min_time_to_wait))
+        {
+            ros::Duration(0.001).sleep(); // check at 1000 Hz
+            if (canReadData())
+            {
+                INT32U rxId;
+                INT8U len;
+                std::array<INT8U, 8> rxBuf;
+                readMsgBuf(&rxId, &len, rxBuf);
+                int motor_id = rxId & 0x0F;
+
+                auto it = std::find(motors_unfound.begin(), motors_unfound.end(), motor_id);
+                if (it != motors_unfound.end())
+                {
+                    _all_motor_connected.push_back(*it);
+                    motors_unfound.erase(it);
+                }
+            }
+
+            if (ros::Time::now().toSec() - time_begin_scan > timeout)
+            {
+                ROS_ERROR_THROTTLE(2, "Stepper Driver - CAN scan Timeout");
+                _debug_error_message = "CAN bus scan failed : motors ";
+                for (int i = 0; i < motors_unfound.size(); i++)
+                {
+                    _debug_error_message += std::to_string(motors_unfound.at(i));
+                    _debug_error_message += ", ";
+                }
+                _debug_error_message += "are not connected";
+                _is_can_connection_ok = false;
+                ROS_ERROR_THROTTLE(2, "Stepper Driver - %s", _debug_error_message.c_str());
+            }
+        }
+        
+        this->_refreshMotorTimeout();
+        
+        _is_can_connection_ok = true;
+        _debug_error_message = "";
+    }
+
+    void StepperDriver::readMotorsState()
+    {
+        if (canReadData())
+        {
+            INT32U rxId;
+            INT8U len;
+            std::array<INT8U, 8> rxBuf;
+            readMsgBuf(&rxId, &len, rxBuf);
+            int motor_id = rxId & 0x0F;
+            bool motor_known;
+
+            motor_known = checkMotorsId(motor_id);
+            if (!motor_known)
+            {
+                return;
+            }
+
+            if (len < 1)
+            {
+                ROS_ERROR_THROTTLE(1, "Stepper Driver - Received can frame with empty data");
+                return;
+            }
+
+            int control_byte = rxBuf[0];
+
+            if (control_byte == CAN_DATA_POSITION)
+            {
+                fillMotorPosition(motor_id, len, rxBuf);
+            }
+
+            else if (control_byte == CAN_DATA_DIAGNOSTICS)
+            {
+                fillMotorDiagnostics(motor_id, len, rxBuf);
+            }
+
+            else if (control_byte == CAN_DATA_FIRMWARE_VERSION)
+            {
+                fillMotorFirmware(motor_id, len, rxBuf);
+            }
+
+            else if (control_byte == CAN_DATA_CONVEYOR_STATE)
+            {
+                fillConveyorState(motor_id, rxBuf);
+            }
+        }
+    }
+
+    void StepperDriver::fillMotorPosition(int motor_id, const INT8U &len, const std::array<INT8U, 8> &data)
+    {
+        if (!checkMessageLength(len, MESSAGE_POSITION_LENGTH))
+        {
+            ROS_ERROR("Stepper Driver - Position can frame should contain 4 data bytes");
+            return;
+        }
+
+        int32_t pos = (data[1] << 16) + (data[2] << 8) + data[3];
+        if (pos & (1 << 15))
+        {
+            pos = -1 * ((~pos + 1) & 0xFFFF);
+        }
+        if (motor_id == 1)
+        {
+            _stepper_states[0] = pos;
+        }
+        else if (motor_id == 2)
+        {
+            _stepper_states[1] = pos;
+        }
+        else if (motor_id == 3)
+        {
+            _stepper_states[2] = pos;
+        }
+        for (int i = 0; i < _motor_list.size(); i++)
+        {
+            if (motor_id == _motor_list.at(i).getId())
+            {
+                _motor_list.at(i).setPositionState(pos);
+                break;
+            }
+        }
+        return;
+    }
+
+    void StepperDriver::fillMotorDiagnostics(int motor_id, const INT8U &len, const std::array<INT8U, 8> &data)
+    {
+        if (!checkMessageLength(len, MESSAGE_DIAGNOSTICS_LENGTH))
+        {
+            ROS_ERROR("Stepper Driver - Diagnostic can frame should contain 4 data bytes");
+        }
+
+        int driver_temp_raw = (data[2] << 8) + data[3];
+        double a = -0.00316;
+        double b = -12.924;
+        double c = 2367.7;
+        double v_temp = driver_temp_raw * 3.3 / 1024.0 * 1000.0;
+        int driver_temp = int((-b - std::sqrt(b * b - 4 * a * (c - v_temp))) / (2 * a) + 30);
+
+        // fill data
+        for (int i = 0; i < _motor_list.size(); i++)
+        {
+            if (motor_id == _motor_list.at(i).getId())
+            {
+                _motor_list.at(i).setTemperatureState(driver_temp);
+                break;
+            }
+        }
+    }
+
+    void StepperDriver::fillMotorFirmware(int motor_id, const INT8U &len, const std::array<INT8U, 8> &data)
+    {
+        if (!checkMessageLength(len, MESSAGE_FIRMWARE_LENGTH))
+        {
+            ROS_ERROR("Stepper Driver - Firmware version frame should contain 4 data bytes");
+        }
+
+        int v_major = data[1];
+        int v_minor = data[2];
+        int v_patch = data[3];
+        std::string version = "";
+        version += std::to_string(v_major);
+        version += ".";
+        version += std::to_string(v_minor);
+        version += ".";
+        version += std::to_string(v_patch);
+
+        // fill data
+        for (int i = 0; i < _motor_list.size(); i++)
+        {
+            if (motor_id == _motor_list.at(i).getId())
+            {
+                _motor_list.at(i).setFirmwareVersion(version);
+                break;
+            }
+        }
+    }
+
+    void StepperDriver::fillConveyorState(int motor_id, const std::array<INT8U, 8> &data)
+    {
+        bool state = data[1];
+        int16_t speed = data[2];
+        int8_t direction = data[3];
+
+        for (int i = 0; i < _conveyor_list.size(); i++)
+        {
+            if (_conveyor_list.at(i).getId() == motor_id)
+            {
+                _conveyor_list.at(i).setDirection(direction);
+                _conveyor_list.at(i).setSpeed(speed);
+                _conveyor_list.at(i).setState(state);
+                break;
+            }
+        }
+    }
+
+    void StepperDriver::_verifyMotorTimeoutLoop()
+    {
+        while (this->_nh.ok())
+        {
+            // Only check when motors seems connected and not in calibration (not state received)
+            if (this->_is_can_connection_ok && !this->_calibration_in_progress)
+            {
+                for (const StepperMotorState &motor : this->_motor_list)
+                {
+                    const double &last_time_read = motor.getLastTimeRead();
+                    if (last_time_read > 0)
+                    {
+                        double sec_elapsed = ros::Time::now().toSec() - last_time_read;
+                        if (sec_elapsed > STEPPER_MOTOR_TIMEOUT_VALUE)
+                        {
+                            // If it's the first motor that seems disconnected
+                            if (this->_is_can_connection_ok)
+                            {
+                                this->_debug_error_message = "Disconnected stepper motor(s): " + std::to_string(motor.getId());
+                            }
+                            // If an another motor seems already disconnected
+                            else
+                            {
+                                this->_debug_error_message += ", " + std::to_string(motor.getId());
+                            }
+                            this->_is_can_connection_ok = false;
+                        }
+                    }
+                }
+            }
+            ros::Duration(0.1).sleep();
+        }
+    }
+
+    void StepperDriver::_refreshMotorTimeout()
+    {
+        // Refresh time read value for timeout thread
+        for (StepperMotorState &motor_stepper_state : _motor_list)
+        {
+            motor_stepper_state.setLastTimeRead(-1);
+        }
+    }
+
+    std::vector<ConveyorState> &StepperDriver::getConveyorsState()
+    {
+        return _conveyor_list;
+    }
+
+    bool StepperDriver::checkMotorsId(int motor_id)
+    {
+        bool motor_found = false;
+        for (int i = 0; i < _motor_list.size(); i++)
+        {
+            if (motor_id == _motor_list.at(i).getId())
+            {
+                _motor_list.at(i).setLastTimeRead(ros::Time::now().toSec());
+                motor_found = true;
+                break;
+            }
+        }
+        for (int i = 0; i < _conveyor_list.size(); i++)
+        {
+            if (motor_id == _conveyor_list.at(i).getId())
+            {
+                motor_found = true;
+                break;
+            }
+        }
+        if (!motor_found)
+        {
+            // ROS_WARN("Received can frame with unknow id : %d", motor_id);
+            _debug_error_message = "Unknow connected motor : ";
+            _debug_error_message += std::to_string(motor_id);
+        }
+        return motor_found;
+    }
+
+    bool StepperDriver::checkMessageLength(const INT8U &message_length, int message_type)
+    {
+        if (message_length != message_type)
+        {
+            return false;
+        }
+        return true;
+    }
+
+    INT8U StepperDriver::sendPositionCommand(int id, int cmd)
+    {
+        uint8_t data[4] = {CAN_CMD_POSITION, (uint8_t)((cmd >> 16) & 0xFF),
+                           (uint8_t)((cmd >> 8) & 0xFF), (uint8_t)(cmd & 0XFF)};
+        return sendCanMsgBuf(id, 0, 4, data);
+    }
+
+    INT8U StepperDriver::sendRelativeMoveCommand(int id, int steps, int delay)
+    {
+        uint8_t data[7] = {CAN_CMD_MOVE_REL,
+                           (uint8_t)((steps >> 16) & 0xFF), (uint8_t)((steps >> 8) & 0xFF), (uint8_t)(steps & 0XFF),
+                           (uint8_t)((delay >> 16) & 0xFF), (uint8_t)((delay >> 8) & 0xFF), (uint8_t)(delay & 0XFF)};
+        return sendCanMsgBuf(id, 0, 7, data);
+    }
+
+    INT8U StepperDriver::sendTorqueOnCommand(int id, int torque_on)
+    {
+        uint8_t data[2] = {0};
+        data[0] = CAN_CMD_MODE;
+        data[1] = (torque_on) ? STEPPER_CONTROL_MODE_STANDARD : STEPPER_CONTROL_MODE_RELAX;
+        return sendCanMsgBuf(id, 0, 2, data);
+    }
+
+    INT8U StepperDriver::sendPositionOffsetCommand(int id, int cmd, int absolute_steps_at_offset_position)
+    {
+        uint8_t data[6] = {CAN_CMD_OFFSET, (uint8_t)((cmd >> 16) & 0xFF),
+                           (uint8_t)((cmd >> 8) & 0xFF), (uint8_t)(cmd & 0XFF),
+                           (uint8_t)((absolute_steps_at_offset_position >> 8) & 0xFF), (uint8_t)(absolute_steps_at_offset_position & 0xFF)};
+        return sendCanMsgBuf(id, 0, 6, data);
+    }
+
+    INT8U StepperDriver::sendSynchronizePositionCommand(int id, bool begin_traj)
+    {
+        uint8_t data[2] = {CAN_CMD_SYNCHRONIZE, (uint8_t)begin_traj};
+        return sendCanMsgBuf(id, 0, 2, data);
+    }
+
+    INT8U StepperDriver::sendMicroStepsCommand(int id, int micro_steps)
+    {
+        uint8_t data[2] = {CAN_CMD_MICRO_STEPS, (uint8_t)micro_steps};
+        return sendCanMsgBuf(id, 0, 2, data);
+    }
+
+    INT8U StepperDriver::sendMaxEffortCommand(int id, int effort)
+    {
+        uint8_t data[2] = {CAN_CMD_MAX_EFFORT, (uint8_t)effort};
+        return sendCanMsgBuf(id, 0, 2, data);
+    }
+
+    std::string StepperDriver::getErrorMessage()
+    {
+        return _debug_error_message;
+    }
+
+    INT8U StepperDriver::sendCalibrationCommand(int id, int offset, int delay, int direction, int timeout)
+    {
+        direction = (direction > 0 ) ? 1 : 0;
+
+        uint8_t data[8] = {CAN_CMD_CALIBRATE, (uint8_t)((offset >> 16) & 0xFF),
+                           (uint8_t)((offset >> 8) & 0xFF), (uint8_t)(offset & 0XFF),
+                           (uint8_t)((delay >> 8) & 0xFF), (uint8_t)(delay & 0xFF),
+                           (uint8_t)direction, (uint8_t)timeout};
+        return sendCanMsgBuf(id, 0, 8, data);
+    }
+
+    e_CanStepperCalibrationStatus StepperDriver::getCalibrationResult(uint8_t id, boost::shared_ptr<int32_t> &result)
+    {
+        (*result) = _motor_calibration_map[id];
+        return _calibration_result;
+    }
+
+    void StepperDriver::clearCalibrationTab()
+    {
+        _motor_calibration_map.clear();
+    }
+
+    void StepperDriver::setCalibrationInProgress(bool in_progress)
+    {
+        this->_calibration_in_progress = in_progress;
+        this->_refreshMotorTimeout();
+    }
+
+    void StepperDriver::readCalibrationStates()
+    {
+        _calibration_result = e_CanStepperCalibrationStatus::CAN_STEPPERS_CALIBRATION_IN_PROGRESS;
+        double time_thread_begin = ros::Time::now().toSec();
+
+        int calibration_timeout;
+        _nh.getParam("/niryo_robot_hardware_interface/calibration_timeout", calibration_timeout);
+        std::thread reading_data_thread(boost::bind(&StepperDriver::interpreteCalibrationCommand, this));
+        while (_calibration_motor_list.size() != 0)
+        {
+            if (canReadData())
+            {
+                INT32U rxId;
+                INT8U len;
+                std::array<INT8U, 8> rxBuf;
+
+                readMsgBuf(&rxId, &len, rxBuf);
+                CalibrationStepperData calib_data = {rxId, len, rxBuf};
+                _calibration_readed_datas.push_back(calib_data);
+            }
+            else if (ros::Time::now().toSec() - time_thread_begin > calibration_timeout)
+            {
+                ROS_ERROR("Stepper Driver - Calibration timeout after: %lf s", ros::Time::now().toSec() - time_thread_begin);
+                for (int i = 0; i < _calibration_motor_list.size(); i++)
+                {
+                    ROS_ERROR("Stepper Driver - Motor %d timeout: may be disconnected", _calibration_motor_list.at(i));
+                }
+                _calibration_result = e_CanStepperCalibrationStatus::CAN_STEPPERS_CALIBRATION_TIMEOUT;
+                _calibration_motor_list.clear();
+                reading_data_thread.join();
+                return;
+            }
+        }
+        _calibration_motor_list.clear();
+        reading_data_thread.join();
+        _calibration_result = e_CanStepperCalibrationStatus::CAN_STEPPERS_CALIBRATION_OK;
+        ROS_DEBUG("Stepper Driver - Calibration thread ended with success");
+    }
+
+    void StepperDriver::interpreteCalibrationCommand()
+    {
+        while(_calibration_motor_list.size() > 0)
+        {
+            if (_calibration_readed_datas.size() > 0)
+            {
+                
+//                std::string data_str = "";
+//                for(int byte_nb=0; byte_nb<_calibration_readed_datas[0].len; byte_nb++ )
+//                {
+//                    data_str+= " " + std::to_string((int)_calibration_readed_datas[0].rxBuf[byte_nb]);
+//                }
+//                ROS_WARN("motor calib: %d, %d, %s", (int)(_calibration_readed_datas[0].rxId & 0x0F), _calibration_readed_datas[0].len, data_str.c_str());
+
+                if (_calibration_readed_datas[0].len == 4)
+                {
+                    INT32U rxId = _calibration_readed_datas[0].rxId ;
+                    std::array<INT8U, 8> rxBuf = _calibration_readed_datas[0].rxBuf;
+
+                    int motor_id = rxId & 0x0F;
+                    for (int i = 0; i < _calibration_motor_list.size(); i++)
+                    {
+                        if (_calibration_motor_list.at(i) == motor_id)
+                        {
+                            // 3. Check control byte
+                            int control_byte = rxBuf[0];
+                            if (control_byte == CAN_DATA_CALIBRATION_RESULT)
+                            { // only check this frame
+                                int result = rxBuf[1];
+                                e_CanStepperCalibrationStatus can_enum_result = static_cast<e_CanStepperCalibrationStatus>(result);
+                                if (can_enum_result == e_CanStepperCalibrationStatus::CAN_STEPPERS_CALIBRATION_TIMEOUT)
+                                {
+                                    ROS_ERROR("Stepper Driver - Motor %d had calibration timeout", motor_id);
+                                    _calibration_result = can_enum_result;
+                                    return;
+                                }
+                                else if (can_enum_result == e_CanStepperCalibrationStatus::CAN_STEPPERS_CALIBRATION_BAD_PARAM)
+                                {
+                                    ROS_ERROR("Stepper Driver - Bad params given to motor %d", motor_id);
+                                    _calibration_result = can_enum_result;
+                                    return;
+                                }
+                                else if (can_enum_result == e_CanStepperCalibrationStatus::CAN_STEPPERS_CALIBRATION_OK)
+                                {
+                                    ROS_INFO("Stepper Driver - Motor %d calibration OK", motor_id);
+                                    int steps_at_offset_pos = (rxBuf[2] << 8) + rxBuf[3];
+                                    ROS_INFO("Stepper Driver - Motor %d - Absolute steps at offset position : %d", motor_id, steps_at_offset_pos);
+                                    _motor_calibration_map[motor_id] = (int32_t)steps_at_offset_pos;
+                                    _calibration_motor_list.erase(std::remove(_calibration_motor_list.begin(), _calibration_motor_list.end(), motor_id), _calibration_motor_list.end());
+                                    // keep torque ON for axis 1
+                                    if (motor_id == 1)
+                                    {
+                                        sendTorqueOnCommand(1, true);
+                                    }
+                                }
+                            }
+                            else if ((ros::Time::now() - _motor_calibration_map_cmd[motor_id].cmd_time).toSec() > 0.5)
+                            {
+                                StepperMotorCmd cmd = _motor_calibration_map_cmd[motor_id].cmd;
+                                _motor_calibration_map_cmd[motor_id].cmd_time = ros::Time::now();
+                                sendCalibrationCommand(motor_id, cmd.getParams().at(0), cmd.getParams().at(1), cmd.getParams().at(2), cmd.getParams().at(3));
+                            }
+                        }
+                    }
+                }
+                _calibration_readed_datas.erase(_calibration_readed_datas.begin());
+            }
+        }
+    }
+
+    bool StepperDriver::scanMotorId(int motor_to_find)
+    {
+        double time_begin_scan = ros::Time::now().toSec();
+        double min_time_to_wait = 0.25;
+        double timeout = 0.5;
+        bool motor_found = false;
+
+        while (!motor_found || (ros::Time::now().toSec() - time_begin_scan < min_time_to_wait))
+        {
+            ros::Duration(0.001).sleep(); // check at 1000 Hz
+            if (canReadData())
+            {
+                INT32U rxId;
+                INT8U len;
+                std::array<INT8U, 8> rxBuf;
+                readMsgBuf(&rxId, &len, rxBuf);
+                int motor_id = rxId & 0x0F;
+                if (motor_id == motor_to_find)
+                {
+                    motor_found = true;
+                }
+            }
+            if (ros::Time::now().toSec() - time_begin_scan > timeout)
+            {
+                ROS_ERROR("Stepper Driver - Motor with id %d not found", motor_to_find);
+                return motor_found;
+            }
+        }
+        return motor_found;
+    }
+
+    INT8U StepperDriver::sendConveyoOnCommand(int id, bool conveyor_on, int conveyor_speed, int8_t direction)
+    {
+        ROS_DEBUG("Stepper Driver - Send conveyor id %d enabled (%d) at speed %d on direction %d",
+                  id, static_cast<int>(conveyor_on), conveyor_speed, direction);
+        uint8_t data[3] = {0};
+        data[0] = CAN_CMD_MODE;
+        if (conveyor_on)
+        {
+            data[1] = STEPPER_CONVEYOR_ON;
+        }
+        else
+        {
+            data[1] = STEPPER_CONVEYOR_OFF;
+        }
+        data[2] = conveyor_speed;
+        data[3] = direction;
+
+        return sendCanMsgBuf(id, 0, 4, data);
+    }
+
+    INT8U StepperDriver::sendUpdateConveyorId(uint8_t old_id, uint8_t new_id)
+    {
+        ROS_DEBUG("Stepper Driver - Send update conveyor id from %d to %d", old_id, new_id);
+        uint8_t data[3] = {0};
+        data[0] = CAN_CMD_MODE;
+        data[1] = CAN_UPDATE_CONVEYOR_ID;
+        data[2] = new_id;
+        return sendCanMsgBuf(old_id, 0, 3, data);
+    }
+
+    INT8U StepperDriver::sendCanMsgBuf(INT32U id, INT8U ext, INT8U len, INT8U *buf)
+    {
+        INT8U status;
+        int hw_fail_counter_send = 0;
+        while (hw_fail_counter_send < 10)
+        {
+            status = mcp_can->sendMsgBuf(id, ext, len, buf);
+            if (status == CAN_OK)
+            {
+                break;
+            }
+            else
+            {
+                _is_can_connection_ok = false;
+                ROS_WARN_THROTTLE(0.5, "Stepper Driver - Sending Stepper message on CAN Bus failed");
+            }
+        }
+        return status;
+    }
+
+} // namespace StepperDriver
diff --git a/niryo_robot_hardware_stack/stepper_driver/src/stepper_driver_core.cpp b/niryo_robot_hardware_stack/stepper_driver/src/stepper_driver_core.cpp
new file mode 100644
index 000000000..948274fe4
--- /dev/null
+++ b/niryo_robot_hardware_stack/stepper_driver/src/stepper_driver_core.cpp
@@ -0,0 +1,400 @@
+#include "stepper_driver/stepper_driver_core.hpp"
+
+namespace StepperDriver
+{
+    StepperDriverCore::StepperDriverCore()
+    {
+        init();
+    }
+
+    void StepperDriverCore::init()
+    {
+        _control_loop_flag = false;
+        _calibration_in_progress = false;
+        _debug_flag = false;
+        _joint_trajectory_controller_cmd.clear();
+        _stepper_cmd.reset(new StepperMotorCmd());
+        _conveyor_cmd.reset(new StepperMotorCmd());
+        initParameters();
+        _stepper.reset(new StepperDriver());
+        startControlLoop();
+
+        cmd_pub = _nh.advertise<std_msgs::Int64MultiArray>("stepper_cmd", 1000);
+    }
+
+    void StepperDriverCore::initParameters()
+    {
+        // if( ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug) ) {
+        // ros::console::notifyLoggerLevelsChanged();
+        // }
+        _nh.getParam("/niryo_robot_hardware_interface/stepper_driver/can_hardware_control_loop_frequency", _control_loop_frequency);
+        _nh.getParam("/niryo_robot_hardware_interface/stepper_driver/can_hw_write_frequency", _write_frequency);
+        _nh.getParam("/niryo_robot_hardware_interface/stepper_driver/can_hw_check_connection_frequency", _check_connection_frequency);
+
+        ROS_DEBUG("Stepper Driver Core - can_hardware_control_loop_frequency : %f", _control_loop_frequency);
+        ROS_DEBUG("Stepper Driver Core - can_hardware_write_frequency : %f", _write_frequency);
+        ROS_DEBUG("Stepper Driver Core - can_hardware_check_connection_frequency : %f", _check_connection_frequency);
+    }
+
+    void StepperDriverCore::startControlLoop()
+    {
+        resetHardwareControlLoopRates();
+        if (!_control_loop_thread)
+        {
+            ROS_DEBUG("Stepper Driver Core - Start control loop thread");
+            _control_loop_flag = true;
+            _control_loop_thread.reset(new std::thread(boost::bind(&StepperDriverCore::controlLoop, this)));
+        }
+    }
+
+    void StepperDriverCore::resetHardwareControlLoopRates()
+    {
+        ROS_DEBUG_THROTTLE(1,"Stepper Driver Core - Reset control loop rates");
+        double now = ros::Time::now().toSec();
+        _time_hw_last_write = now;
+        _time_hw_last_check_connection = now;
+    }
+
+    void StepperDriverCore::activeDebugMode(bool mode)
+    {
+        ROS_INFO("Stepper Driver Core - Activate debug mode for dynamixel driver core: %d", mode);
+        _debug_flag = mode;
+
+        if (!mode)
+        {
+            std::lock_guard<std::mutex> lck(_control_loop_mutex);
+            _stepper->sendTorqueOnCommand(2, 0);
+            ros::Duration(0.2).sleep();
+            _stepper->sendTorqueOnCommand(3, 0);
+        }
+    }
+
+    int StepperDriverCore::motorReport(int motor_id)
+    {
+        int response = niryo_robot_msgs::CommandStatus::SUCCESS;
+        if (_debug_flag)
+        {
+            bool motor_found;
+            std::lock_guard<std::mutex> lck(_control_loop_mutex);
+            ros::Duration(0.1).sleep();
+
+            motor_found = _stepper->scanMotorId(motor_id);
+            if (!motor_found)
+            {
+                ROS_ERROR("Stepper Driver Core - Stepper Motor %d not found", motor_id);
+                response = niryo_robot_msgs::CommandStatus::FAILURE;
+            }
+            else
+            {
+                ROS_INFO("Stepper Driver Core - Stepper Motor %d found", motor_id);
+            }
+            return response;
+        }
+        ROS_ERROR("Stepper Driver Core - Debug mode not enabled");
+        return response;
+    }
+
+    int StepperDriverCore::launchMotorsReport()
+    {
+        int response = niryo_robot_msgs::CommandStatus::SUCCESS;
+        if (_debug_flag)
+        {
+            ROS_INFO("Stepper Driver Core - Debug - Start Stepper Motor Report");
+            ros::Duration(0.5).sleep();
+            for (int motor_id = 1; motor_id < 4; motor_id++)
+            {
+                ROS_INFO("Stepper Driver Core - Debug - Motor %d report start :", motor_id);
+                if (motorReport(motor_id) != niryo_robot_msgs::CommandStatus::SUCCESS)
+                {
+                    response = niryo_robot_msgs::CommandStatus::FAILURE;
+                }
+            }
+
+            if (!_debug_flag)
+            {
+                ROS_INFO("Stepper Driver Core - Debug - Debug motor aborted");
+                return niryo_robot_msgs::CommandStatus::ABORTED;
+            }
+
+            for (int motor_id = 1; motor_id < 4; motor_id++)
+            {
+                ROS_INFO("Stepper Driver Core - Debug - Send torque on command on motor %d", motor_id);
+
+                {
+                    std::lock_guard<std::mutex> lck(_control_loop_mutex);
+                    _stepper->sendTorqueOnCommand(motor_id, 1);
+                }
+                ros::Duration(0.2).sleep();
+
+                int direction = (motor_id == 2)? -1 : 1;
+                int old_position = _stepper->getStepperPose(motor_id);
+                ROS_INFO("Stepper Driver Core - Debug - Get pose on motor %d: %d", motor_id, old_position);
+
+                {
+                    std::lock_guard<std::mutex> lck(_control_loop_mutex);
+                    ROS_INFO("Stepper Driver Core - Debug - Send move command on motor %d", motor_id);
+                    _stepper->sendRelativeMoveCommand(motor_id, -1000*direction, 1500);
+                    ros::Duration(0.2).sleep();
+                }
+                ros::Duration(3).sleep();
+
+                int new_position = _stepper->getStepperPose(motor_id);
+                ROS_INFO("Stepper Driver Core - Debug - Get pose on motor %d: %d", motor_id, new_position);
+                if (std::abs(new_position - old_position) < 250)
+                {
+                    ROS_WARN("Stepper Driver Core - Debug - Pose error on motor %d", motor_id);
+                    response = niryo_robot_msgs::CommandStatus::FAILURE;
+                }
+                {
+                    std::lock_guard<std::mutex> lck(_control_loop_mutex);
+
+                    ROS_INFO("Stepper Driver Core - Debug - Send move command on motor %d", motor_id);
+                    _stepper->sendRelativeMoveCommand(motor_id, 1000*direction, 1000);
+                    ros::Duration(0.2).sleep();
+                }
+                ros::Duration(3).sleep();
+
+                int new_position2 = _stepper->getStepperPose(motor_id);
+                ROS_INFO("Stepper Driver Core - Debug - Get pose on motor %d: %d", motor_id, new_position2);
+                if (std::abs(new_position2 - new_position) < 250)
+                {
+                    ROS_WARN("Stepper Driver Core - Debug - Pose error on motor %d", motor_id);
+                    response = niryo_robot_msgs::CommandStatus::FAILURE;
+                }
+
+                {
+                    std::lock_guard<std::mutex> lck(_control_loop_mutex);
+                    ROS_INFO("Stepper Driver Core - Debug - Send torque off command on motor %d", motor_id);
+                    _stepper->sendTorqueOnCommand(motor_id, 0);
+                    ros::Duration(0.2).sleep();
+                }
+                if (!_debug_flag)
+                {
+                    ROS_INFO("Stepper Driver Core - Debug - Debug motor aborted");
+                    return niryo_robot_msgs::CommandStatus::ABORTED;
+                }
+            }
+            return response;
+        }
+        ROS_ERROR("Stepper Driver Core - Debug - Debug mode not enabled");
+        return niryo_robot_msgs::CommandStatus::ABORTED;
+    }
+
+    void StepperDriverCore::setStepperCommands(StepperMotorCmd &cmd)
+    {
+        _stepper_cmd.reset(new StepperMotorCmd(cmd));
+    }
+
+    void StepperDriverCore::setTrajectoryControllerCommands(std::vector<int32_t> &cmd)
+    {
+        _joint_trajectory_controller_cmd = cmd;
+    }
+
+    std::vector<int32_t> &StepperDriverCore::getTrajectoryControllerStates()
+    {
+        return _stepper->getJointTrajectoryState();
+    }
+
+    int StepperDriverCore::setConveyor(uint8_t motor_id)
+    {
+        bool motor_found = false;
+        std::lock_guard<std::mutex> lck(_control_loop_mutex);
+        int result;
+
+        ros::Duration(0.1).sleep();
+        motor_found = _stepper->scanMotorId(6);
+        ros::Duration(0.1).sleep();
+        if (!motor_found)
+        {
+            ROS_WARN("Stepper Driver Core - No conveyor found");
+            result = niryo_robot_msgs::CommandStatus::NO_CONVEYOR_FOUND;
+        }
+        else
+        {
+            result = _stepper->sendUpdateConveyorId(6, motor_id);
+            if (result != CAN_OK)
+            {
+                result = niryo_robot_msgs::CommandStatus::CAN_WRITE_ERROR;
+            }
+            else
+            {
+                result = niryo_robot_msgs::CommandStatus::SUCCESS;
+            }
+
+            ros::Duration(0.1).sleep();
+            _stepper->addConveyor(motor_id);
+        }
+
+        return result;
+    }
+
+    void StepperDriverCore::unsetConveyor(uint8_t motor_id)
+    {
+        std::lock_guard<std::mutex> lck(_control_loop_mutex);
+        _stepper->sendUpdateConveyorId(motor_id, 6);
+        ros::Duration(0.1).sleep();
+        _stepper->removeConveyor(motor_id);
+    }
+
+    void StepperDriverCore::setConveyorCommands(StepperMotorCmd &cmd)
+    {
+        _conveyor_cmd.reset(new StepperMotorCmd(cmd));
+    }
+
+    std::vector<ConveyorState> &StepperDriverCore::getConveyorStates()
+    {
+        return _stepper->getConveyorsState();
+    }
+
+    std::vector<StepperMotorState> &StepperDriverCore::getStepperStates()
+    {
+        return _stepper->getMotorsState();
+    }
+
+    void StepperDriverCore::startCalibration(bool enable)
+    {
+        _calibration_in_progress = enable;
+        _stepper->setCalibrationInProgress(enable);
+    }
+
+    bool StepperDriverCore::getCalibrationState()
+    {
+        return _calibration_in_progress;
+    }
+
+    void StepperDriverCore::clearCalibrationTab()
+    {
+        _stepper->clearCalibrationTab();
+    }
+
+    e_CanStepperCalibrationStatus StepperDriverCore::getCalibrationResult(uint8_t id, boost::shared_ptr<int32_t> &calibration_result)
+    {
+        return _stepper->getCalibrationResult(id, calibration_result);
+    }
+
+    stepper_driver::StepperArrayMotorHardwareStatus StepperDriverCore::getHwStatus()
+    {
+        stepper_driver::StepperMotorHardwareStatus data;
+        stepper_driver::StepperArrayMotorHardwareStatus hw_state;
+
+        std::vector<StepperMotorState> motor_states = _stepper->getMotorsState();
+
+        for (int i = 0; i < motor_states.size(); i++)
+        {
+            data.motor_identity.motor_id = motor_states.at(i).getId();
+            data.motor_identity.motor_type = (uint8_t)StepperMotorType::MOTOR_TYPE_STEPPER;
+            data.temperature = motor_states.at(i).getTemperatureState();
+            data.error = motor_states.at(i).getHardwareErrorState();
+            data.firmware_version = motor_states.at(i).getFirmwareVersion();
+            hw_state.motors_hw_status.push_back(data);
+        }
+        return hw_state;
+    }
+
+    niryo_robot_msgs::BusState StepperDriverCore::getCanBusState()
+    {
+        niryo_robot_msgs::BusState can_bust_state;
+
+        std::string error;
+        bool connection;
+        std::vector<uint8_t> motor_id;
+        _stepper->getBusState(connection, motor_id, error);
+        can_bust_state.connection_status = connection;
+        can_bust_state.motor_id_connected = motor_id;
+        can_bust_state.error = error;
+        return can_bust_state;
+    }
+
+    void StepperDriverCore::_executeCommand()
+    {
+        std_msgs::Int64MultiArray cmd;
+        if (_joint_trajectory_controller_cmd.size() != 0)
+        {
+            _stepper->executeJointTrajectoryCmd(_joint_trajectory_controller_cmd);
+            cmd.data.push_back(_joint_trajectory_controller_cmd[0]);
+            cmd.data.push_back(_joint_trajectory_controller_cmd[1]);
+            cmd.data.push_back(_joint_trajectory_controller_cmd[2]);
+            cmd_pub.publish(cmd);
+            // _stepper->readCommand(*_controller_cmd.get());
+            _joint_trajectory_controller_cmd.clear();
+        }
+        if (_stepper_cmd.get() != nullptr)
+        {
+            _stepper->readCommand(*_stepper_cmd.get());
+            _stepper_cmd.reset();
+        }
+        if (_conveyor_cmd.get() != nullptr)
+        {
+            _stepper->readCommand(*_conveyor_cmd.get());
+            _conveyor_cmd.reset();
+        }
+    }
+
+    void StepperDriverCore::controlLoop()
+    {
+        ros::Rate control_loop_rate = ros::Rate(_control_loop_frequency);
+        resetHardwareControlLoopRates();
+        while (ros::ok())
+        {
+            if (!_stepper->isConnectionOk())
+            {
+                ROS_WARN("Stepper Driver Core - Stepper connection error");
+                ros::Duration(0.1).sleep();
+
+                while (!_stepper->isConnectionOk())
+                { // wait for connection to be up
+                    ROS_INFO("Stepper Driver Core - Scan to find stepper motors");
+                    {
+                        std::lock_guard<std::mutex> lck(_control_loop_mutex);
+                        _stepper->scanAndCheck();
+                    }
+                    ros::Duration(0.1).sleep();
+                }
+                ROS_INFO("Stepper Driver Core - Stepper Can bus ok");
+            }
+            if (_control_loop_flag)
+            {
+                {
+                    std::lock_guard<std::mutex> lck(_control_loop_mutex);
+                    if (!_calibration_in_progress)
+                    {
+                        _stepper->readMotorsState();
+                    }
+
+                    if (ros::Time::now().toSec() - _time_hw_last_write > 1.0 / _write_frequency)
+                    {
+                        _time_hw_last_write += 1.0 / _write_frequency;
+                        _executeCommand();
+                    }
+
+                    /*if (ros::Time::now().toSec() - _time_hw_last_check_connection > 1.0/_check_connection_frequency)
+                    {
+                        _time_hw_last_check_connection += 1.0/_check_connection_frequency;
+                        if(!_calibration_in_progress)
+                        {
+                            _stepper->scanAndCheck();
+                        }
+                    }*/
+                }
+
+                control_loop_rate.sleep();
+            }
+            else
+            {
+                ros::Duration(TIME_TO_WAIT_IF_BUSY).sleep();
+                resetHardwareControlLoopRates();
+            }
+    }
+    }
+
+    bool StepperDriverCore::scanMotorId(int motor_to_find)
+    {
+        std::lock_guard<std::mutex> lck(_control_loop_mutex);
+        return _stepper->scanMotorId(motor_to_find);
+    }
+
+    bool StepperDriverCore::isConnectionOk() const
+    {
+        return _stepper->isConnectionOk();
+    }
+} // namespace StepperDriver
diff --git a/niryo_robot_hardware_stack/stepper_driver/src/stepper_driver_node.cpp b/niryo_robot_hardware_stack/stepper_driver/src/stepper_driver_node.cpp
new file mode 100644
index 000000000..78e578406
--- /dev/null
+++ b/niryo_robot_hardware_stack/stepper_driver/src/stepper_driver_node.cpp
@@ -0,0 +1,13 @@
+#include <ros/ros.h>
+#include "stepper_driver/stepper_driver_core.hpp"
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "stepper_driver_node");
+  ros::NodeHandle nodeHandle("~");
+
+  StepperDriver::StepperDriverCore stepper_node();
+
+  ros::spin();
+  return 0;
+}
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/stepper_driver/src/stepper_motor_cmd.cpp b/niryo_robot_hardware_stack/stepper_driver/src/stepper_motor_cmd.cpp
new file mode 100644
index 000000000..da9b83e76
--- /dev/null
+++ b/niryo_robot_hardware_stack/stepper_driver/src/stepper_motor_cmd.cpp
@@ -0,0 +1,64 @@
+/*
+    stepper_motor_cmd.cpp
+    Copyright (C) 2017 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "stepper_driver/stepper_motor_cmd.hpp"
+
+namespace StepperDriver
+{
+    StepperMotorCmd::StepperMotorCmd()
+    {
+
+    }
+
+    StepperMotorCmd::StepperMotorCmd(StepperCommandType type, std::vector<uint8_t> motor_id, std::vector<int32_t> params)
+        : _type(type), _motor_id_list(motor_id), _param_list(params)
+    {
+
+    }
+
+    StepperCommandType StepperMotorCmd::getType()
+    {
+        return _type;
+    }
+
+    void StepperMotorCmd::setType(StepperCommandType type)
+    {
+        _type = type;
+    }
+    
+    std::vector<uint8_t>& StepperMotorCmd::getMotorsId()
+    {
+        return _motor_id_list;
+    }
+    void StepperMotorCmd::setMotorsId(std::vector<uint8_t> motor_id)
+    {
+        _motor_id_list = motor_id;
+    }
+
+    std::vector<int32_t>& StepperMotorCmd::getParams()
+    {
+        return _param_list;
+    }
+
+    void StepperMotorCmd::setParams(std::vector<int32_t> params)
+    {
+        _param_list = params;
+    }
+
+}
diff --git a/niryo_robot_hardware_stack/stepper_driver/src/stepper_motor_state.cpp b/niryo_robot_hardware_stack/stepper_driver/src/stepper_motor_state.cpp
new file mode 100644
index 000000000..9dcee38fe
--- /dev/null
+++ b/niryo_robot_hardware_stack/stepper_driver/src/stepper_motor_state.cpp
@@ -0,0 +1,104 @@
+/*
+    stepper_motor_state.cpp
+    Copyright (C) 2017 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "stepper_driver/stepper_motor_state.hpp"
+
+namespace StepperDriver
+{
+    bool StepperMotorState::operator==(const StepperMotorState& m)
+    {
+        return(this->_id == m._id);
+    }
+
+    StepperMotorState::StepperMotorState(uint8_t id) 
+        : _id(id)
+    {
+
+    }
+
+    uint8_t StepperMotorState::getId() const
+    {
+        return _id;
+    }
+
+    void StepperMotorState::setId(uint8_t motor_id)
+    {
+        _id = motor_id;
+    }
+
+    int32_t StepperMotorState::getPositionState() const
+    {
+        return _state_pos;
+    }
+
+    void StepperMotorState::setPositionState(int32_t pos)
+    {
+        _state_pos = pos;
+    }
+
+    int32_t StepperMotorState::getTemperatureState() const
+    {
+        return _state_temperature;
+    }
+
+    void StepperMotorState::setTemperatureState(int32_t temp)
+    {
+        _state_temperature = temp;
+    }
+
+    int32_t StepperMotorState::getHardwareErrorState() const
+    {
+        return _hw_error;
+    }
+
+    void StepperMotorState::setHardwareError(int32_t hw_error)
+    {
+        _hw_error = hw_error;
+    }
+
+    double StepperMotorState::getLastTimeRead() const
+    {
+        return _last_time_read;
+    }
+
+    void StepperMotorState::setLastTimeRead(double last_time)
+    {
+        _last_time_read = last_time;
+    }
+
+    int StepperMotorState::getHwFailCounter() const
+    {
+        return _hw_fail_counter;
+    }
+
+    void StepperMotorState::setHwFailCounter(double fail_counter)
+    {
+        _hw_fail_counter = fail_counter;
+    }
+
+    std::string StepperMotorState::getFirmwareVersion() const
+    {
+        return _firmware_version;
+    }
+
+    void StepperMotorState::setFirmwareVersion(std::string& firmware_version)
+    {
+        _firmware_version = firmware_version;
+    }
+}
diff --git a/niryo_robot_hardware_stack/stepper_driver/srv/StepperCmd.srv b/niryo_robot_hardware_stack/stepper_driver/srv/StepperCmd.srv
new file mode 100644
index 000000000..90d7072a7
--- /dev/null
+++ b/niryo_robot_hardware_stack/stepper_driver/srv/StepperCmd.srv
@@ -0,0 +1,12 @@
+uint8 cmd_type
+uint8 CMD_TYPE_SYNCHRONIZE=5
+uint8 CMD_TYPE_RELATIVE_MOVE=6
+uint8 CMD_TYPE_MAX_EFFORT=7
+uint8 CMD_TYPE_MICRO_STEPS=8
+uint8 CMD_TYPE_POSITION_OFFSET=9
+uint8 CMD_TYPE_CALIBRATION=10
+
+uint8[] motors_id
+int32[] params
+---
+bool result
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/stepper_driver/test/stepper_driver_test.cpp b/niryo_robot_hardware_stack/stepper_driver/test/stepper_driver_test.cpp
new file mode 100644
index 000000000..f65a19d59
--- /dev/null
+++ b/niryo_robot_hardware_stack/stepper_driver/test/stepper_driver_test.cpp
@@ -0,0 +1,152 @@
+#include <boost/shared_ptr.hpp>
+#include <ros/ros.h>
+#include <string>
+#include <thread>
+#include <queue>
+#include <functional>
+#include <vector>
+
+#include <stepper_driver/stepper_driver_core.hpp>
+
+class StepperDriverTest {
+
+    private:
+        ros::NodeHandle nh;
+
+        boost::shared_ptr<StepperDriver::StepperDriverCore> _stepper;
+
+        std::vector<int32_t> home_pose{32, 512 , 2322};
+        std::vector<int32_t> pose_1{-833, 3046, 3476};
+        std::vector<uint8_t> id{1,2,3};
+
+    public:
+        StepperDriverTest()
+        {
+            
+            ros::NodeHandle nodeHandle("~");
+
+            _stepper.reset(new StepperDriver::StepperDriverCore());
+
+            ros::Duration(2).sleep();
+            StepperDriver::StepperMotorCmd cmd_torque;
+            cmd_torque.setType(StepperDriver::StepperCommandType::CMD_TYPE_TORQUE);
+            cmd_torque.setMotorsId(id);
+            cmd_torque.setParams(std::vector<int32_t> {false, false, false});
+            _stepper->setStepperCommands(cmd_torque);
+            ros::Duration(2).sleep();
+            // TestServiceActiveTorque();
+            // TestPublishPoseCmd();
+
+            // TestReceiveState();
+            GetState();
+        }
+        
+        void TestServiceActiveTorque()
+        {
+            ROS_INFO("active all arm motors");
+            StepperDriver::StepperMotorCmd cmd;
+            cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_TORQUE);
+            cmd.setMotorsId(id);
+            cmd.setParams(std::vector<int32_t> {true, true, true});
+            _stepper->setStepperCommands(cmd);
+            ros::Duration(5).sleep();
+            cmd.setParams(std::vector<int32_t> {false, false, false});
+            _stepper->setStepperCommands(cmd);
+            ros::Duration(5).sleep();
+
+        }
+
+        void TestPublishPoseCmd()
+        {           
+            ROS_INFO("move all arm motors");
+            StepperDriver::StepperMotorCmd cmd;
+
+            cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_TORQUE);
+            cmd.setMotorsId(id);
+            cmd.setParams(std::vector<int32_t> {true, true, true});
+            _stepper->setStepperCommands(cmd);
+            ros::Duration(1).sleep();
+
+            cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_POSITION);
+            cmd.setParams(home_pose);
+            _stepper->setStepperCommands(cmd);
+            ros::Duration(5).sleep();
+
+            cmd.setParams(pose_1);
+            _stepper->setStepperCommands(cmd);
+            ros::Duration(5).sleep();
+
+            cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_TORQUE);
+            cmd.setParams(std::vector<int32_t> {false, false, false});
+            _stepper->setStepperCommands(cmd);
+            ros::Duration(1).sleep();
+        }
+
+        void GetState()
+        {
+            int freq = 100;
+            ros::Rate control_loop_rate = ros::Rate(freq);
+            std::vector<int32_t> stepper_motor_state;
+            while(ros::ok())
+            {
+
+                for(int i = 0 ; i < 1000 ; i++)
+                {
+                    stepper_motor_state = _stepper->getTrajectoryControllerStates();                
+                    std::cout << stepper_motor_state[0] << " " << stepper_motor_state[1] << " " << stepper_motor_state[2] << std::endl;
+                    control_loop_rate.sleep();
+                }
+            }
+        }
+
+        void TestReceiveState()
+        {
+            StepperDriver::StepperMotorCmd cmd_torque;
+
+            cmd_torque.setType(StepperDriver::StepperCommandType::CMD_TYPE_TORQUE);
+            cmd_torque.setMotorsId(std::vector<uint8_t> {1});
+            cmd_torque.setParams(std::vector<int32_t> {true});
+            _stepper->setStepperCommands(cmd_torque);
+            ros::Duration(1).sleep();
+
+            int freq = 100;
+            ros::Rate control_loop_rate = ros::Rate(freq);
+            // setTrajectoryControllerCommands(std::vector<int32_t> &cmd)
+            std::vector<int32_t> cmd = {2620, 0, 0};
+            std::vector<int32_t> cmd_send = {0, 0, 0};
+            int p = 1.5;
+            std::vector<int32_t> stepper_motor_state;
+            stepper_motor_state = _stepper->getTrajectoryControllerStates();
+            int32_t error = cmd[0] - stepper_motor_state[0];
+            while (error > 20 || error < -20)
+            {
+                stepper_motor_state = _stepper->getTrajectoryControllerStates();
+                error = (cmd[0] - stepper_motor_state[0])*p;
+                cmd_send[0] = cmd[0] + error;
+                cmd_send[1] = stepper_motor_state[1];
+                cmd_send[2] = stepper_motor_state[2];
+                _stepper->setTrajectoryControllerCommands(cmd_send);
+                control_loop_rate.sleep();
+            }
+            cmd_torque.setParams(std::vector<int32_t> {false});
+            _stepper->setStepperCommands(cmd_torque);
+            ros::Duration(1).sleep();
+        }
+
+};
+
+int main(int argc, char **argv) 
+{
+    ros::init(argc, argv, "stepper_driver_test");
+  
+    ros::AsyncSpinner spinner(4);
+    spinner.start();
+    
+    ros::NodeHandle nh;
+   
+    StepperDriverTest test; 
+
+    ros::waitForShutdown();
+    
+    ROS_INFO("shutdown node");
+}
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/tools_interface/CMakeLists.txt b/niryo_robot_hardware_stack/tools_interface/CMakeLists.txt
new file mode 100644
index 000000000..96f319afb
--- /dev/null
+++ b/niryo_robot_hardware_stack/tools_interface/CMakeLists.txt
@@ -0,0 +1,84 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(tools_interface)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+find_package(catkin REQUIRED
+    COMPONENTS
+        roscpp
+        std_msgs
+        dynamixel_driver
+        message_generation
+)
+
+find_package(Boost REQUIRED COMPONENTS system)
+
+add_service_files(
+  DIRECTORY
+    srv
+  FILES
+    CloseGripper.srv
+    OpenGripper.srv
+    PingDxlTool.srv
+    PullAirVacuumPump.srv
+    PushAirVacuumPump.srv
+)
+
+generate_messages(
+  DEPENDENCIES
+    std_msgs
+)
+
+catkin_package(
+    INCLUDE_DIRS
+        include
+    LIBRARIES
+        ${PROJECT_NAME}
+    CATKIN_DEPENDS
+        roscpp
+        std_msgs
+        dynamixel_driver
+)
+
+include_directories(
+    include
+    ${catkin_INCLUDE_DIRS}
+)
+
+add_library(${PROJECT_NAME}
+    src/tools_interface_core.cpp
+    src/tool_state.cpp
+)
+
+add_executable(${PROJECT_NAME}_node
+  src/tools_interface_node.cpp
+)
+
+add_dependencies(${PROJECT_NAME}_node
+  ${catkin_EXPORTED_TARGETS}
+)
+
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+)
+
+target_link_libraries(${PROJECT_NAME}_node
+  ${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+)
+
+install(
+  TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
+
+install(
+  DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+add_dependencies(${PROJECT_NAME} tools_interface_generate_messages_cpp)
+add_dependencies(${PROJECT_NAME} dynamixel_driver_generate_messages_cpp)
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/tools_interface/config/default.yaml b/niryo_robot_hardware_stack/tools_interface/config/default.yaml
new file mode 100644
index 000000000..ef4ee5247
--- /dev/null
+++ b/niryo_robot_hardware_stack/tools_interface/config/default.yaml
@@ -0,0 +1,4 @@
+check_tool_connection_frequency: 2.0
+tools_params:
+    id_list: [11,12,13,14,31]
+    motor_type_list: ["xl320","xl320","xl320","xl320","xl320"]
diff --git a/niryo_robot_hardware_stack/tools_interface/include/tools_interface/tool_state.hpp b/niryo_robot_hardware_stack/tools_interface/include/tools_interface/tool_state.hpp
new file mode 100644
index 000000000..69e0343ee
--- /dev/null
+++ b/niryo_robot_hardware_stack/tools_interface/include/tools_interface/tool_state.hpp
@@ -0,0 +1,56 @@
+/*
+    tool_state.hpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef END_EFFECTOR_STATE_HPP
+#define END_EFFECTOR_STATE_HPP
+
+#include <stdint.h>
+#include <string>
+
+#include "dynamixel_driver/dxl_enum.hpp"
+
+class ToolState
+{
+    public:
+        ToolState(uint8_t id, std::string name, DynamixelDriver::DxlMotorType type);
+
+        void setId(uint8_t id);
+        uint8_t getId();
+
+        void setName(std::string name);
+        std::string& getName();
+
+        void setType(DynamixelDriver::DxlMotorType type);
+        DynamixelDriver::DxlMotorType getType();
+
+        bool isConnected();
+
+        void setPosition(double position);
+        double getPosition();
+
+    private:
+    
+        uint8_t _id;
+        DynamixelDriver::DxlMotorType _type;
+        std::string _name;
+
+        bool _connected;
+        double _position; 
+};
+#endif
diff --git a/niryo_robot_hardware_stack/tools_interface/include/tools_interface/tools_interface_core.hpp b/niryo_robot_hardware_stack/tools_interface/include/tools_interface/tools_interface_core.hpp
new file mode 100644
index 000000000..356059864
--- /dev/null
+++ b/niryo_robot_hardware_stack/tools_interface/include/tools_interface/tools_interface_core.hpp
@@ -0,0 +1,79 @@
+/*
+    tools_interface_core.hpp
+    Copyright (C) 2020 Niryo
+    All rights reserved.
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef TOOLS_INTERFACE_CORE_HPP
+#define TOOLS_INTERFACE_CORE_HPP
+
+#include <boost/shared_ptr.hpp>
+
+#include <ros/ros.h>
+#include <vector>
+
+#include "tools_interface/tool_state.hpp"
+
+#include "tools_interface/PingDxlTool.h"
+#include "tools_interface/OpenGripper.h"
+#include "tools_interface/CloseGripper.h"
+#include "tools_interface/PullAirVacuumPump.h"
+#include "tools_interface/PushAirVacuumPump.h"
+
+#include "dynamixel_driver/dxl_driver_core.hpp"
+
+#include "std_msgs/Int32.h"
+
+class ToolsInterfaceCore
+{
+    public:
+        
+        ToolsInterfaceCore(boost::shared_ptr<DynamixelDriver::DynamixelDriverCore> &dynamixel);
+
+        void initParams();
+        void initServices();
+
+        void pubToolId(int id);
+
+    private:
+        ros::NodeHandle _nh;
+        boost::shared_ptr<DynamixelDriver::DynamixelDriverCore> &_dynamixel;
+        boost::shared_ptr<ToolState> _tool;
+        std::mutex _tool_mutex;
+
+        void _checkToolConnection();
+        boost::shared_ptr<std::thread> _check_tool_connection_thread;
+        double _check_tool_connection_frequency;
+
+        ros::ServiceServer _ping_and_set_dxl_tool_server;
+        ros::ServiceServer _open_gripper_server;
+        ros::ServiceServer _close_gripper_server;
+        ros::ServiceServer _pull_air_vacuum_pump_server;
+        ros::ServiceServer _push_air_vacuum_pump_server;
+        
+        ros::Publisher _current_tools_id_publisher;
+
+        std::vector<uint8_t> _tool_id_list;
+
+        bool _callbackPingAndSetDxlTool(tools_interface::PingDxlTool::Request &req, tools_interface::PingDxlTool::Response &res);
+
+        bool _callbackOpenGripper(tools_interface::OpenGripper::Request &req, tools_interface::OpenGripper::Response &res);
+        bool _callbackCloseGripper(tools_interface::CloseGripper::Request &req, tools_interface::CloseGripper::Response &res);
+
+        bool _callbackPullAirVacuumPump(tools_interface::PullAirVacuumPump::Request &req, tools_interface::PullAirVacuumPump::Response &res);
+        bool _callbackPushAirVacuumPump(tools_interface::PushAirVacuumPump::Request &req, tools_interface::PushAirVacuumPump::Response &res);
+};
+#endif
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/tools_interface/package.xml b/niryo_robot_hardware_stack/tools_interface/package.xml
new file mode 100644
index 000000000..39e3881a6
--- /dev/null
+++ b/niryo_robot_hardware_stack/tools_interface/package.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>tools_interface</name>
+  <version>0.0.0</version>
+  <description>The tools_interface package</description>
+  <author>Etienne Rey-Coquais</author>
+  <author>Edouard Renard</author>
+  <maintainer email="e.rey-coquais@niryo.com">Etienne Rey-Coquais</maintainer>
+
+  <license>GPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>roscpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>dynamixel_driver</build_depend>
+  <build_depend>message_generation</build_depend>
+  
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>dynamixel_driver</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+
+</package>
diff --git a/niryo_robot_hardware_stack/tools_interface/src/tool_state.cpp b/niryo_robot_hardware_stack/tools_interface/src/tool_state.cpp
new file mode 100644
index 000000000..15017b368
--- /dev/null
+++ b/niryo_robot_hardware_stack/tools_interface/src/tool_state.cpp
@@ -0,0 +1,48 @@
+#include "tools_interface/tool_state.hpp"
+
+ToolState::ToolState(uint8_t id, std::string name, DynamixelDriver::DxlMotorType type)
+    : _id(id), _name(name), _type(type)
+{
+    _connected = true;
+    _position = 0.0; 
+}
+
+void ToolState::setId(uint8_t id)
+{
+    _id = id;
+}
+
+uint8_t ToolState::getId()
+{
+    return _id;
+}
+
+void ToolState::setType(DynamixelDriver::DxlMotorType type)
+{
+    _type = type;
+}
+
+DynamixelDriver::DxlMotorType ToolState::getType()
+{
+    return _type;
+}
+
+std::string& ToolState::getName()
+{
+    return _name;
+}
+
+void ToolState::setName(std::string name)
+{
+    _name = name;
+}
+
+void ToolState::setPosition(double position)
+{
+    _position = position;
+}
+
+double ToolState::getPosition()
+{
+    return _position;
+}
\ No newline at end of file
diff --git a/niryo_robot_hardware_stack/tools_interface/src/tools_interface_core.cpp b/niryo_robot_hardware_stack/tools_interface/src/tools_interface_core.cpp
new file mode 100644
index 000000000..315fdaab4
--- /dev/null
+++ b/niryo_robot_hardware_stack/tools_interface/src/tools_interface_core.cpp
@@ -0,0 +1,325 @@
+#include "tools_interface/tools_interface_core.hpp"
+
+ToolsInterfaceCore::ToolsInterfaceCore(boost::shared_ptr<DynamixelDriver::DynamixelDriverCore> &dynamixel):
+    _dynamixel(dynamixel)
+{
+    initParams();
+    initServices();
+    _tool.reset(new ToolState(0, "No tool", DynamixelDriver::DxlMotorType::MOTOR_TYPE_XL320));
+    _check_tool_connection_thread.reset(new std::thread(boost::bind(&ToolsInterfaceCore::_checkToolConnection, this)));
+
+    pubToolId(0);
+}
+
+void ToolsInterfaceCore::initServices()
+{
+    _ping_and_set_dxl_tool_server = _nh.advertiseService("niryo_robot/tools/ping_and_set_dxl_tool", &ToolsInterfaceCore::_callbackPingAndSetDxlTool, this);
+    _open_gripper_server = _nh.advertiseService("niryo_robot/tools/open_gripper", &ToolsInterfaceCore::_callbackOpenGripper, this);
+    _close_gripper_server = _nh.advertiseService("niryo_robot/tools/close_gripper", &ToolsInterfaceCore::_callbackCloseGripper, this);
+    _pull_air_vacuum_pump_server = _nh.advertiseService("niryo_robot/tools/pull_air_vacuum_pump", &ToolsInterfaceCore::_callbackPullAirVacuumPump, this);
+    _push_air_vacuum_pump_server = _nh.advertiseService("niryo_robot/tools/push_air_vacuum_pump", &ToolsInterfaceCore::_callbackPushAirVacuumPump, this);
+
+    _current_tools_id_publisher = _nh.advertise<std_msgs::Int32>("/niryo_robot_hardware/tools/current_id", 1, true);
+}
+
+void ToolsInterfaceCore::initParams()
+{
+    std::vector<int> id_list;
+    _tool_id_list.clear();
+    _nh.getParam("/niryo_robot_hardware_interface/tools_interface/tools_params/id_list",id_list);
+    _nh.getParam("/niryo_robot_hardware_interface/tools_interface/check_tool_connection_frequency",_check_tool_connection_frequency);
+
+    std::string available_tools_list = "[";
+    for(int i = 0 ; i < id_list.size() ; i++)
+    {
+        _tool_id_list.push_back(id_list[i]);
+        if (i != 0) available_tools_list += ", ";
+        available_tools_list += std::to_string(id_list[i]);
+    }
+    available_tools_list += "]";
+
+    ROS_INFO("Tools Interface - List of tool ids : %s", available_tools_list.c_str());
+}
+
+void ToolsInterfaceCore::pubToolId(int id)
+{
+    std_msgs::Int32 msg;
+    msg.data = id;
+    _current_tools_id_publisher.publish(msg);
+}
+
+bool ToolsInterfaceCore::_callbackPingAndSetDxlTool(tools_interface::PingDxlTool::Request &req, tools_interface::PingDxlTool::Response &res)
+{
+    std::lock_guard<std::mutex> lck(_tool_mutex);
+    // Unequipped tool
+    if(_tool->getId() != 0)
+    {
+        _dynamixel->unsetEndEffector(_tool->getId(), _tool->getType());
+        res.state = TOOL_STATE_PING_OK;
+        res.id = 0;
+    }
+
+    // Search new tool
+    std::vector<uint8_t> motor_list;
+    motor_list = _dynamixel->scanTools();
+    bool tool_found = false;
+    uint8_t tool_id;
+    for(int i = 0; i < _tool_id_list.size(); i++)
+    {
+        std::vector<uint8_t>::iterator motor = std::find(motor_list.begin(), motor_list.end(), _tool_id_list[i]);
+        if(motor != motor_list.end())
+        {
+            tool_id = _tool_id_list[i];
+            tool_found = true;
+            break;
+        }
+    }
+    if(tool_found)
+    {
+        _tool.reset(new ToolState(tool_id, "auto", DynamixelDriver::DxlMotorType::MOTOR_TYPE_XL320));
+
+        // Try 3 times
+        int tries = 0;
+        bool tool_set = false;
+        while (!tool_set && tries<3)
+        {
+            tries++;
+            ros::Duration(0.05).sleep();
+            res.state = _dynamixel->setEndEffector(_tool->getId(), _tool->getType());
+
+            if (res.state != niryo_robot_msgs::CommandStatus::SUCCESS) continue;
+
+            pubToolId(tool_id);
+
+            tool_set = true;
+            res.id = tool_id;
+            ros::Duration(0.05).sleep();
+            _dynamixel->update_leds();
+            ROS_INFO("Tools Interface - Set End Effector return : %d", res.state);
+        }
+    }
+    else
+    {
+        _tool.reset(new ToolState(0, "No tool", DynamixelDriver::DxlMotorType::MOTOR_TYPE_XL320));
+        pubToolId(0);
+
+        ros::Duration(0.05).sleep();
+        res.state = TOOL_STATE_PING_OK;
+        res.id = 0;
+    }
+
+    return true;
+}
+
+bool ToolsInterfaceCore::_callbackOpenGripper(tools_interface::OpenGripper::Request &req, tools_interface::OpenGripper::Response &res)
+{
+    std::lock_guard<std::mutex> lck(_tool_mutex);
+    if( req.id != _tool->getId() )
+    {
+        return niryo_robot_msgs::CommandStatus::TOOL_ID_INVALID;
+    }
+    DynamixelDriver::SingleMotorCmd cmd;
+    std::vector<DynamixelDriver::SingleMotorCmd> list_cmd;
+    cmd.setId(_tool->getId());
+
+    cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_VELOCITY);
+    cmd.setParam(req.open_speed);
+    list_cmd.push_back(cmd);
+
+    cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_POSITION);
+    cmd.setParam(req.open_position);
+    list_cmd.push_back(cmd);
+
+    cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_EFFORT);
+    cmd.setParam(1023);
+    list_cmd.push_back(cmd);
+
+    _dynamixel->setEndEffectorCommands(list_cmd);
+    list_cmd.clear();
+
+    double dxl_speed = (double)req.open_speed * (double)XL320_STEPS_FOR_1_SPEED; // position . sec-1
+    double dxl_steps_to_do = abs((double)req.open_position - (double)_dynamixel->getEndEffectorState(_tool->getId(), _tool->getType())); // position
+    double seconds_to_wait =  dxl_steps_to_do /  dxl_speed; // sec    
+    ros::Duration(seconds_to_wait + 0.25).sleep();
+    
+    // set hold torque
+    cmd.setId(_tool->getId());
+    cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_EFFORT);
+    cmd.setParam(req.open_hold_torque);
+    list_cmd.push_back(cmd);
+    _dynamixel->setEndEffectorCommands(list_cmd);
+
+    res.state = GRIPPER_STATE_OPEN;
+
+    return true;    
+}
+
+bool ToolsInterfaceCore::_callbackCloseGripper(tools_interface::CloseGripper::Request &req, tools_interface::CloseGripper::Response &res)
+{
+    std::lock_guard<std::mutex> lck(_tool_mutex);
+    if( req.id != _tool->getId() )
+    {
+        return niryo_robot_msgs::CommandStatus::TOOL_ID_INVALID;
+    }
+
+    DynamixelDriver::SingleMotorCmd cmd;
+    std::vector<DynamixelDriver::SingleMotorCmd> list_cmd;
+    cmd.setId(_tool->getId());
+    
+    int position_command = ( req.close_position < 50) ? 0 : req.close_position - 50;
+
+    cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_VELOCITY);
+    cmd.setParam(req.close_speed);
+    list_cmd.push_back(cmd);
+
+    cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_POSITION);
+    cmd.setParam(position_command);
+    list_cmd.push_back(cmd);
+
+    cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_EFFORT);
+    cmd.setParam(req.close_max_torque);
+    list_cmd.push_back(cmd);
+
+    _dynamixel->setEndEffectorCommands(list_cmd);
+    list_cmd.clear();
+
+    // calculate close duration
+    double dxl_speed = (double)req.close_speed *(double) XL320_STEPS_FOR_1_SPEED; // position . sec-1
+    double dxl_steps_to_do = abs((double)req.close_position - (double)_dynamixel->getEndEffectorState(_tool->getId(), _tool->getType())); // position
+    double seconds_to_wait =  dxl_steps_to_do /  dxl_speed; // sec 
+    ros::Duration(seconds_to_wait + 0.25).sleep();
+   
+    // set hold torque
+    cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_EFFORT);
+    cmd.setParam(req.close_hold_torque);
+    list_cmd.push_back(cmd);
+    _dynamixel->setEndEffectorCommands(list_cmd);
+
+    res.state = GRIPPER_STATE_CLOSE;
+
+    return true; 
+}
+
+bool ToolsInterfaceCore::_callbackPullAirVacuumPump(tools_interface::PullAirVacuumPump::Request &req, tools_interface::PullAirVacuumPump::Response &res)
+{
+    std::lock_guard<std::mutex> lck(_tool_mutex);
+    // check gripper id, in case no ping has been done before, or wrong id given
+    if( req.id != _tool->getId() )
+    {
+        return niryo_robot_msgs::CommandStatus::TOOL_ID_INVALID;
+    }
+   
+    int pull_air_velocity = 1023;
+
+    // set vacuum pump pos, vel and torque
+    DynamixelDriver::SingleMotorCmd cmd;
+    std::vector<DynamixelDriver::SingleMotorCmd> list_cmd;
+    cmd.setId(_tool->getId());
+
+    cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_VELOCITY);
+    cmd.setParam(pull_air_velocity);
+    list_cmd.push_back(cmd);
+
+    cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_POSITION);
+    cmd.setParam(req.pull_air_position);
+    list_cmd.push_back(cmd);
+
+    cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_EFFORT);
+    cmd.setParam(1023);
+    list_cmd.push_back(cmd);
+
+    _dynamixel->setEndEffectorCommands(list_cmd);
+    list_cmd.clear();
+
+    // calculate pull air duration
+    double dxl_speed = (double)pull_air_velocity * (double)XL320_STEPS_FOR_1_SPEED; // position . sec-1
+    double dxl_steps_to_do = abs((double)req.pull_air_position - (double)_dynamixel->getEndEffectorState(_tool->getId(), _tool->getType())); // position
+    double seconds_to_wait = dxl_steps_to_do / dxl_speed; // sec
+
+    ros::Duration(seconds_to_wait + 0.25).sleep();
+    
+    // set hold torque
+    cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_EFFORT);
+    cmd.setParam(req.pull_air_hold_torque);
+    list_cmd.push_back(cmd);
+    _dynamixel->setEndEffectorCommands(list_cmd);
+
+    res.state = VACUUM_PUMP_STATE_PULLED;
+
+    return true;
+}
+
+bool ToolsInterfaceCore:: _callbackPushAirVacuumPump(tools_interface::PushAirVacuumPump::Request &req, tools_interface::PushAirVacuumPump::Response &res)
+{
+    std::lock_guard<std::mutex> lck(_tool_mutex);
+    // check gripper id, in case no ping has been done before, or wrong id given
+    if( req.id != _tool->getId() )
+    {
+        return niryo_robot_msgs::CommandStatus::TOOL_ID_INVALID;
+    }
+
+    int push_air_velocity = 1023;
+
+    // set vacuum pump pos, vel and torque
+    DynamixelDriver::SingleMotorCmd cmd;
+    std::vector<DynamixelDriver::SingleMotorCmd> list_cmd;
+    cmd.setId(_tool->getId());
+
+    cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_VELOCITY);
+    cmd.setParam(push_air_velocity);
+    list_cmd.push_back(cmd);
+
+    cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_POSITION);
+    cmd.setParam(req.push_air_position);
+    list_cmd.push_back(cmd);
+
+    cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_EFFORT);
+    cmd.setParam(1023);
+    list_cmd.push_back(cmd);
+
+    _dynamixel->setEndEffectorCommands(list_cmd);
+    list_cmd.clear();
+
+    // calculate push air duration
+    double dxl_speed = (double)push_air_velocity * (double)XL320_STEPS_FOR_1_SPEED; // position . sec-1
+    double dxl_steps_to_do = abs((double)req.push_air_position - (double)_dynamixel->getEndEffectorState(_tool->getId(), _tool->getType())); // position
+    double seconds_to_wait =  dxl_steps_to_do /  dxl_speed; // sec
+    
+    ros::Duration(seconds_to_wait + 0.25).sleep();
+
+    // set torque to 0
+    cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_EFFORT);
+    cmd.setParam(0);
+    list_cmd.push_back(cmd);
+    _dynamixel->setEndEffectorCommands(list_cmd);
+
+    res.state = VACUUM_PUMP_STATE_PUSHED;
+
+    return true;    
+}
+
+void ToolsInterfaceCore::_checkToolConnection()
+{
+    ros::Rate check_connection = ros::Rate(_check_tool_connection_frequency);
+    std_msgs::Int32 msg;
+    while (ros::ok())
+    {
+        {
+            std::lock_guard<std::mutex> lck(_tool_mutex);
+            std::vector<int> motor_list;
+            motor_list = _dynamixel->getRemovedMotorList();
+            for(int i = 0 ; i < motor_list.size(); i++)
+            {
+                if(_tool->getId() == motor_list.at(i))
+                {
+                    ROS_INFO("Tools Interface - Unset Current Tools");
+                    _dynamixel->unsetEndEffector(_tool->getId(), _tool->getType());
+                    _tool.reset(new ToolState(0, "No tool", DynamixelDriver::DxlMotorType::MOTOR_TYPE_XL320));
+                    msg.data = 0;
+                    _current_tools_id_publisher.publish(msg);
+                }
+            }
+        }
+        check_connection.sleep();
+    }
+}
diff --git a/niryo_robot_hardware_stack/tools_interface/src/tools_interface_node.cpp b/niryo_robot_hardware_stack/tools_interface/src/tools_interface_node.cpp
new file mode 100644
index 000000000..2cc6949b7
--- /dev/null
+++ b/niryo_robot_hardware_stack/tools_interface/src/tools_interface_node.cpp
@@ -0,0 +1,24 @@
+#include <ros/ros.h>
+#include "tools_interface/tools_interface_core.hpp"
+#include "dynamixel_driver/dxl_driver_core.hpp"
+
+boost::shared_ptr<ToolsInterfaceCore> tool;
+
+int main(int argc, char **argv)
+{
+    ros::init(argc, argv, "tools_interface_node");
+
+    ros::AsyncSpinner spinner(4);
+    spinner.start();
+    ros::NodeHandle nh;
+
+    boost::shared_ptr<DynamixelDriver::DynamixelDriverCore> dynamixel(new DynamixelDriver::DynamixelDriverCore());
+    ros::Duration(1).sleep();
+    tool.reset(new ToolsInterfaceCore(dynamixel));
+    ros::Duration(1).sleep();
+    //testVacuumPump(nh);
+    //    testGripper2(nh);
+    ros::waitForShutdown();
+
+    ROS_INFO("Tools Interface - Shutdown node");
+}
diff --git a/niryo_robot_hardware_stack/tools_interface/srv/CloseGripper.srv b/niryo_robot_hardware_stack/tools_interface/srv/CloseGripper.srv
new file mode 100644
index 000000000..7e6bffdc4
--- /dev/null
+++ b/niryo_robot_hardware_stack/tools_interface/srv/CloseGripper.srv
@@ -0,0 +1,9 @@
+
+uint8 id
+
+int16 close_position
+int16 close_speed
+int16 close_hold_torque
+int16 close_max_torque
+---
+uint8 state
diff --git a/niryo_robot_hardware_stack/tools_interface/srv/OpenGripper.srv b/niryo_robot_hardware_stack/tools_interface/srv/OpenGripper.srv
new file mode 100644
index 000000000..664ca913f
--- /dev/null
+++ b/niryo_robot_hardware_stack/tools_interface/srv/OpenGripper.srv
@@ -0,0 +1,8 @@
+
+uint8 id
+
+int16 open_position
+int16 open_speed
+int16 open_hold_torque
+---
+uint8 state
diff --git a/niryo_robot_hardware_stack/tools_interface/srv/PingDxlTool.srv b/niryo_robot_hardware_stack/tools_interface/srv/PingDxlTool.srv
new file mode 100644
index 000000000..2a52c784a
--- /dev/null
+++ b/niryo_robot_hardware_stack/tools_interface/srv/PingDxlTool.srv
@@ -0,0 +1,3 @@
+---
+int32 state
+uint8 id
diff --git a/niryo_robot_hardware_stack/tools_interface/srv/PullAirVacuumPump.srv b/niryo_robot_hardware_stack/tools_interface/srv/PullAirVacuumPump.srv
new file mode 100644
index 000000000..dd87dac84
--- /dev/null
+++ b/niryo_robot_hardware_stack/tools_interface/srv/PullAirVacuumPump.srv
@@ -0,0 +1,6 @@
+uint8 id
+
+int16 pull_air_position
+int16 pull_air_hold_torque
+---
+uint8 state
diff --git a/niryo_robot_hardware_stack/tools_interface/srv/PushAirVacuumPump.srv b/niryo_robot_hardware_stack/tools_interface/srv/PushAirVacuumPump.srv
new file mode 100644
index 000000000..cc945ac68
--- /dev/null
+++ b/niryo_robot_hardware_stack/tools_interface/srv/PushAirVacuumPump.srv
@@ -0,0 +1,5 @@
+uint8 id
+
+int16 push_air_position
+---
+uint8 state
diff --git a/niryo_robot_iot/CMakeLists.txt b/niryo_robot_iot/CMakeLists.txt
new file mode 100644
index 000000000..7ee5d49a7
--- /dev/null
+++ b/niryo_robot_iot/CMakeLists.txt
@@ -0,0 +1,26 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(niryo_robot_iot)
+
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+  message_generation
+)
+
+add_service_files(
+  DIRECTORY srv
+  FILES
+  GetSerial.srv
+  MqttPublish.srv
+)
+
+catkin_python_setup()
+
+generate_messages(
+  DEPENDENCIES
+)
+
+catkin_package()
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
diff --git a/niryo_robot_iot/config/aws_const.yaml b/niryo_robot_iot/config/aws_const.yaml
new file mode 100644
index 000000000..15effa270
--- /dev/null
+++ b/niryo_robot_iot/config/aws_const.yaml
@@ -0,0 +1,11 @@
+aws_endpoint: "a6k20qx3hahii-ats.iot.eu-west-3.amazonaws.com"
+aws_port: 8883
+
+ca_name: "AmazonRootCA1.pem"
+cert_suffix: "-certificate.pem.crt"
+key_suffix: "-private.pem.key"
+
+private_bucket: 's3-niryo-private'
+public_bucket: 's3-niryo-public'
+
+s3_programs_dir: 'programs'
\ No newline at end of file
diff --git a/niryo_robot_iot/config/iot_params.yaml b/niryo_robot_iot/config/iot_params.yaml
new file mode 100644
index 000000000..71599af6a
--- /dev/null
+++ b/niryo_robot_iot/config/iot_params.yaml
@@ -0,0 +1 @@
+still_alive_publish_duration: 60
diff --git a/niryo_robot_iot/launch/mqtt_client.launch b/niryo_robot_iot/launch/mqtt_client.launch
new file mode 100644
index 000000000..2d10ccba4
--- /dev/null
+++ b/niryo_robot_iot/launch/mqtt_client.launch
@@ -0,0 +1,10 @@
+<launch>
+    <arg name="conf_location" default="~/.config/niryo"/>
+
+    <node name="niryo_robot_mqtt_client" pkg="niryo_robot_iot" type="mqtt_client_node.py" output="screen">
+        <rosparam file="$(find niryo_robot_iot)/config/aws_const.yaml"/>
+        <rosparam file="$(find niryo_robot_iot)/config/iot_params.yaml"/>
+        <param name="conf_location" value="$(arg conf_location)"/>
+        <param name="s3_credentials_location" value="$(arg conf_location)/credentials"/>
+    </node>
+</launch>
diff --git a/niryo_robot_iot/launch/robot_iot.launch b/niryo_robot_iot/launch/robot_iot.launch
new file mode 100644
index 000000000..f443e9707
--- /dev/null
+++ b/niryo_robot_iot/launch/robot_iot.launch
@@ -0,0 +1,12 @@
+<launch>
+    <arg name="conf_location" default="~/.config/niryo"/>
+
+    <!-- Launching serial number node -->
+    <include file="$(find niryo_robot_iot)/launch/serial_number.launch">
+    </include>
+
+    <!-- Launching mqtt client node -->
+    <include file="$(find niryo_robot_iot)/launch/mqtt_client.launch">
+        <arg name="conf_location" value="$(arg conf_location)"/>
+    </include>
+</launch>
diff --git a/niryo_robot_iot/launch/serial_number.launch b/niryo_robot_iot/launch/serial_number.launch
new file mode 100644
index 000000000..dd8191221
--- /dev/null
+++ b/niryo_robot_iot/launch/serial_number.launch
@@ -0,0 +1,7 @@
+<launch>
+    <arg name="serial_path" default="~/.config/niryo/robot_serial_do_not_touch"/>
+
+    <node name="niryo_robot_serial_number" pkg="niryo_robot_iot" type="serial_number_node.py" output="screen">
+        <param name="serial_path" value="$(arg serial_path)"/>
+    </node>
+</launch>
diff --git a/niryo_robot_iot/package.xml b/niryo_robot_iot/package.xml
new file mode 100644
index 000000000..679d1ca6b
--- /dev/null
+++ b/niryo_robot_iot/package.xml
@@ -0,0 +1,21 @@
+<package>
+    <name>niryo_robot_iot</name>
+    <version>3.0.0</version>
+    <description>The niryo_robot_iot package</description>
+
+    <author email="j.mottier@niryo.com">Justin Mottier</author>
+    <maintainer email="j.mottier@niryo.com">Justin Mottier</maintainer>
+    <maintainer email="c.ducatez@niryo.com">Corentin Ducatez</maintainer>
+    <license>GPLv3</license>
+
+    <buildtool_depend>catkin</buildtool_depend>
+
+    <run_depend>rospy</run_depend>
+
+    <!-- Python Dependencies -->
+
+    <run_depend>python-paho-mqtt-pip</run_depend>
+    <run_depend>python-pexpect</run_depend>
+    <run_depend>python-boto3</run_depend>
+
+</package>
diff --git a/niryo_robot_iot/scripts/mqtt_client/MqttClient.py b/niryo_robot_iot/scripts/mqtt_client/MqttClient.py
new file mode 100644
index 000000000..422b6c692
--- /dev/null
+++ b/niryo_robot_iot/scripts/mqtt_client/MqttClient.py
@@ -0,0 +1,57 @@
+import ssl
+import threading
+import paho.mqtt.client as mqtt
+
+
+class MqttClient:
+    def __init__(self, serial, ca_file, cert_file, key_file):
+        client_id = "client_{}".format(serial)
+        self.__client = mqtt.Client(client_id=client_id, clean_session=False)
+        self.__client.tls_set(
+            ca_certs=ca_file,
+            certfile=cert_file,
+            keyfile=key_file,
+            cert_reqs=ssl.CERT_REQUIRED,
+            tls_version=ssl.PROTOCOL_TLSv1_2,
+            ciphers=None
+        )
+
+    # - Callbacks-wise functions
+
+    def set_callbacks(self, connect_callback, disconnect_callback, message_callback):
+        self.__client.on_connect = connect_callback
+        self.__client.on_disconnect = disconnect_callback
+        self.__client.on_message = message_callback
+
+    def add_topic_callback(self, topic, callback_function):
+        self.__client.message_callback_add(
+            topic,
+            lambda client, userdata, message:
+                threading.Thread(target=callback_function, args=(client, userdata, message)).start()
+        )
+
+    # - Connection / Disconnection
+
+    def connect(self, endpoint, port):
+        self.__client.connect(host=endpoint, port=port)
+
+    def disconnect(self):
+        self.__client.disconnect()
+
+    def subscribe_all(self, topics):
+        self.__client.subscribe(map(lambda x: (x, 1), topics))
+
+    def unsubscribe_all(self, topics):
+        self.__client.unsubscribe(topics.keys())
+
+    # - Loop
+    def loop_start(self):
+        self.__client.loop_start()
+
+    def loop_stop(self):
+        self.__client.loop_stop()
+
+    # Getter
+    @property
+    def client(self):
+        return self.__client
diff --git a/niryo_robot_iot/scripts/mqtt_client/MqttPublisher.py b/niryo_robot_iot/scripts/mqtt_client/MqttPublisher.py
new file mode 100644
index 000000000..d35348390
--- /dev/null
+++ b/niryo_robot_iot/scripts/mqtt_client/MqttPublisher.py
@@ -0,0 +1,76 @@
+import rospy
+
+import subprocess
+
+import re
+import uuid
+import json
+
+from niryo_robot_programs_manager.srv import GetProgramList, GetProgramListRequest
+from niryo_robot_programs_manager.msg import ProgramLanguage
+
+
+class MqttPublisher:
+
+    def __init__(self, client, serial, user_id):
+        self.client = client
+        self.__serial = serial
+        self.__topics_prefix = 'topic/{}'.format(serial)
+        self.__user_id = user_id
+
+    def __prepare_payload(self, payload):
+        payload.update({
+            'user_id': self.__user_id,
+            'serial': self.__serial
+        })
+        return json.dumps(payload)
+
+    def __publish(self, topic, payload=None):
+        rospy.logdebug('MQTT Publisher - Publishing on {}'.format(topic))
+        if payload is None:
+            payload = {}
+        if len(payload) >= 130000:
+            rospy.logwarn('MQTT Publisher - Error : payload overflown')
+            return
+        self.client.publish(topic, self.__prepare_payload(payload), 1)
+
+    def __topic_builder(self, topic):
+        return '{}/{}'.format(self.__topics_prefix, topic)
+
+    def send_programs_list(self):
+        program_list = rospy.ServiceProxy('/niryo_robot_programs_manager/get_program_list', GetProgramList)
+
+        programs = {}
+        req = GetProgramListRequest()
+
+        req.language.used = ProgramLanguage.PYTHON2
+        programs['python2'] = program_list(req).programs_names
+
+        req.language.used = ProgramLanguage.PYTHON3
+        programs['python3'] = program_list(req).programs_names
+
+        req.language.used = ProgramLanguage.BLOCKLY
+        programs['blockly'] = program_list(req).programs_names
+
+        self.__publish(self.__topic_builder('programs_manager/get_program_list'), programs)
+
+    def ping_still_alive(self):
+        try:
+            ip = subprocess.check_output(['curl', '-s', 'https://api.ipify.org'])
+        except subprocess.CalledProcessError:
+            ip = '0.0.0.0'
+
+        if not re.match(r'^([0-2]?[0-9]{1,2}\.){3}[0-2]?[0-9]{1,2}$', ip):
+            ip = '0.0.0.0'
+
+        self.__publish(
+            self.__topic_builder('still_alive'),
+            {
+                'ip': ip,
+            }
+        )
+
+    def send_ping(self, seq=None):
+        if seq is None:
+            seq = uuid.uuid1()
+        self.__publish(self.__topic_builder('ping'), {'id': seq})
diff --git a/niryo_robot_iot/scripts/mqtt_client/MqttSubscriber.py b/niryo_robot_iot/scripts/mqtt_client/MqttSubscriber.py
new file mode 100755
index 000000000..862a9b5f1
--- /dev/null
+++ b/niryo_robot_iot/scripts/mqtt_client/MqttSubscriber.py
@@ -0,0 +1,172 @@
+import rospy
+
+import os
+import json
+from S3Client import S3Client
+
+# Message
+from niryo_robot_programs_manager.msg import ProgramLanguage
+
+# Services
+from niryo_robot_msgs.srv import SetBool, Trigger
+from niryo_robot_programs_manager.srv import ExecuteProgram, ExecuteProgramRequest
+
+
+class MqttSubscriber:
+
+    def __init__(self, s3_credentials_location, s3_bucket, robot_programs_dir, aws_programs_dir, user_id):
+        self.__s3_credentials_location = s3_credentials_location
+        self.__s3_client = S3Client(s3_bucket, s3_credentials_location, robot_programs_dir, aws_programs_dir, user_id)
+
+    @staticmethod
+    def __integrity_check(topic, raw_json, keys):
+        try:
+            values = json.loads(raw_json)
+        except ValueError:
+            rospy.logerr("MQTT Subscriber - Topic {}: unable to parse the JSON".format(topic))
+            return {}
+
+        rospy.logdebug("MQTT Subscriber - Integrity check for topic {}:".format(topic))
+        is_good = True
+        for key, value in values.iteritems():
+            if key not in keys:
+                is_good = False
+                rospy.logerr('\t{}: {} -> not an accepted key'.format(key, value))
+            else:
+                rospy.logdebug('\t{}: {}'.format(key, value))
+        if not is_good:
+            return {}
+
+        if len(keys) != len(values):
+            rospy.logerr("Error: {} parameters expected, {} provided".format(len(keys), len(values)))
+            rospy.logerr("\tExpected: {}".format(', '.join(keys)))
+            rospy.logerr("\tProvided: {}".format(', '.join(values)))
+            return {}
+
+        return values
+
+    @staticmethod
+    def __call_ros_service(topic_name, service_type, success_message, req=None):
+        rospy.wait_for_service(topic_name)
+        service_function = rospy.ServiceProxy(topic_name, service_type)
+        res = service_function(req) if req is not None else service_function()
+        if res.status < 0:
+            rospy.logwarn(res.message)
+        else:
+            rospy.logdebug(success_message)
+        return res.status
+
+    def set_learning_mode(self, _client, _userdata, message):
+        ros_service = '/niryo_robot/activate_learning_mode'
+        values = self.__integrity_check(message.topic, message.payload, ['value'])
+        if not values:
+            rospy.logerr("MQTT Subscriber - Aborting call to the ROS service {}".format(ros_service))
+            return
+
+        req = values["value"] in ['true', 'True', '1']
+
+        self.__call_ros_service(
+            topic_name=ros_service,
+            service_type=SetBool,
+            success_message='Learning mode successfully set to {}'.format(values['value']),
+            req=req
+        )
+
+    def execute_program(self, _client, _userdata, message):
+        ros_service = '/niryo_robot_programs_manager/execute_program'
+        values = self.__integrity_check(message.topic, message.payload, ['name', 'language'])
+        if not values:
+            rospy.logerr("MQTT Subscriber - Aborting call to the ROS service {}".format(ros_service))
+            return
+
+        req = ExecuteProgramRequest()
+        req.execute_from_string = False
+        req.name = values['name'].encode("ascii", "ignore")
+        req.language = ProgramLanguage()
+        req.language.used = values['language']
+
+        self.__call_ros_service(
+            topic_name=ros_service,
+            service_type=ExecuteProgram,
+            success_message='Program successfully started',
+            req=req
+        )
+
+    def stop_program(self, _client, _userdata, message):
+        self.__integrity_check(message.topic, message.payload, [])
+        self.__call_ros_service(
+            topic_name='/niryo_robot_programs_manager/stop_program',
+            service_type=Trigger,
+            success_message='Program stopped'
+        )
+
+    def upload_program_to_aws(self, _client, _userdata, message):
+        rospy.logdebug('MQTT Subscriber - Uploading to AWS')
+        values = self.__integrity_check(message.topic, message.payload, ['name', 'type', 'language'])
+        if not values:
+            rospy.logerr('MQTT Subscriber - Upload prog to AWS - Incorrect values given')
+            return False
+
+        try:
+            result = self.__s3_client.upload_program(values['language'], values['name'])
+        except KeyError:
+            rospy.logerr('MQTT Subscriber - Upload prog to AWS - Invalid language given')
+            return False
+        if result:
+            rospy.loginfo('MQTT Subscriber - Uploaded {} successfully'.format(values['name']))
+
+    def download_program_from_aws(self, _client, _userdata, message):
+        rospy.loginfo('MQTT Subscriber - Downloading from AWS')
+        values = self.__integrity_check(message.topic, message.payload, ['name', 'type', 'language'])
+        if not values:
+            rospy.logerr('MQTT Subscriber - Download prog from AWS - Incorrect values given')
+            return False
+
+        try:
+            result = self.__s3_client.download_program(values['language'], values['name'])
+        except KeyError:
+            rospy.logerr('MQTT Subscriber - Download prog from AWS - Invalid language given')
+            return False
+        if result:
+            rospy.loginfo('MQTT Subscriber - Downloaded {} successfully'.format(values['name']))
+
+    def get_aws_credentials(self, _client, _userdata, message):
+        values = self.__integrity_check(message.topic, message.payload,
+                                        ['access_key', 'secret_key', 'user_id', 'port_ssh'])
+        if not values:
+            rospy.logerr('MQTT Subscriber - Get AWS Credentials - Incorrect values given')
+            return False
+
+        try:
+            f = open(os.path.join(os.path.expanduser(self.__s3_credentials_location), "s3"), 'w+')
+        except IOError:
+            rospy.logerr("MQTT Subscriber - Error while trying to open the file AWS credentials")
+            return False
+
+        f.write("[default]\naws_access_key_id = {}\naws_secret_access_key = {}\nregion = eu-west-3\n".format(
+            values['access_key'], values['secret_key']))
+        f.close()
+
+        try:
+            f = open(os.path.join(os.path.expanduser(self.__s3_credentials_location), "user_id"), 'w+')
+        except IOError:
+            rospy.logerr("MQTT Subscriber - Error while trying to open the file used_id")
+            return False
+        f.write(values['user_id'])
+        f.close()
+
+        rospy.loginfo('MQTT Subscriber - Successfully fetched the AWS credentials')
+
+    def receive_pong(self, _client, _userdata, message):
+        values = self.__integrity_check(message.topic, message.payload, ['id'])
+        if not values:
+            rospy.logerr('MQTT Subscriber - Pong - Incorrect values given')
+            return False
+
+        try:
+            open('/tmp/ping_{}'.format(values['id']), 'w').close()
+        except IOError:
+            rospy.logerr('MQTT Subscriber - Pong - Unable to create the file')
+            return False
+
+        return True
diff --git a/niryo_robot_iot/scripts/mqtt_client/S3Client.py b/niryo_robot_iot/scripts/mqtt_client/S3Client.py
new file mode 100644
index 000000000..c15715e2a
--- /dev/null
+++ b/niryo_robot_iot/scripts/mqtt_client/S3Client.py
@@ -0,0 +1,51 @@
+import os
+import boto3
+
+from niryo_robot_programs_manager.msg import ProgramLanguage
+
+
+class S3Client:
+    def __init__(self, bucket, s3_credentials_location, robot_programs_dir, aws_programs_dir, user_id, ):
+        os.environ['AWS_CONFIG_FILE'] = s3_credentials_location
+
+        self.__s3 = boto3.resource('s3')
+
+        self.__client = self.__s3.Bucket(bucket)
+        self.__robot_programs_location = os.path.expanduser('~/{}'.format(robot_programs_dir))
+        self.__aws_programs_location = os.path.join("home", user_id, aws_programs_dir)
+
+        self.__language_to_str_map = {
+            ProgramLanguage.PYTHON2: 'python2',
+            ProgramLanguage.PYTHON3: 'python3',
+            ProgramLanguage.BLOCKLY: 'blockly',
+        }
+        for language in self.__language_to_str_map.values():
+            dir_path = os.path.join(self.__robot_programs_location, language)
+            if not os.path.isdir(dir_path):
+                os.makedirs(dir_path)
+
+    def upload_program(self, file_language, file_name):
+        try:
+            key = os.path.join(self.__aws_programs_location, self.__language_to_str_map[file_language], file_name)
+            file_path = os.path.join(self.__robot_programs_location, self.__language_to_str_map[file_language],
+                                     file_name)
+            self.__client.upload_file(
+                Key=key,
+                Filename=file_path
+            )
+        except KeyError:
+            return False
+
+        return True
+
+    def download_program(self, file_language, file_name):
+        try:
+            self.__client.download_file(
+                Key='{}/{}/{}'.format(self.__aws_programs_location, self.__language_to_str_map[file_language], file_name),
+                Filename='{}/{}/{}'.format(self.__robot_programs_location, self.__language_to_str_map[file_language],
+                                           file_name)
+            )
+        except KeyError:
+            return False
+
+        return True
diff --git a/niryo_robot_iot/scripts/mqtt_client/__init__.py b/niryo_robot_iot/scripts/mqtt_client/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/niryo_robot_iot/scripts/mqtt_client_node.py b/niryo_robot_iot/scripts/mqtt_client_node.py
new file mode 100755
index 000000000..22734a660
--- /dev/null
+++ b/niryo_robot_iot/scripts/mqtt_client_node.py
@@ -0,0 +1,237 @@
+#!/usr/bin/env python
+
+# Libs
+import rospy
+
+import os
+import subprocess
+from paho.mqtt.client import connack_string, CONNACK_ACCEPTED, MQTT_ERR_SUCCESS
+
+from mqtt_client.MqttSubscriber import MqttSubscriber
+from mqtt_client.MqttClient import MqttClient
+from mqtt_client.MqttPublisher import MqttPublisher
+
+# Message / Services
+from niryo_robot_msgs.msg import CommandStatus
+
+from niryo_robot_iot.srv import GetSerial
+from niryo_robot_iot.srv import MqttPublish
+
+
+class MqttClientNode:
+    def __init__(self):
+        rospy.logdebug("MQTT Client - Entering in Init")
+
+        # - Ros Params
+        self.__aws_endpoint = rospy.get_param('~aws_endpoint')
+        self.__aws_port = rospy.get_param('~aws_port')
+
+        conf_location = os.path.expanduser(rospy.get_param('~conf_location'))
+        self.__certs_location = "{}/certs".format(conf_location)
+        self.__credentials_location = "{}/credentials".format(conf_location)
+
+        self.__still_alive_publish_duration = rospy.get_param('~still_alive_publish_duration')
+
+        # - Serial
+
+        self.__serial = self.get_serial()
+
+        # - Credentials
+
+        self.__ca_file = os.path.join(self.__certs_location, rospy.get_param('~ca_name'))
+        cert_filename = '{}{}'.format(self.__serial, rospy.get_param('~cert_suffix'))
+        self.__cert_file = os.path.join(self.__certs_location, cert_filename)
+        key_filename = '{}{}'.format(self.__serial, rospy.get_param('~key_suffix'))
+        self.__key_file = os.path.join(self.__certs_location, key_filename)
+
+        self.wait_for_credentials_creation()
+        self.wait_for_internet_connection()
+
+        self.__user_id = self.get_user_id()
+
+        # - MQTT Client
+        self.__mqtt_client = MqttClient(self.__serial, self.__ca_file, self.__cert_file, self.__key_file)
+        self.__mqtt_client.set_callbacks(self.__on_connect_callback, self.__on_disconnect_callback,
+                                         self.__on_message_callback)
+
+        # - MQTT Publisher
+        self.__mqtt_publisher = MqttPublisher(self.__mqtt_client.client, self.__serial, self.__user_id)
+
+        # - MQTT Subscriber
+        s3_credentials_location = rospy.get_param('~s3_credentials_location')
+        s3_bucket = rospy.get_param('~private_bucket')
+        s3_programs_dir = rospy.get_param('~s3_programs_dir')
+        robot_programs_dir = rospy.get_param('/niryo_robot_programs_manager/programs_dir',
+                                             default="niryo_robot_programs")
+
+        self.__subscriber = MqttSubscriber(s3_credentials_location, s3_bucket,
+                                           robot_programs_dir, s3_programs_dir, self.__user_id)
+        self.__subscribe_topics = self.generate_subscribed_topics_dict()
+
+        # Service for publish
+        rospy.Service('~mqtt_publish', MqttPublish, self.__mqtt_publish_callback)
+
+        # - End of Init
+        self.start()
+
+        # Publisher Still Alive
+        rospy.Timer(rospy.Duration(self.__still_alive_publish_duration), self.__publish_still_alive)
+
+        # Stop on ROS shutdown
+        rospy.on_shutdown(self.stop)
+
+        # Set a bool to mentioned this node is initialized
+        rospy.set_param('~initialized', True)
+
+        rospy.loginfo("MQTT Client - Node Started")
+
+    # - Init
+    @staticmethod
+    def get_serial():
+        service_name = "/niryo_robot_serial_number/get"
+        rospy.wait_for_service(service_name)
+        get_serial_service = rospy.ServiceProxy(service_name, GetSerial)
+        serial = get_serial_service().message
+        return serial
+
+    def generate_subscribed_topics_dict(self):
+        topic_prefix = 'topic/{}'.format(self.__serial)
+
+        subscribe_topics = {
+            '{}/aws_credentials'.format(topic_prefix): self.__subscriber.get_aws_credentials,
+            '{}/programs_manager/execute_program'.format(topic_prefix): self.__subscriber.execute_program,
+            '{}/programs_manager/stop_program'.format(topic_prefix): self.__subscriber.stop_program,
+            '{}/programs_manager/robot_to_aws'.format(topic_prefix): self.__subscriber.upload_program_to_aws,
+            '{}/programs_manager/aws_to_robot'.format(topic_prefix): self.__subscriber.download_program_from_aws,
+            '{}/pong'.format(topic_prefix): self.__subscriber.receive_pong,
+        }
+        return subscribe_topics
+
+    def wait_for_credentials_creation(self):
+        # We NEED to wait for the credentials since the first time the robot will
+        # start it won't have them but will still need to communicate with AWS later
+
+        rate = rospy.Rate(0.1)
+        while not os.path.isfile(self.__ca_file) or not os.path.isfile(self.__cert_file) \
+                or not os.path.isfile(self.__key_file):
+            rospy.logwarn_once('MQTT Client - Waiting for the certificates, re-checking every 10s...')
+            rospy.logdebug('MQTT Client - Waiting for the certificates, re-checking in 10s...')
+            rate.sleep()
+
+    @staticmethod
+    def test_internet_connection():
+        dev_null = open(os.devnull, 'w')
+        try:
+            ping_process = subprocess.check_call(['ping', '-c', '1', '8.8.8.8'], stdout=dev_null, stderr=dev_null)
+            result = ping_process == 0
+        except subprocess.CalledProcessError:
+            result = False
+
+        dev_null.close()
+        return result
+
+
+    def wait_for_internet_connection(self):
+        # This is to prevent the node to crash if there is no internet connection
+        rate = rospy.Rate(0.1)
+        while not self.test_internet_connection():
+            rospy.logwarn_once('MQTT Client - Waiting for an internet connection, re-checking every 10s...')
+            rospy.logdebug('MQTT Client - Waiting for an internet connection, re-checking in 10s...')
+            rate.sleep()
+
+
+    # - MQTT Callbacks
+
+    @staticmethod
+    def __on_connect_callback(_client, _userdata, _flags, rc):
+        if rc == CONNACK_ACCEPTED:
+            rospy.logdebug("MQTT Client - Connected")
+        else:
+            rospy.logwarn('MQTT Client - Connection failed : {}'.format(connack_string(rc)))
+
+    @staticmethod
+    def __on_disconnect_callback(_client, _userdata, rc):
+        if rc != MQTT_ERR_SUCCESS:
+            rospy.logwarn("MQTT Client - Unexpected disconnection")
+        else:
+            rospy.logdebug("MQTT Client - Disconnected successfully")
+
+    @staticmethod
+    def __on_message_callback(_client, _userdata, message):
+        rospy.logwarn("MQTT Client - Unhandled payload received. "
+                      "This means there is no callback function for this topics but it's still subscribed")
+        rospy.logwarn("\ttopic: {}".format(message.topic))
+        rospy.logwarn("\tpayload: {}".format(message.payload))
+
+    # - ROS callbacks
+
+    def __publish_still_alive(self, _):
+        self.__mqtt_publisher.ping_still_alive()
+
+    def __mqtt_publish_callback(self, req):
+        try:
+            pub_func = getattr(self.__mqtt_publisher, req.command)
+        except AttributeError:
+            return (CommandStatus.MQTT_PUBLISH_FUNCTION_DOESNT_EXIST,
+                    "The publisher doesn't have the function {}".format(req.command))
+
+        try:
+            pub_func(*req.args)
+        except TypeError as e:
+            return CommandStatus.MQTT_PUBLISH_FUNCTION_INVALID_ARGUMENTS, str(e)
+
+        return CommandStatus.SUCCESS, "Successfully published"
+
+    # - Regular functions
+
+    def get_user_id(self):
+        try:
+            f = open(os.path.join(self.__credentials_location, 'user_id'), 'r')
+        except IOError:
+            return "000000000000000000000000"
+        # reads the 24 first characters of the file as a user_id is 24 char long.
+        # This is to prevent trailing newline characters
+        user_id_ = f.read(24)
+        f.close()
+        return user_id_
+
+    def open_client_connection(self):
+        rospy.loginfo("MQTT Client - Trying to connect...")
+        self.__mqtt_client.connect(self.__aws_endpoint, self.__aws_port)
+        # Without this tempo, the client disconnect almost every time
+        rospy.sleep(5)
+        rospy.logdebug("MQTT Client - Subscribing to the topics...")
+        self.__mqtt_client.subscribe_all(self.__subscribe_topics)
+        rospy.logdebug("MQTT Client - Connected & Subscribed to the topics")
+        for topic, callback_function in self.__subscribe_topics.items():
+            rospy.logdebug("MQTT Client - Handling {} with {}".format(topic, callback_function.__name__))
+            self.__mqtt_client.add_topic_callback(topic, callback_function)
+
+    def close_client_connection(self):
+        rospy.logdebug("MQTT Client - Unsubscribing to the topics...")
+        self.__mqtt_client.unsubscribe_all(self.__subscribe_topics)
+        rospy.logdebug("MQTT Client - Unsubscribed to the topic")
+        rospy.logdebug("MQTT Client - Disconnecting...")
+        self.__mqtt_client.disconnect()
+        rospy.loginfo("MQTT Client - Unsubscribed & Disconnected")
+
+    def retry_connection(self):
+        self.__mqtt_client.disconnect()
+        self.__mqtt_client.connect(self.__aws_endpoint, self.__aws_port)
+
+    def start(self):
+        self.open_client_connection()
+        self.__mqtt_client.loop_start()
+
+    def stop(self):
+        self.__mqtt_client.loop_stop()
+        self.close_client_connection()
+
+
+if __name__ == "__main__":
+    rospy.init_node('niryo_robot_mqtt_client', anonymous=False, log_level=rospy.INFO)
+    try:
+        node = MqttClientNode()
+        rospy.spin()
+    except rospy.ROSInterruptException:
+        pass
diff --git a/niryo_robot_iot/scripts/serial_number_node.py b/niryo_robot_iot/scripts/serial_number_node.py
new file mode 100755
index 000000000..60b3fc745
--- /dev/null
+++ b/niryo_robot_iot/scripts/serial_number_node.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python
+
+# Libs
+import rospy
+import os
+
+from niryo_robot_iot.SerialNumber import SerialNumber
+
+# Message / Service
+from niryo_robot_msgs.msg import CommandStatus
+from niryo_robot_iot.srv import GetSerial
+
+
+class SerialNumberNode:
+    def __init__(self):
+        rospy.logdebug("Serial Number Node - Entering in Init")
+
+        serial_path = os.path.expanduser(rospy.get_param("~serial_path"))
+        self.__serial_number = SerialNumber(serial_path=serial_path)
+
+        # Service
+        rospy.Service('~get', GetSerial,
+                      self.__callback_get_serial)
+
+        # Set a bool to mentioned this node is initialized
+        rospy.set_param('~initialized', True)
+
+        rospy.logdebug("Serial Number Node - Node Started")
+
+    def __callback_get_serial(self, _req):
+        try:
+            serial_number = self.__serial_number.read_serial()
+        except OSError:
+            rospy.logerr("Serial Number Node - Unable to read serial")
+            return CommandStatus.SERIAL_FILE_ERROR, "File error"
+        rospy.logdebug("Serial Number Node - Serial Read")
+
+        if not serial_number:
+            rospy.logerr("Serial Number Node - Serial file is empty")
+            return CommandStatus.SERIAL_UNKNOWN_ERROR, "No serial"
+        return CommandStatus.SUCCESS, serial_number
+
+
+if __name__ == "__main__":
+    rospy.init_node('niryo_robot_serial_number', anonymous=False, log_level=rospy.INFO)
+    try:
+        node = SerialNumberNode()
+        rospy.spin()
+    except rospy.ROSInterruptException:
+        pass
diff --git a/niryo_robot_iot/setup.py b/niryo_robot_iot/setup.py
new file mode 100644
index 000000000..5a5b13054
--- /dev/null
+++ b/niryo_robot_iot/setup.py
@@ -0,0 +1,9 @@
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    packages=['niryo_robot_iot'],
+    package_dir={'': 'src'}
+)
+
+setup(**d)
diff --git a/niryo_robot_iot/src/niryo_robot_iot/SerialNumber.py b/niryo_robot_iot/src/niryo_robot_iot/SerialNumber.py
new file mode 100755
index 000000000..53cdc87af
--- /dev/null
+++ b/niryo_robot_iot/src/niryo_robot_iot/SerialNumber.py
@@ -0,0 +1,60 @@
+from hashlib import sha256
+from uuid import getnode as get_mac_address
+
+
+class SerialNumber:
+    def __init__(self, serial_path):
+        self.__serial_path = serial_path
+
+    # - Callable functions
+    def read_serial(self, attempt=3):
+        try:
+            f = open(self.__serial_path, 'r')
+            content = f.read().rstrip()
+        except IOError:
+            content = None
+
+        if not content:
+            if attempt <= 0:
+                return False
+            self.__create_serial()
+            return self.read_serial(attempt - 1)
+        return content
+
+    # -- Private
+
+    @staticmethod
+    def __get_serial():
+        # https://www.raspberrypi-spy.co.uk/2012/09/getting-your-raspberry-pi-serial-number-using-python/
+        # Extract serial from cpuinfo file
+        cpuserial = "0000000000000000"
+        try:
+            f = open('/proc/cpuinfo', 'r')
+            for line in f:
+                if line[0:6] == 'Serial':
+                    cpuserial = line[10:26]
+            f.close()
+        except IOError:
+            cpuserial = "ERROR000000000"
+
+        return cpuserial
+
+    def __generate_raw_serial(self):
+        return str(get_mac_address()) + self.__get_serial()
+
+    @staticmethod
+    def __hash_serial(raw_serial):
+        return sha256(str.encode(raw_serial)).hexdigest()[:16].upper()
+
+    def __write_serial(self, serial):
+        try:
+            f = open(self.__serial_path, 'w+')
+        except IOError:
+            return
+        f.write(serial)
+        f.close()
+
+    def __create_serial(self):
+        raw_serial = self.__generate_raw_serial()
+        hash_serial = self.__hash_serial(raw_serial)
+        self.__write_serial(hash_serial)
diff --git a/niryo_robot_iot/src/niryo_robot_iot/__init__.py b/niryo_robot_iot/src/niryo_robot_iot/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/niryo_robot_iot/srv/GetSerial.srv b/niryo_robot_iot/srv/GetSerial.srv
new file mode 100644
index 000000000..b3682dbd2
--- /dev/null
+++ b/niryo_robot_iot/srv/GetSerial.srv
@@ -0,0 +1,3 @@
+---
+int16 status
+string message
diff --git a/niryo_robot_iot/srv/MqttPublish.srv b/niryo_robot_iot/srv/MqttPublish.srv
new file mode 100644
index 000000000..87d8adeb0
--- /dev/null
+++ b/niryo_robot_iot/srv/MqttPublish.srv
@@ -0,0 +1,5 @@
+string command
+string[] args
+---
+int16 status
+string message
diff --git a/niryo_robot_modbus/CMakeLists.txt b/niryo_robot_modbus/CMakeLists.txt
new file mode 100644
index 000000000..586f7e1cd
--- /dev/null
+++ b/niryo_robot_modbus/CMakeLists.txt
@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(niryo_robot_modbus)
+
+find_package(catkin REQUIRED COMPONENTS
+  niryo_robot_msgs
+  rospy
+  std_msgs
+)
+
+catkin_package()
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
diff --git a/niryo_robot_modbus/examples/client_modbus_conveyor_example.py b/niryo_robot_modbus/examples/client_modbus_conveyor_example.py
new file mode 100644
index 000000000..f9a0ebb6b
--- /dev/null
+++ b/niryo_robot_modbus/examples/client_modbus_conveyor_example.py
@@ -0,0 +1,52 @@
+#!/usr/bin/env python
+
+# ! You need to launch the server first !
+
+from pymodbus.client.sync import ModbusTcpClient
+import time
+
+
+# Positive number : 0 - 32767
+# Negative number : 32768 - 65535
+def number_to_raw_data(val):
+    if val < 0:
+        val = (1 << 15) - val
+    return val
+
+
+def raw_data_to_number(val):
+    if (val >> 15) == 1:
+        val = - (val & 0x7FFF)
+    return val
+
+
+if __name__ == '__main__':
+    print "--- START"
+    client = ModbusTcpClient('169.254.200.200', port=5020)
+
+    client.connect()
+    print "Connected to modbus server"
+
+    print "Enable conveyor 1"
+    client.write_register(520, 1)
+    time.sleep(1)
+
+    print "set direction to forward"
+    client.write_register(523, 1)
+    time.sleep(1)
+
+    print "set speed to 50%"
+    client.write_register(524, 50)
+    time.sleep(1)
+
+    print "start conveyor 1"
+    client.write_register(522, 1)
+    time.sleep(1)
+
+    time.sleep(10)
+    print "stop conveyor 1"
+    client.write_register(526, 1)
+
+    client.close()
+    print "Close connection to modbus server"
+    print "--- END"
diff --git a/niryo_robot_modbus/examples/client_modbus_test.py b/niryo_robot_modbus/examples/client_modbus_test.py
new file mode 100755
index 000000000..d3d5c9939
--- /dev/null
+++ b/niryo_robot_modbus/examples/client_modbus_test.py
@@ -0,0 +1,35 @@
+#!/usr/bin/env python
+
+# ! You need to launch the server first !
+
+from pymodbus.client.sync import ModbusTcpClient
+import time
+
+print "--- START"
+client = ModbusTcpClient('localhost', port=5020)
+
+client.connect()
+print "Connected to modbus server"
+
+rr = client.read_input_registers(400, 9)
+print rr.registers
+
+rr = client.read_discrete_inputs(100, 6)
+print rr.bits
+
+# Set digital IO mode - output
+client.write_coil(0, False)
+client.write_coil(3, False)
+
+# Set digital IO state
+client.write_coil(100, True)
+client.write_coil(103, False)
+
+time.sleep(0.1)
+
+rr = client.read_discrete_inputs(100, 6)
+print rr.bits
+
+client.close()
+print "Close connection to modbus server"
+print "--- END"
diff --git a/niryo_robot_modbus/examples/client_move_command.py b/niryo_robot_modbus/examples/client_move_command.py
new file mode 100755
index 000000000..8349d45fd
--- /dev/null
+++ b/niryo_robot_modbus/examples/client_move_command.py
@@ -0,0 +1,77 @@
+#!/usr/bin/env python
+
+# ! You need to launch the server first !
+
+from pymodbus.client.sync import ModbusTcpClient
+import time
+
+
+# Positive number : 0 - 32767
+# Negative number : 32768 - 65535
+def number_to_raw_data(val):
+    if val < 0:
+        val = (1 << 15) - val
+    return val
+
+
+def raw_data_to_number(val):
+    if (val >> 15) == 1:
+        val = - (val & 0x7FFF)
+    return val
+
+
+if __name__ == '__main__':
+    print "--- START"
+    client = ModbusTcpClient('localhost', port=5020)
+
+    client.connect()
+    print "Connected to modbus server"
+
+    print "Calibrate Robot if needed"
+    client.write_register(311, 1)
+    time.sleep(1)
+
+    # Wait for end of calibration
+    while client.read_input_registers(402, 1).registers[0] == 1:
+        time.sleep(0.05)
+
+    print "Send a Joint Move command to the robot"
+    joints = [-0.5, 0.0, 0.0, 0.2, 1.2, -1.0]
+    joints_to_send = list(map(lambda j: int(number_to_raw_data(j * 1000)), joints))
+    print joints_to_send
+
+    client.write_registers(0, joints_to_send)
+    client.write_register(100, 1)
+
+    # Wait for end of Move command
+    while client.read_holding_registers(150, count=1).registers[0] == 1:
+        time.sleep(0.01)
+
+    print "Joint Move command is finished"
+
+    joints = [0.5, 0.2, -0.7, -1.0, -1.2, 1.0]
+    joints_to_send = list(map(lambda j: number_to_raw_data(j * 1000), joints))
+
+    client.write_registers(0, joints_to_send)
+    client.write_register(100, 1)
+
+    # Wait for end of Move command
+    while client.read_holding_registers(150, count=1).registers[0] == 1:
+        time.sleep(0.05)
+
+    joints = [0.0, 0.0, -1.2, 0.0, 0.0, 0.0]
+    joints_to_send = list(map(lambda j: number_to_raw_data(j * 1000), joints))
+
+    client.write_registers(0, joints_to_send)
+    client.write_register(100, 1)
+
+    # Wait for end of Move command
+    while client.read_holding_registers(150, count=1).registers[0] == 1:
+        time.sleep(0.05)
+
+    # Activate learning mode
+    client.write_register(300, 1)
+
+    client.close()
+    print "Close connection to modbus server"
+    print "--- END"
diff --git a/niryo_robot_modbus/examples/modbus_server_test.py b/niryo_robot_modbus/examples/modbus_server_test.py
new file mode 100755
index 000000000..cb89779f2
--- /dev/null
+++ b/niryo_robot_modbus/examples/modbus_server_test.py
@@ -0,0 +1,13 @@
+#!/usr/bin/env python
+
+import rospy
+from niryo_robot_modbus.modbus_server import ModbusServer
+
+if __name__ == '__main__':
+    rospy.init_node('modbus_server_test')
+
+    server = ModbusServer("0.0.0.0", 5020)
+    rospy.on_shutdown(server.stop)
+
+    server.start()
+    rospy.spin()
diff --git a/niryo_robot_modbus/launch/modbus_server.launch b/niryo_robot_modbus/launch/modbus_server.launch
new file mode 100644
index 000000000..32c5135b9
--- /dev/null
+++ b/niryo_robot_modbus/launch/modbus_server.launch
@@ -0,0 +1,9 @@
+<launch>
+    <arg name="server_address" default="0.0.0.0"/>
+    <arg name="server_port" default="5020"/>
+
+    <node name="niryo_robot_modbus" pkg="niryo_robot_modbus" type="modbus_server_node.py" output="screen">
+        <param name="server_address" type="string" value="$(arg server_address)"/>
+        <param name="server_port" type="int" value="$(arg server_port)"/>
+    </node>
+</launch>
diff --git a/niryo_robot_modbus/package.xml b/niryo_robot_modbus/package.xml
new file mode 100644
index 000000000..f5a7532bf
--- /dev/null
+++ b/niryo_robot_modbus/package.xml
@@ -0,0 +1,25 @@
+<package>
+    <name>niryo_robot_modbus</name>
+    <version>3.0.0</version>
+    <description>Ned Modbus Server</description>
+    <author>Edouard Renard</author>
+    <maintainer email="c.ducatez@niryo.com">Corentin Ducatez</maintainer>
+
+    <license>GPLv3</license>
+
+    <buildtool_depend>catkin</buildtool_depend>
+
+    <build_depend>niryo_robot_msgs</build_depend>
+    <build_depend>rospy</build_depend>
+    <build_depend>std_msgs</build_depend>
+
+    <run_depend>niryo_robot_msgs</run_depend>
+    <run_depend>rospy</run_depend>
+    <run_depend>std_msgs</run_depend>
+
+    <!-- Python Dependencies -->
+    <run_depend>python-pymodbus</run_depend>
+
+    <export>
+    </export>
+</package>
diff --git a/niryo_robot_modbus/scripts/coil_data_block.py b/niryo_robot_modbus/scripts/coil_data_block.py
new file mode 100644
index 000000000..560d04ec2
--- /dev/null
+++ b/niryo_robot_modbus/scripts/coil_data_block.py
@@ -0,0 +1,66 @@
+#!/usr/bin/env python
+
+from data_block import DataBlock
+
+from niryo_robot_rpi.srv import SetDigitalIO
+
+"""
+ - Each address contains a 1 bit value
+ - READ/WRITE registers
+
+ --> Used to give commands to the robot 
+ ( ! the stored values correspond to the last given command,
+ not the current robot state !)
+"""
+
+CO_DIGITAL_IO_MODE = 0
+CO_DIGITAL_IO_STATE = 100
+
+GPIO_1_A = 2
+GPIO_1_B = 3
+GPIO_1_C = 16
+GPIO_2_A = 26
+GPIO_2_B = 19
+GPIO_2_C = 6
+
+
+class CoilDataBlock(DataBlock):
+
+    def __init__(self):
+        super(CoilDataBlock, self).__init__()
+
+    # Override
+    def setValues(self, address, values):
+        self.process_command(address, values)
+        super(CoilDataBlock, self).setValues(address, values)
+
+    def process_command(self, address, values):
+        address -= 1
+        if len(values) == 0:
+            return
+        value = values[0]
+        pin = 0
+
+        if address == 0 or address == 100:
+            pin = GPIO_1_A
+        elif address == 1 or address == 101:
+            pin = GPIO_1_B
+        elif address == 2 or address == 102:
+            pin = GPIO_1_C
+        elif address == 3 or address == 103:
+            pin = GPIO_2_A
+        elif address == 4 or address == 104:
+            pin = GPIO_2_B
+        elif address == 5 or address == 105:
+            pin = GPIO_2_C
+
+        if 0 <= address < 100:
+            self.set_pin_mode(pin, value)
+        elif 100 <= address < 200:
+            self.set_pin_state(pin, value)
+
+    def set_pin_mode(self, pin, mode):
+        response = self.call_ros_service('/niryo_robot_rpi/set_digital_io_mode', SetDigitalIO, pin, mode)
+
+    def set_pin_state(self, pin, state):
+        response = self.call_ros_service('/niryo_robot_rpi/set_digital_io_state', SetDigitalIO, pin, state)
diff --git a/niryo_robot_modbus/scripts/data_block.py b/niryo_robot_modbus/scripts/data_block.py
new file mode 100644
index 000000000..82163e1aa
--- /dev/null
+++ b/niryo_robot_modbus/scripts/data_block.py
@@ -0,0 +1,36 @@
+#!/usr/bin/env python
+
+import rospy
+
+from pymodbus.datastore import ModbusSparseDataBlock
+
+
+class DataBlock(ModbusSparseDataBlock):
+
+    def __init__(self):
+        super(DataBlock, self).__init__(values=[0] * 1000)
+
+    # Called from internal functions
+    # Modbus addresses start at 1
+    # There is an offset with what the client is asking
+    def setValuesOffset(self, address, values):
+        self.setValues(address + 1, values)
+
+    def getValuesOffset(self, address, count=1):
+        return self.getValues(address + 1, count)
+
+    @staticmethod
+    def call_ros_service(service_name, service_msg_type, *args):
+        # Connect to service
+        try:
+            rospy.wait_for_service(service_name, 0.1)
+        except rospy.ROSException, e:
+            return
+
+            # Call service
+        try:
+            service = rospy.ServiceProxy(service_name, service_msg_type)
+            response = service(*args)
+            return response
+        except rospy.ServiceException, e:
+            return
diff --git a/niryo_robot_modbus/scripts/discrete_input_data_block.py b/niryo_robot_modbus/scripts/discrete_input_data_block.py
new file mode 100644
index 000000000..345d89b6a
--- /dev/null
+++ b/niryo_robot_modbus/scripts/discrete_input_data_block.py
@@ -0,0 +1,35 @@
+#!/usr/bin/env python
+
+import rospy
+
+from data_block import DataBlock
+
+from niryo_robot_rpi.msg import DigitalIOState
+
+"""
+ - Each address contains a 1 bit value
+ - READ ONLY registers
+
+ --> State of the robot
+"""
+
+DI_DIGITAL_IO_MODE = 0
+DI_DIGITAL_IO_STATE = 100
+
+
+class DiscreteInputDataBlock(DataBlock):
+
+    def __init__(self):
+        super(DiscreteInputDataBlock, self).__init__()
+        self.digital_io_state_sub = None
+
+    def start_ros_subscribers(self):
+        self.digital_io_state_sub = rospy.Subscriber('/niryo_robot_rpi/digital_io_state', DigitalIOState,
+                                                     self.sub_digital_io_state)
+
+    def stop_ros_subscribers(self):
+        self.digital_io_state_sub.unregister()
+
+    def sub_digital_io_state(self, msg):
+        self.setValuesOffset(DI_DIGITAL_IO_MODE, list(msg.modes))
+        self.setValuesOffset(DI_DIGITAL_IO_STATE, list(msg.states))
diff --git a/niryo_robot_modbus/scripts/holding_register_data_block.py b/niryo_robot_modbus/scripts/holding_register_data_block.py
new file mode 100644
index 000000000..290de3e9f
--- /dev/null
+++ b/niryo_robot_modbus/scripts/holding_register_data_block.py
@@ -0,0 +1,372 @@
+#!/usr/bin/env python
+
+import rospy
+import actionlib
+import threading
+
+from data_block import DataBlock
+
+# Messages
+from actionlib_msgs.msg import GoalStatus
+from niryo_robot_commander.command_enums import MoveCommandType
+from niryo_robot_commander.msg import RobotCommand
+from niryo_robot_commander.msg import RobotMoveAction
+from niryo_robot_commander.msg import RobotMoveGoal
+from niryo_robot_msgs.msg import CommandStatus
+
+# Services
+from conveyor_interface.srv import ControlConveyor, SetConveyor
+from niryo_robot_msgs.srv import SetInt, SetBool
+from niryo_robot_msgs.srv import Trigger
+
+"""
+ - Each address contains a 16 bits value
+ - READ/WRITE registers
+
+ --> Used to give commands to the robot 
+ ( ! the stored values correspond to the last given command,
+ not the current robot state !)
+"""
+
+HR_JOINTS = 0
+HR_POSITION_X = 10
+HR_POSITION_Y = 11
+HR_POSITION_Z = 12
+HR_ORIENTATION_X = 13
+HR_ORIENTATION_Y = 14
+HR_ORIENTATION_Z = 15
+
+HR_MOVE_JOINTS_COMMAND = 100
+HR_MOVE_POSE_COMMAND = 101
+HR_STOP_COMMAND = 110
+
+# You should not write any value on those 3 addresses
+# Only read to get info about command execution
+HR_IS_EXECUTING_CMD = 150  # Is a command currently being executed (only for move/tool)
+HR_LAST_ROBOT_CMD_RESULT = 151  # Get the status of the last command
+HR_LAST_ROBOT_CMD_DATA_RESULT = 152  # Contains data retrieved from last cmd (depends of the cmd)
+
+HR_LEARNING_MODE = 300
+
+HR_NEW_CALIBRATION_REQUEST = 310
+HR_START_AUTO_CALIBRATION = 311
+HR_START_MANUAL_CALIBRATION = 312
+
+HR_GRIPPER_OPEN_SPEED = 401
+HR_GRIPPER_CLOSE_SPEED = 402
+
+HR_SELECT_TOOL_FROM_ID = 500
+
+HR_OPEN_GRIPPER = 510
+HR_CLOSE_GRIPPER = 511
+HR_PULL_AIR_VACUUM_PUMP = 512
+HR_PUSH_AIR_VACUUM_PUMP = 513
+
+# conveyor commands 
+HR_PING_AND_SET_CONVEYOR = 520
+HR_REMOVE_CONVEYOR_WITH_ID = 521
+HR_CONTROL_CONVEYOR = 522
+HR_CONTROL_CONVEYOR_DIRECTION = 523
+HR_CONTROL_CONVEYOR_SPEED = 524
+HR_CONTROL_CONVEYOR_ID = 525
+HR_STOP_CONVEYOR_WITH_ID = 526
+
+
+# Positive number : 0 - 32767
+# Negative number : 32768 - 65535
+def handle_negative_hr(val):
+    if (val >> 15) == 1:
+        val = - (val & 0x7FFF)
+    return val
+
+
+class HoldingRegisterDataBlock(DataBlock):
+
+    def __init__(self):
+        super(HoldingRegisterDataBlock, self).__init__()
+        self.execution_thread = threading.Thread()
+        self.is_action_client_running = False
+        self.cmd_action_client = None
+        self.tool_command_list = rospy.get_param("/niryo_robot_tools/command_list")
+
+    def __set_command_in_progress(self):
+        """
+        Set a command as in progress and refresh the last result
+        :return:
+        :rtype:
+        """
+        self.setValuesOffset(HR_LAST_ROBOT_CMD_RESULT, [0])
+        self.setValuesOffset(HR_IS_EXECUTING_CMD, [1])
+
+    def __set_command_done(self, status_result):
+        """
+        Set a command as completed and store the result
+        :param status_result: Status stored to HR_LAST_ROBOT_CMD_RESULT
+        :type status_result:
+        :return:
+        :rtype:
+        """
+        self.setValuesOffset(HR_LAST_ROBOT_CMD_RESULT, [status_result])
+        self.setValuesOffset(HR_IS_EXECUTING_CMD, [0])
+
+        # Override
+
+    def setValues(self, address, values):
+        self.process_command(address, values)
+        super(HoldingRegisterDataBlock, self).setValues(address, values)
+
+    def process_command(self, address, values):
+        address -= 1
+        if len(values) == 0:
+            return
+
+        if address == HR_LEARNING_MODE:
+            self.activate_learning_mode(values[0])
+        elif address == HR_MOVE_JOINTS_COMMAND:
+            self.move_joints_command()
+        elif address == HR_MOVE_POSE_COMMAND:
+            self.move_pose_command()
+        elif address == HR_STOP_COMMAND:
+            self.stop_current_command()
+        elif address == HR_NEW_CALIBRATION_REQUEST:
+            self.request_new_calibration()
+        elif address == HR_START_AUTO_CALIBRATION:
+            self.start_auto_calibration()
+        elif address == HR_START_MANUAL_CALIBRATION:
+            self.start_manual_calibration()
+        elif address == HR_SELECT_TOOL_FROM_ID:
+            self.select_tool(values[0])
+        elif address == HR_OPEN_GRIPPER:
+            self.open_gripper_command(values[0])
+        elif address == HR_CLOSE_GRIPPER:
+            self.close_gripper_command(values[0])
+        elif address == HR_PULL_AIR_VACUUM_PUMP:
+            self.pull_air_vacuum_pump_command(values[0])
+        elif address == HR_PUSH_AIR_VACUUM_PUMP:
+            self.push_air_vacuum_pump_command(values[0])
+        elif address == HR_PING_AND_SET_CONVEYOR:
+            self.ping_and_set_conveyor()
+        elif address == HR_REMOVE_CONVEYOR_WITH_ID:
+            self.remove_conveyor_with_id()
+        elif address == HR_CONTROL_CONVEYOR:
+            self.control_conveyor()
+        elif address == HR_STOP_CONVEYOR_WITH_ID:
+            self.stop_conveyor()
+
+    def request_new_calibration(self):
+        self.call_ros_service('/niryo_robot/joints_interface/request_new_calibration', Trigger)
+
+    def start_auto_calibration(self):
+        self.__set_command_in_progress()
+        response = self.call_ros_service('/niryo_robot/joints_interface/calibrate_motors', SetInt, 1)
+        self.__set_command_done(response.status)
+
+    def start_manual_calibration(self):
+        self.call_ros_service('/niryo_robot/joints_interface/calibrate_motors', SetInt, 2)
+
+    def activate_learning_mode(self, activate):
+        activate = int(activate >= 1)
+        self.call_ros_service('/niryo_robot/learning_mode/activate', SetBool, activate)
+
+    def stop_current_command(self):
+        if self.is_action_client_running:
+            self.cmd_action_client.cancel_goal()
+
+    def select_tool(self, tool_id):
+        self.call_ros_service('/niryo_robot/update_tool', SetInt, int(tool_id))
+
+    def open_gripper_command(self, tool_id):
+        speed = self.getValuesOffset(HR_GRIPPER_OPEN_SPEED, 1)[0]
+        if speed < 100:
+            speed = 100
+        elif speed > 1000:
+            speed = 1000
+        self.open_gripper(tool_id, speed)
+
+    def close_gripper_command(self, tool_id):
+        speed = self.getValuesOffset(HR_GRIPPER_CLOSE_SPEED, 1)[0]
+        if speed < 100:
+            speed = 100
+        elif speed > 1000:
+            speed = 1000
+        self.close_gripper(tool_id, speed)
+
+    def pull_air_vacuum_pump_command(self, tool_id):
+        self.pull_air_vacuum_pump(tool_id)
+
+    def push_air_vacuum_pump_command(self, tool_id):
+        self.push_air_vacuum_pump(tool_id)
+
+    def move_joints_command(self):
+        joints_raw_values = self.getValuesOffset(HR_JOINTS, 6)
+        joints = []
+        for j in joints_raw_values:
+            joints.append(handle_negative_hr(j) / 1000.0)
+        self.move_joints(joints)
+
+    def move_pose_command(self):
+        pose_raw_values = self.getValuesOffset(HR_POSITION_X, 6)
+        pose = []
+        for p in pose_raw_values:
+            pose.append(handle_negative_hr(p) / 1000.0)
+        self.move_pose(pose)
+
+    def open_gripper(self, gripper_id, speed):
+        goal = RobotMoveGoal()
+        goal.cmd.cmd_type = MoveCommandType.TOOL
+        goal.cmd.tool_cmd.tool_id = int(gripper_id)
+        goal.cmd.tool_cmd.cmd_type = self.tool_command_list['open_gripper']
+        goal.cmd.tool_cmd.gripper_open_speed = speed
+        self.start_execution_thread(goal)
+
+    def close_gripper(self, gripper_id, speed):
+        goal = RobotMoveGoal()
+        goal.cmd.cmd_type = MoveCommandType.TOOL
+        goal.cmd.tool_cmd.tool_id = int(gripper_id)
+        goal.cmd.tool_cmd.cmd_type = self.tool_command_list['close_gripper']
+        goal.cmd.tool_cmd.gripper_close_speed = speed
+        self.start_execution_thread(goal)
+
+    def pull_air_vacuum_pump(self, vacuum_pump_id):
+        goal = RobotMoveGoal()
+        goal.cmd.cmd_type = MoveCommandType.TOOL
+        goal.cmd.tool_cmd.tool_id = int(vacuum_pump_id)
+        goal.cmd.tool_cmd.cmd_type = self.tool_command_list['pull_air_vacuum_pump']
+        self.start_execution_thread(goal)
+
+    def push_air_vacuum_pump(self, vacuum_pump_id):
+        goal = RobotMoveGoal()
+        goal.cmd.cmd_type = MoveCommandType.TOOL
+        goal.cmd.tool_cmd.tool_id = int(vacuum_pump_id)
+        goal.cmd.tool_cmd.cmd_type = self.tool_command_list['push_air_vacuum_pump']
+        self.start_execution_thread(goal)
+
+    def move_pose(self, pose):
+        goal = RobotMoveGoal()
+        goal.cmd.cmd_type = RobotCommand.MOVE_ONLY
+        goal.cmd.arm_cmd.cmd_type = MoveCommandType.POSE
+        goal.cmd.arm_cmd.position.x = pose[0]
+        goal.cmd.arm_cmd.position.y = pose[1]
+        goal.cmd.arm_cmd.position.z = pose[2]
+        goal.cmd.arm_cmd.rpy.roll = pose[3]
+        goal.cmd.arm_cmd.rpy.pitch = pose[4]
+        goal.cmd.arm_cmd.rpy.yaw = pose[5]
+        self.start_execution_thread(goal)
+
+    def move_joints(self, joints):
+        goal = RobotMoveGoal()
+        goal.cmd.cmd_type = RobotCommand.MOVE_ONLY
+        goal.cmd.arm_cmd.cmd_type = MoveCommandType.JOINTS
+        goal.cmd.arm_cmd.joints = joints
+
+        self.start_execution_thread(goal)
+
+    def start_execution_thread(self, goal):
+        if not self.execution_thread.is_alive():
+            self.execution_thread = threading.Thread(target=self.execute_action,
+                                                     args=['niryo_robot_commander/robot_action', RobotMoveAction, goal])
+            self.execution_thread.start()
+
+    def execute_action(self, action_name, action_msg_type, goal):
+        self.setValuesOffset(HR_IS_EXECUTING_CMD, [1])
+        self.setValuesOffset(HR_LAST_ROBOT_CMD_RESULT, [0])
+        self.cmd_action_client = actionlib.SimpleActionClient(action_name, action_msg_type)
+
+        # Connect to server
+        if not self.cmd_action_client.wait_for_server(rospy.Duration(0.5)):
+            self.setValuesOffset(HR_IS_EXECUTING_CMD, [0])
+            self.setValuesOffset(HR_LAST_ROBOT_CMD_RESULT, [7])
+            return
+
+        # Send goal and check response
+        self.cmd_action_client.send_goal(goal)
+
+        self.is_action_client_running = True
+        if not self.cmd_action_client.wait_for_result(timeout=rospy.Duration(15.0)):
+            self.cmd_action_client.cancel_goal()
+            self.cmd_action_client.stop_tracking_goal()
+            self.setValuesOffset(HR_IS_EXECUTING_CMD, [0])
+            self.setValuesOffset(HR_LAST_ROBOT_CMD_RESULT, [6])
+            self.is_action_client_running = False
+            return
+
+        self.is_action_client_running = False
+        goal_state = self.cmd_action_client.get_state()
+
+        if goal_state != GoalStatus.SUCCEEDED:
+            self.cmd_action_client.stop_tracking_goal()
+
+        self.setValuesOffset(HR_IS_EXECUTING_CMD, [0])
+
+        if goal_state == GoalStatus.REJECTED:
+            self.setValuesOffset(HR_LAST_ROBOT_CMD_RESULT, [2])
+        elif goal_state == GoalStatus.ABORTED:
+            self.setValuesOffset(HR_LAST_ROBOT_CMD_RESULT, [3])
+        elif goal_state == GoalStatus.PREEMPTED:
+            self.setValuesOffset(HR_LAST_ROBOT_CMD_RESULT, [4])
+        elif goal_state != GoalStatus.SUCCEEDED:
+            self.setValuesOffset(HR_LAST_ROBOT_CMD_RESULT, [5])
+        else:
+            self.setValuesOffset(HR_LAST_ROBOT_CMD_RESULT, [1])
+
+    def ping_and_set_conveyor(self):
+        """
+        Scan for a conveyor connected and return it's ID (attribute a new ID internally)
+        :return: set HR_LAST_ROBOT_CMD_RESULT to CommandStatus Enum && HR_LAST_ROBOT_CMD_DATA_RESULT
+        to the conveyor_id on result == CommandStatus.SUCCESS
+        :rtype:
+        """
+        self.__set_command_in_progress()
+        response = self.call_ros_service('/niryo_robot/conveyor/ping_and_set_conveyor',
+                                         SetConveyor, 1, 0)
+        self.__set_command_done(response.status)
+        print(response)
+        if response == CommandStatus.SUCCESS:
+            self.setValuesOffset(HR_LAST_ROBOT_CMD_DATA_RESULT, [response.id])
+
+    def remove_conveyor_with_id(self):
+        """
+        Remove (unset) conveyor with ID given at HR_CONTROL_CONVEYOR_ID
+        :return: set HR_LAST_ROBOT_CMD_RESULT to CommandStatus Enum
+        :rtype:
+        """
+        self.__set_command_in_progress()
+        conveyor_id = self.getValuesOffset(HR_CONTROL_CONVEYOR_ID, 1)[0]
+        response = self.call_ros_service('/niryo_robot/conveyor/ping_and_set_conveyor',
+                                         SetConveyor, 2, conveyor_id)
+        print(response)
+        self.__set_command_done(response.status)
+
+    def control_conveyor(self):
+        """
+        Control the conveyor with ID given at HR_CONTROL_CONVEYOR_ID with speed HR_CONTROL_CONVEYOR_SPEED
+         and direction HR_CONTROL_CONVEYOR_DIRECTION
+        :return: set HR_LAST_ROBOT_CMD_RESULT to CommandStatus Enum
+        :rtype:
+        """
+        self.__set_command_in_progress()
+        conveyor_speed = self.getValuesOffset(HR_CONTROL_CONVEYOR_SPEED, 1)[0]
+        if conveyor_speed > 100:
+            conveyor_speed = 100
+        elif conveyor_speed < 0:
+            conveyor_speed = 0
+
+        conveyor_direction = self.getValuesOffset(HR_CONTROL_CONVEYOR_DIRECTION, 1)[0]
+        conveyor_direction = handle_negative_hr(conveyor_direction)
+
+        conveyor_id = self.getValuesOffset(HR_CONTROL_CONVEYOR_ID, 1)[0]
+        response = self.call_ros_service('/niryo_robot/conveyor/control_conveyor',
+                                         ControlConveyor, conveyor_id, True, int(conveyor_speed), conveyor_direction)
+        self.__set_command_done(response.status)
+
+    def stop_conveyor(self):
+        """
+        Stop conveyor with ID given at HR_CONTROL_CONVEYOR_ID
+        :return: set HR_LAST_ROBOT_CMD_RESULT to CommandStatus Enum
+        :rtype:
+        """
+        self.__set_command_in_progress()
+        conveyor_id = self.getValuesOffset(HR_CONTROL_CONVEYOR_ID, 1)[0]
+        response = self.call_ros_service('/niryo_robot/conveyor/control_conveyor',
+                                         ControlConveyor, conveyor_id, False, 0, 1)
+        self.__set_command_done(response.status)
diff --git a/niryo_robot_modbus/scripts/input_register_data_block.py b/niryo_robot_modbus/scripts/input_register_data_block.py
new file mode 100644
index 000000000..5e8ea64b9
--- /dev/null
+++ b/niryo_robot_modbus/scripts/input_register_data_block.py
@@ -0,0 +1,159 @@
+#!/usr/bin/env python
+
+import rospy
+from data_block import DataBlock
+
+# Messages
+from sensor_msgs.msg import JointState
+from std_msgs.msg import Bool, Int32
+
+from conveyor_interface.msg import ConveyorFeedbackArray
+from niryo_robot_msgs.msg import HardwareStatus, RobotState, SoftwareVersion
+from niryo_robot_rpi.msg import LogStatus
+
+"""
+ - Each address contains a 16 bits value
+ - READ ONLY registers
+
+ --> State of the robot
+"""
+
+IR_JOINTS = 0
+IR_POSITION_X = 10
+IR_POSITION_Y = 11
+IR_POSITION_Z = 12
+IR_ORIENTATION_X = 13
+IR_ORIENTATION_Y = 14
+IR_ORIENTATION_Z = 15
+
+IR_SELECTED_TOOL_ID = 200
+
+IR_LEARNING_MODE = 300
+
+IR_MOTORS_CONNECTION_UP = 400
+IR_CALIBR_NEEDED = 401
+IR_CALIBR_IN_PROGRESS = 402
+IR_RPI_TEMPERATURE = 403
+IR_RPI_AVAILABLE_SPACE = 404
+IR_RPI_ROS_LOG_SIZE = 405
+IR_RPI_VERSION_N1 = 406
+IR_RPI_VERSION_N2 = 407
+IR_RPI_VERSION_N3 = 408
+IR_HARDWARE_VERSION = 409
+
+IR_CONVEYOR_1_CONNECTION_STATE = 530
+IR_CONVEYOR_1_CONTROL_STATUS = 531
+IR_CONVEYOR_1_SPEED = 532
+IR_CONVEYOR_1_DIRECTION = 533
+
+IR_CONVEYOR_2_CONNECTION_STATE = 540
+IR_CONVEYOR_2_CONTROL_STATUS = 541
+IR_CONVEYOR_2_SPEED = 542
+IR_CONVEYOR_2_DIRECTION = 543
+
+
+def handle_negative(val):
+    """
+    Positive number : 0 - 32767
+    Negative number : 32768 - 65535
+    """
+    if val < 0:
+        val = (1 << 15) - val
+    return val
+
+
+class InputRegisterDataBlock(DataBlock):
+
+    def __init__(self):
+        super(InputRegisterDataBlock, self).__init__()
+        self.joint_state_sub = None
+        self.robot_state_sub = None
+        self.selected_tool_id_sub = None
+        self.learning_mode_sub = None
+        self.hardware_status_sub = None
+        self.ros_log_status_sub = None
+        self.software_version_sub = None
+        self.conveyor_feedback_sub = None
+
+    def start_ros_subscribers(self):
+        self.joint_state_sub = rospy.Subscriber('/joint_states', JointState, self.sub_joint_states)
+        self.robot_state_sub = rospy.Subscriber('/niryo_robot/robot_state', RobotState, self.sub_robot_state)
+        self.selected_tool_id_sub = rospy.Subscriber('/niryo_robot_hardware/tools/current_id', Int32, self.sub_selected_tool_id)
+        self.learning_mode_sub = rospy.Subscriber('/niryo_robot/learning_mode/state', Bool, self.sub_learning_mode)
+        self.hardware_status_sub = rospy.Subscriber('/niryo_robot_hardware_interface/hardware_status', HardwareStatus,
+                                                    self.sub_hardware_status)
+        self.ros_log_status_sub = rospy.Subscriber('/niryo_robot_rpi/ros_log_status', LogStatus,
+                                                   self.sub_ros_log_status)
+        self.software_version_sub = rospy.Subscriber('/niryo_robot_hardware_interface/software_version',
+                                                     SoftwareVersion, self.sub_software_version)
+
+        self.conveyor_feedback_sub = rospy.Subscriber('/niryo_robot/conveyor/feedback', ConveyorFeedbackArray,
+                                                      self.sub_conveyor_feedback)
+
+    def stop_ros_subscribers(self):
+        self.joint_state_sub.unregister()
+        self.robot_state_sub.unregister()
+        self.selected_tool_id_sub.unregister()
+        self.learning_mode_sub.unregister()
+        self.hardware_status_sub.unregister()
+        self.ros_log_status_sub.unregister()
+        self.software_version_sub.unregister()
+        self.conveyor_feedback_sub.unregister()
+
+    def sub_joint_states(self, msg):
+        joints = []
+        for i, joint in enumerate(msg.position):
+            joints.append(handle_negative(int(joint * 1000)))
+
+        self.setValuesOffset(IR_JOINTS, joints)
+
+    def sub_robot_state(self, msg):
+        pos = msg.position
+        rpy = msg.rpy
+        self.setValuesOffset(IR_POSITION_X, handle_negative(int(pos.x * 1000)))
+        self.setValuesOffset(IR_POSITION_Y, handle_negative(int(pos.y * 1000)))
+        self.setValuesOffset(IR_POSITION_Z, handle_negative(int(pos.z * 1000)))
+        self.setValuesOffset(IR_ORIENTATION_X, handle_negative(int(rpy.roll * 1000)))
+        self.setValuesOffset(IR_ORIENTATION_Y, handle_negative(int(rpy.pitch * 1000)))
+        self.setValuesOffset(IR_ORIENTATION_Z, handle_negative(int(rpy.yaw * 1000)))
+
+    def sub_selected_tool_id(self, msg):
+        value = int(msg.data)
+        self.setValuesOffset(IR_SELECTED_TOOL_ID, value)
+
+    def sub_learning_mode(self, msg):
+        value = int(msg.data)
+        self.setValuesOffset(IR_LEARNING_MODE, [value])
+
+    def sub_hardware_status(self, msg):
+        self.setValuesOffset(IR_MOTORS_CONNECTION_UP, [int(msg.connection_up)])
+        self.setValuesOffset(IR_CALIBR_NEEDED, [int(msg.calibration_needed)])
+        self.setValuesOffset(IR_CALIBR_IN_PROGRESS, [int(msg.calibration_in_progress)])
+        self.setValuesOffset(IR_RPI_TEMPERATURE, [int(msg.rpi_temperature)])
+        self.setValuesOffset(IR_HARDWARE_VERSION, [int(msg.hardware_version)])
+
+    def sub_ros_log_status(self, msg):
+        self.setValuesOffset(IR_RPI_AVAILABLE_SPACE, [int(msg.available_disk_size)])
+        self.setValuesOffset(IR_RPI_ROS_LOG_SIZE, [int(msg.log_size)])
+
+    def sub_software_version(self, msg):
+        version = msg.rpi_image_version
+        if version != '':
+            v_maj, v_min, v_patch = version.split('.')
+            self.setValuesOffset(IR_RPI_VERSION_N1, [int(v_maj)])
+            self.setValuesOffset(IR_RPI_VERSION_N2, [int(v_min)])
+            self.setValuesOffset(IR_RPI_VERSION_N3, [int(v_patch)])
+
+    def sub_conveyor_feedback(self, conveyor_array_feedback):
+        if len(conveyor_array_feedback.conveyors) > 0:
+            conveyor_1 = conveyor_array_feedback.conveyors[0]
+            self.setValuesOffset(IR_CONVEYOR_1_CONNECTION_STATE, int(conveyor_1.connection_state))
+            self.setValuesOffset(IR_CONVEYOR_1_CONTROL_STATUS, int(conveyor_1.running))
+            self.setValuesOffset(IR_CONVEYOR_1_SPEED, int(conveyor_1.speed))
+            self.setValuesOffset(IR_CONVEYOR_1_DIRECTION, handle_negative(int(conveyor_1.direction)))
+        if len(conveyor_array_feedback.conveyors) > 1:
+            conveyor_2 = conveyor_array_feedback.conveyors[1]
+            self.setValuesOffset(IR_CONVEYOR_2_CONNECTION_STATE, int(conveyor_2.connection_state))
+            self.setValuesOffset(IR_CONVEYOR_2_CONTROL_STATUS, int(conveyor_2.running))
+            self.setValuesOffset(IR_CONVEYOR_2_SPEED, int(conveyor_2.speed))
+            self.setValuesOffset(IR_CONVEYOR_2_DIRECTION, handle_negative(int(conveyor_2.direction)))
diff --git a/niryo_robot_modbus/scripts/modbus_internal_test.py b/niryo_robot_modbus/scripts/modbus_internal_test.py
new file mode 100755
index 000000000..c82309e50
--- /dev/null
+++ b/niryo_robot_modbus/scripts/modbus_internal_test.py
@@ -0,0 +1,240 @@
+#!/usr/bin/env python
+
+# ! You need to launch the server first !
+
+from pymodbus.client.sync import ModbusTcpClient
+
+from input_register_data_block import *
+from discrete_input_data_block import *
+from coil_data_block import *
+from holding_register_data_block import *
+
+import time
+
+
+def number_to_raw_data(val):
+    if val < 0:
+        val = (1 << 15) - val
+    return val
+
+
+def raw_data_to_number(val):
+    if (val >> 15) == 1:
+        val = - (val & 0x7FFF)
+    return val
+
+
+def wait_end_of_execution(client):
+    # Wait for end of Move command
+    while client.read_holding_registers(HR_IS_EXECUTING_CMD, count=1).registers[0] == 1:
+        time.sleep(0.01)
+
+
+def test_coil_data(client):
+    print("---- COIL DATA BLOCK TEST BEGINS ----")
+
+    digital_IO_modes = client.read_discrete_inputs(DI_DIGITAL_IO_MODE, 8)
+    print("BEFORE MODIFICATION DIGITAL IO MODES: {}".format(digital_IO_modes.bits))
+
+    digital_IO_states = client.read_discrete_inputs(DI_DIGITAL_IO_STATE, 8)
+    print("BEFORE MODIFICATION DIGITAL IO STATES: {}".format(digital_IO_states.bits))
+
+    # Set digital IO mode - output
+    client.write_coil(0, False)
+    client.write_coil(3, False)
+
+    # Set digital IO state
+    client.write_coil(100, False)
+    client.write_coil(103, True)
+
+    time.sleep(0.2)
+
+    digital_IO_modes = client.read_discrete_inputs(DI_DIGITAL_IO_MODE, 8)
+    print("AFTER MODIFICATION DIGITAL IO MODES: {}".format(digital_IO_modes.bits))
+
+    digital_IO_states = client.read_discrete_inputs(DI_DIGITAL_IO_STATE, 8)
+    print("AFTER MODIFICATION DIGITAL IO STATES: {}".format(digital_IO_states.bits))
+
+    print("---- COIL DATA BLOCK TEST ENDS ----")
+
+
+def test_discrete_input(client):
+    print("---- DISCRETE INPUT TEST BEGINS ----")
+
+    digital_IO_modes = client.read_discrete_inputs(DI_DIGITAL_IO_MODE, 8)
+    print("DIGITAL IO MODES: {}".format(digital_IO_modes.bits))
+
+    digital_IO_states = client.read_discrete_inputs(DI_DIGITAL_IO_STATE, 8)
+    print("DIGITAL IO STATES: {}".format(digital_IO_states.bits))
+
+    print("---- DISCRETE INPUT TEST ENDS ----")
+
+
+def test_input_register(client):
+    print("---- INPUT REGISTERS TEST BEGINS ----")
+
+    joints_registers = client.read_input_registers(IR_JOINTS, 6)
+    joints = [raw_data_to_number(item) / 1000.00 for item in joints_registers.registers[:]]
+    print("JOINTS: {}".format(joints))
+
+    pose_registers = client.read_input_registers(IR_POSITION_X, 6)
+    pose_list = [raw_data_to_number(item) / 1000.00 for item in pose_registers.registers[:]]
+    print("POSE: {}".format(pose_list))
+
+    selected_tool_registers = client.read_input_registers(IR_SELECTED_TOOL_ID, 1)
+    print("SELECTED TOOL: {}".format(selected_tool_registers.registers[0]))
+
+    learning_mode_registers = client.read_input_registers(IR_LEARNING_MODE, 1)
+    print("LEARNING MODE: {}".format(learning_mode_registers.registers[0]))
+
+    hardware_status_registers = client.read_input_registers(IR_MOTORS_CONNECTION_UP, 10)
+    print("HW STATUS / MOTORS CONNECTION UP: {}".format(hardware_status_registers.registers[0]))
+    print("HW STATUS / CALIBRATION NEEDED: {}".format(hardware_status_registers.registers[1]))
+    print("HW STATUS / CALIBRATION IN PROGRESS: {}".format(hardware_status_registers.registers[2]))
+    print("HW STATUS / RPI TEMPERATURE: {}".format(hardware_status_registers.registers[3]))
+    print("HW STATUS / RPI AVAILABLE SPACE: {}".format(hardware_status_registers.registers[4]))
+    print("HW STATUS / RPI ROS LOG SIZE: {}".format(hardware_status_registers.registers[5]))
+    print("HW STATUS / RPI IMAGE VERSION: {}".format(hardware_status_registers.registers[6:9]))
+    print("HW STATUS / HARDWARE_VERSION: {}".format(hardware_status_registers.registers[9]))
+
+    conveyor_1_registers = client.read_input_registers(IR_CONVEYOR_1_CONNECTION_STATE, 4)
+    print("CONVEYOR 1 STATE: {}".format(conveyor_1_registers.registers[0]))
+    print("CONVEYOR 1 CONTROL STATUS: {}".format(conveyor_1_registers.registers[1]))
+    print("CONVEYOR 1 SPEED: {}".format(conveyor_1_registers.registers[2]))
+    print("CONVEYOR 1 DIRECTION: {}".format(conveyor_1_registers.registers[3]))
+
+    conveyor_2_registers = client.read_input_registers(IR_CONVEYOR_2_CONNECTION_STATE, 4)
+    print("CONVEYOR 1 STATE: {}".format(conveyor_2_registers.registers[0]))
+    print("CONVEYOR 1 CONTROL STATUS: {}".format(conveyor_2_registers.registers[1]))
+    print("CONVEYOR 1 SPEED: {}".format(conveyor_2_registers.registers[2]))
+    print("CONVEYOR 1 DIRECTION: {}".format(conveyor_2_registers.registers[3]))
+
+    print("---- INPUT REGISTERS TEST ENDS ----")
+
+
+def test_holding_register(client):
+    print("---- HOLDING REGISTER TEST BEGINS ----")
+
+    print("Force recalibration")
+    client.write_register(HR_NEW_CALIBRATION_REQUEST, 1)
+
+    print("Calibrate Robot if needed")
+    client.write_register(HR_START_AUTO_CALIBRATION, 1)
+    time.sleep(1)
+
+    wait_end_of_execution(client)
+    print("Calibration ended")
+
+    print("Send a Joint Move command to the robot")
+    joints_to_send = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+
+    client.write_registers(HR_JOINTS, joints_to_send)
+    client.write_register(HR_MOVE_JOINTS_COMMAND, 1)
+    time.sleep(1)
+    wait_end_of_execution(client)
+
+    print("Joint Move command is finished")
+
+    print("Send a move pose command to the robot")
+    pose_to_send = [0.304, 0.231, 0.322, 0.0, 0.178, 0.648]
+    pose_to_send = list(map(lambda j: int(number_to_raw_data(j * 1000)), pose_to_send))
+
+    client.write_register(HR_POSITION_X, pose_to_send[0])
+    client.write_register(HR_POSITION_Y, pose_to_send[1])
+    client.write_register(HR_POSITION_Z, pose_to_send[2])
+    client.write_register(HR_ORIENTATION_X, pose_to_send[3])
+    client.write_register(HR_ORIENTATION_Y, pose_to_send[4])
+    client.write_register(HR_ORIENTATION_Z, pose_to_send[5])
+    client.write_register(HR_MOVE_POSE_COMMAND, 1)
+    time.sleep(1)
+    wait_end_of_execution(client)
+
+    print("Move pose command is finished")
+
+    print("Testing tool stuff begins")
+
+    client.write_register(HR_OPEN_GRIPPER, 1)
+    wait_end_of_execution(client)
+    client.write_register(HR_CLOSE_GRIPPER, 1)
+    wait_end_of_execution(client)
+    client.write_register(HR_PULL_AIR_VACUUM_PUMP, 1)
+    wait_end_of_execution(client)
+    client.write_register(HR_PUSH_AIR_VACUUM_PUMP, 1)
+    wait_end_of_execution(client)
+
+    print("Testing tool stuff end")
+
+    learning_mode = client.read_holding_registers(HR_LEARNING_MODE, 1)
+    print("Learning mode current state: {}".format(learning_mode.registers[0]))
+
+    print("Settings learning mode to {}".format(not learning_mode.registers[0]))
+    client.write_register(HR_LEARNING_MODE, not learning_mode.registers[0])
+    time.sleep(1)
+    print("Settings learning mode to previous state {}".format(not learning_mode.registers[0]))
+    client.write_register(HR_LEARNING_MODE, learning_mode.registers[0])
+
+    print("---- CONVEYOR HOLDING REGISTER TEST BEGINS ----")
+    client.write_register(HR_PING_AND_SET_CONVEYOR, 1)
+    wait_end_of_execution(client)
+    conveyor_id_scanned = client.read_holding_registers(HR_LAST_ROBOT_CMD_DATA_RESULT, 1).registers[0]
+    print("New conveyor ID scanned: {}".format(conveyor_id_scanned))
+
+    if conveyor_id_scanned is 0:
+        print("Starting conveyor at full speed in forward...")
+        client.write_register(HR_CONTROL_CONVEYOR_SPEED, 100)
+        client.write_register(HR_CONTROL_CONVEYOR_DIRECTION, 1)
+        client.write_register(HR_CONTROL_CONVEYOR_ID, conveyor_id_scanned)
+        client.write_register(HR_CONTROL_CONVEYOR, 1)
+        wait_end_of_execution(client)
+        print("Conveyor should be running now")
+        time.sleep(2)
+        print("Changing direction...")
+        client.write_register(HR_CONTROL_CONVEYOR_DIRECTION, 1)
+        wait_end_of_execution(client)
+        time.sleep(2)
+        print("Stopping ...")
+        client.write_register(HR_CONTROL_CONVEYOR_ID, conveyor_id_scanned)
+        client.write_register(HR_STOP_CONVEYOR_WITH_ID, 1)
+        wait_end_of_execution(client)
+        print("Conveyor should be stopped now")
+        print("Removing conveyor now...")
+        client.write_register(HR_CONTROL_CONVEYOR_ID, conveyor_id_scanned)
+        client.write_register(HR_REMOVE_CONVEYOR_WITH_ID, 1)
+        wait_end_of_execution(client)
+        print("Conveyor should be removed now")
+    else:
+        print("No conveyor scanned :'(")
+    print("---- CONVEYOR HOLDING REGISTER TEST ENDS ----")
+    print("---- HOLDING REGISTER TEST ENDS ----")
+
+
+if __name__ == '__main__':
+    need_test_coil_data = True
+    need_test_discrete_input = True
+    need_test_input_register = True
+    need_test_holding_register = True
+
+    modbus_ip_address = '127.0.0.1'
+    modbus_port = 5020
+
+    print "--- START"
+    modbus_tcp_client = ModbusTcpClient(modbus_ip_address, port=modbus_port)
+
+    modbus_tcp_client.connect()
+    print "Connected to modbus server"
+
+    if need_test_holding_register:
+        test_holding_register(modbus_tcp_client)
+
+    if need_test_coil_data:
+        test_coil_data(modbus_tcp_client)
+
+    if need_test_discrete_input:
+        test_discrete_input(modbus_tcp_client)
+
+    if need_test_input_register:
+        test_input_register(modbus_tcp_client)
+
+    modbus_tcp_client.close()
+    print "Close connection to modbus server"
+    print "--- END"
diff --git a/niryo_robot_modbus/scripts/modbus_server.py b/niryo_robot_modbus/scripts/modbus_server.py
new file mode 100755
index 000000000..5469cb418
--- /dev/null
+++ b/niryo_robot_modbus/scripts/modbus_server.py
@@ -0,0 +1,54 @@
+#!/usr/bin/env python
+
+import rospy
+
+from threading import Thread
+
+from pymodbus.server.sync import ModbusTcpServer
+from pymodbus.device import ModbusDeviceIdentification
+from pymodbus.datastore import ModbusSlaveContext, ModbusServerContext
+
+from coil_data_block import CoilDataBlock
+from discrete_input_data_block import DiscreteInputDataBlock
+from input_register_data_block import InputRegisterDataBlock
+from holding_register_data_block import HoldingRegisterDataBlock
+
+
+class ModbusServer:
+
+    def __init__(self, address, port):
+        self.coil = CoilDataBlock()
+        self.discrete_input = DiscreteInputDataBlock()
+        self.input_register = InputRegisterDataBlock()
+        self.holding_register = HoldingRegisterDataBlock()
+        self.store = ModbusSlaveContext(di=self.discrete_input,
+                                        co=self.coil, hr=self.holding_register, ir=self.input_register)
+        self.context = ModbusServerContext(slaves=self.store, single=True)
+
+        self.identity = ModbusDeviceIdentification()
+        self.identity.VendorName = 'pymodbus'
+        self.identity.VendorUrl = 'http://github.com/bashwork/pymodbus/'
+        self.identity.ProductName = 'pymodbus Server'
+        self.identity.ModelName = 'pymodbus Server'
+        self.identity.MajorMinorRevision = '1.0'
+
+        self.server = ModbusTcpServer(context=self.context,
+                                      framer=None, identity=self.identity, address=(address, port))
+
+    def start(self):
+        t = Thread(target=self.__start_server)
+        t.start()
+
+    def __start_server(self):
+        self.discrete_input.start_ros_subscribers()
+        self.input_register.start_ros_subscribers()
+        self.server.serve_forever()
+
+    def stop(self):
+        rospy.loginfo("Modbus - Stopping ROS subscribers")
+        self.discrete_input.stop_ros_subscribers()
+        self.input_register.stop_ros_subscribers()
+
+        rospy.loginfo("Modbus - Closing Server")
+        self.server.server_close()
+        self.server.shutdown()
diff --git a/niryo_robot_modbus/scripts/modbus_server_node.py b/niryo_robot_modbus/scripts/modbus_server_node.py
new file mode 100755
index 000000000..6966532e7
--- /dev/null
+++ b/niryo_robot_modbus/scripts/modbus_server_node.py
@@ -0,0 +1,29 @@
+#!/usr/bin/env python
+
+import rospy
+from modbus_server import ModbusServer
+
+
+class ModbusServerNode:
+    def __init__(self):
+        # Retrieved parameters    
+        self.__modbus_server_address = rospy.get_param("~server_address")
+        self.__modbus_server_port = rospy.get_param("~server_port")
+
+        # Create Modbus server
+        self.__modbus_server = ModbusServer(self.__modbus_server_address, self.__modbus_server_port)
+
+        # Stop on ROS shutdown
+        rospy.on_shutdown(self.__modbus_server.stop)
+
+        # Start server
+        self.__modbus_server.start()
+
+        rospy.loginfo("Modbus Node - Started")
+
+
+if __name__ == '__main__':
+    rospy.init_node('niryo_robot_modbus')
+    modbus_server_node = ModbusServerNode()
+    # Loop until ros shutdown
+    rospy.spin()
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/.setup_assistant b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/.setup_assistant
new file mode 100644
index 000000000..516f3caf8
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/.setup_assistant
@@ -0,0 +1,10 @@
+moveit_setup_assistant_config:
+  URDF:
+    package: niryo_robot_description
+    relative_path: urdf/niryo_ned.urdf
+  SRDF:
+    relative_path: config/niryo_ned.srdf
+  CONFIG:
+    author_name: Edouard Renard
+    author_email: e.renard@niryo.com
+    generated_timestamp: 1482343386
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/CMakeLists.txt b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/CMakeLists.txt
new file mode 100644
index 000000000..33dad0f4a
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(niryo_ned_moveit_config_standalone)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  PATTERN "setup_assistant.launch" EXCLUDE)
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/fake_controllers.yaml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/fake_controllers.yaml
new file mode 100644
index 000000000..a8b7547ab
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/fake_controllers.yaml
@@ -0,0 +1,9 @@
+controller_list:
+  - name: fake_niryo_robot_follow_joint_trajectory_controller
+    joints:
+      - joint_1
+      - joint_2
+      - joint_3
+      - joint_4
+      - joint_5
+      - joint_6
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/joint_limits.yaml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/joint_limits.yaml
new file mode 100644
index 000000000..88f614722
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/joint_limits.yaml
@@ -0,0 +1,34 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+joint_limits:
+  joint_1:
+    has_velocity_limits: true
+    max_velocity: 2.6
+    has_acceleration_limits: true
+    max_acceleration: 2.6
+  joint_2:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 1.5
+  joint_3:
+    has_velocity_limits: true
+    max_velocity: 2.5
+    has_acceleration_limits: true
+    max_acceleration: 1.6
+  joint_4:
+    has_velocity_limits: true
+    max_velocity: 3.14
+    has_acceleration_limits: true
+    max_acceleration: 3.14
+  joint_5:
+    has_velocity_limits: true
+    max_velocity: 3.14
+    has_acceleration_limits: true
+    max_acceleration: 3.14
+  joint_6:
+    has_velocity_limits: true
+    max_velocity: 3.14
+    has_acceleration_limits: true
+    max_acceleration: 3.14
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/kinematics.yaml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/kinematics.yaml
new file mode 100644
index 000000000..46a238632
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/kinematics.yaml
@@ -0,0 +1,4 @@
+arm:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/niryo_ned.srdf b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/niryo_ned.srdf
new file mode 100644
index 000000000..c8d38d4a9
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/niryo_ned.srdf
@@ -0,0 +1,66 @@
+<?xml version="1.0" ?>
+
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot name="niryo_ned">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="arm">
+        <chain base_link="base_link" tip_link="tool_link" />
+    </group>
+        <group name="tool">
+        <link name="tool_link" />
+    </group> 
+    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <group_state name="resting" group="arm">
+        <joint name="joint_1" value="0" />
+        <joint name="joint_2" value="0.6" />
+        <joint name="joint_3" value="-1.3" />
+        <joint name="joint_4" value="0" />
+        <joint name="joint_5" value="0" />
+        <joint name="joint_6" value="0" />
+    </group_state>
+    <group_state name="straight_up" group="arm">
+        <joint name="joint_1" value="0" />
+        <joint name="joint_2" value="0" />
+        <joint name="joint_3" value="1.57" />
+        <joint name="joint_4" value="0" />
+        <joint name="joint_5" value="0" />
+        <joint name="joint_6" value="0" />
+    </group_state>
+    <group_state name="straight_forward" group="arm">
+        <joint name="joint_1" value="0" />
+        <joint name="joint_2" value="0" />
+        <joint name="joint_3" value="0" />
+        <joint name="joint_4" value="0" />
+        <joint name="joint_5" value="0" />
+        <joint name="joint_6" value="0" />
+    </group_state>
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <end_effector name="tool_eef" parent_link="tool_link" group="tool" />
+    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    <disable_collisions link1="arm_link" link2="base_link" reason="Never" />
+    <disable_collisions link1="arm_link" link2="elbow_link" reason="Adjacent" />
+    <disable_collisions link1="arm_link" link2="hand_link" reason="Never" />
+    <disable_collisions link1="arm_link" link2="shoulder_link" reason="Adjacent" />
+    <disable_collisions link1="arm_link" link2="wrist_link" reason="Never" />
+    <disable_collisions link1="arm_link" link2="forearm_link" reason="Never" />
+    <disable_collisions link1="base_link" link2="elbow_link" reason="Never" />
+    <disable_collisions link1="base_link" link2="shoulder_link" reason="Adjacent" />
+    <disable_collisions link1="elbow_link" link2="forearm_link" reason="Adjacent" />
+    <disable_collisions link1="elbow_link" link2="tool_link" reason="Never" />
+    <disable_collisions link1="elbow_link" link2="hand_link" reason="Never" />
+    <disable_collisions link1="elbow_link" link2="shoulder_link" reason="Never" />
+    <disable_collisions link1="elbow_link" link2="wrist_link" reason="Never" />
+    <disable_collisions link1="forearm_link" link2="tool_link" reason="Never" />
+    <disable_collisions link1="forearm_link" link2="hand_link" reason="Never" />
+    <disable_collisions link1="forearm_link" link2="wrist_link" reason="Adjacent" />
+    <disable_collisions link1="tool_link" link2="hand_link" reason="Adjacent" />
+    <disable_collisions link1="tool_link" link2="wrist_link" reason="Default" />
+    <disable_collisions link1="hand_link" link2="wrist_link" reason="Adjacent" />
+</robot>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/ompl_planning.yaml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/ompl_planning.yaml
new file mode 100644
index 000000000..a48ae4f7c
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/ompl_planning.yaml
@@ -0,0 +1,149 @@
+planner_configs:
+  SBLkConfigDefault:
+    type: geometric::SBL
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  ESTkConfigDefault:
+    type: geometric::EST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+  LBKPIECEkConfigDefault:
+    type: geometric::LBKPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  BKPIECEkConfigDefault:
+    type: geometric::BKPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  KPIECEkConfigDefault:
+    type: geometric::KPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05 
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9 (0.0,1.]
+    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  RRTkConfigDefault:
+    type: geometric::RRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+  RRTConnectkConfigDefault:
+    type: geometric::RRTConnect
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  RRTstarkConfigDefault:
+    type: geometric::RRTstar
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+    delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
+  TRRTkConfigDefault:
+    type: geometric::TRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+    max_states_failed: 10  # when to start increasing temp. default: 10
+    temp_change_factor: 2.0  # how much to increase or decrease temp. default: 2.0
+    min_temperature: 10e-10  # lower limit of temp change. default: 10e-10
+    init_temperature: 10e-6  # initial temperature. default: 10e-6
+    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() 
+    frountierNodeRatio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+    k_constant: 0.0  # value used to normalize expresssion. default: 0.0 set in setup()
+  PRMkConfigDefault:
+    type: geometric::PRM
+    max_nearest_neighbors: 10  # use k nearest neighbors. default: 10
+  PRMstarkConfigDefault:
+    type: geometric::PRMstar
+  FMTkConfigDefault:
+    type: geometric::FMT
+    num_samples: 1000  # number of states that the planner should sample. default: 1000
+    radius_multiplier: 1.1  # multiplier used for the nearest neighbors search radius. default: 1.1
+    nearest_k: 1  # use Knearest strategy. default: 1
+    cache_cc: 1  # use collision checking cache. default: 1
+    heuristics: 0  # activate cost to go heuristics. default: 0
+    extended_fmt: 1  # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
+  BFMTkConfigDefault:
+    type: geometric::BFMT
+    num_samples: 1000  # number of states that the planner should sample. default: 1000
+    radius_multiplier: 1.0  # multiplier used for the nearest neighbors search radius. default: 1.0
+    nearest_k: 1  # use the Knearest strategy. default: 1
+    balanced: 0  # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
+    optimality: 1  # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
+    heuristics: 1  # activates cost to go heuristics. default: 1
+    cache_cc: 1  # use the collision checking cache. default: 1
+    extended_fmt: 1  # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
+  PDSTkConfigDefault:
+    type: geometric::PDST
+  STRIDEkConfigDefault:
+    type: geometric::STRIDE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05 
+    use_projected_distance: 0  # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
+    degree: 16  # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 
+    max_degree: 18  # max degree of a node in the GNAT. default: 12
+    min_degree: 12  # min degree of a node in the GNAT. default: 12
+    max_pts_per_leaf: 6  # max points per leaf in the GNAT. default: 6
+    estimated_dimension: 0.0  # estimated dimension of the free space. default: 0.0
+    min_valid_path_fraction: 0.2  # Accept partially valid moves above fraction. default: 0.2
+  BiTRRTkConfigDefault:
+    type: geometric::BiTRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    temp_change_factor: 0.1  # how much to increase or decrease temp. default: 0.1
+    init_temperature: 100  # initial temperature. default: 100
+    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() 
+    frountier_node_ratio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+    cost_threshold: 1e300  # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
+  LBTRRTkConfigDefault:
+    type: geometric::LBTRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05 
+    epsilon: 0.4  # optimality approximation factor. default: 0.4
+  BiESTkConfigDefault:
+    type: geometric::BiEST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  ProjESTkConfigDefault:
+    type: geometric::ProjEST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05 
+  LazyPRMkConfigDefault:
+    type: geometric::LazyPRM
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  LazyPRMstarkConfigDefault:
+    type: geometric::LazyPRMstar
+  SPARSkConfigDefault:
+    type: geometric::SPARS
+    stretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
+    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
+    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
+    max_failures: 1000  # maximum consecutive failure limit. default: 1000
+  SPARStwokConfigDefault:
+    type: geometric::SPARStwo
+    stretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
+    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
+    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
+    max_failures: 5000  # maximum consecutive failure limit. default: 5000
+arm:
+  planner_configs:
+    - SBLkConfigDefault
+    - ESTkConfigDefault
+    - LBKPIECEkConfigDefault
+    - BKPIECEkConfigDefault
+    - KPIECEkConfigDefault
+    - RRTkConfigDefault
+    - RRTConnectkConfigDefault
+    - RRTstarkConfigDefault
+    - TRRTkConfigDefault
+    - PRMkConfigDefault
+    - PRMstarkConfigDefault
+    - FMTkConfigDefault
+    - BFMTkConfigDefault
+    - PDSTkConfigDefault
+    - STRIDEkConfigDefault
+    - BiTRRTkConfigDefault
+    - LBTRRTkConfigDefault
+    - BiESTkConfigDefault
+    - ProjESTkConfigDefault
+    - LazyPRMkConfigDefault
+    - LazyPRMstarkConfigDefault
+    - SPARSkConfigDefault
+    - SPARStwokConfigDefault
+  projection_evaluator: joints(joint_1,joint_2)
+  longest_valid_segment_fraction: 0.005
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/ros_controllers.yaml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/ros_controllers.yaml
new file mode 100644
index 000000000..14e1046df
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/ros_controllers.yaml
@@ -0,0 +1,53 @@
+# Settings for ros_control control loop
+hardware_control_loop:
+    loop_hz: 25
+
+# Publish all joint states -----------------------
+joint_state_controller:
+    type: "joint_state_controller/JointStateController"
+    publish_rate: 50
+
+controller_list:
+    - name: "niryo_robot_follow_joint_trajectory_controller"
+      action_ns: follow_joint_trajectory
+      type: FollowJointTrajectory
+      default: true
+      joints:
+          - joint_1
+          - joint_2
+          - joint_3
+          - joint_4
+          - joint_5
+          - joint_6
+
+# Joint Trajectory Controller - position based -----------------------
+niryo_robot_follow_joint_trajectory_controller:
+    type: "position_controllers/JointTrajectoryController"
+    joints:
+        - joint_1
+        - joint_2
+        - joint_3
+        - joint_4
+        - joint_5
+        - joint_6
+    constraints:
+        goal_time: 1.0
+        stopped_velocity_tolerance: 0.05
+        joint_1: {trajectory: 0.5, goal: 0.2}
+        joint_2: {trajectory: 0.5, goal: 0.2}
+        joint_3: {trajectory: 0.5, goal: 0.2}
+        joint_4: {trajectory: 0.5, goal: 0.2}
+        joint_5: {trajectory: 1.0, goal: 0.3}
+        joint_6: {trajectory: 1.0, goal: 0.3}
+    stop_trajectory_duration: 1.0
+    state_publish_rate: 20
+    action_monitor_rate: 10
+
+# parameters for Gazebo ROS control plugin
+gazebo_ros_control/pid_gains:
+    joint_1: {p: 100, d: 1, i: 1, i_clamp: 1}
+    joint_2: {p: 100, d: 1, i: 1, i_clamp: 1}
+    joint_3: {p: 100, d: 1, i: 1, i_clamp: 1}
+    joint_4: {p: 100, d: 1, i: 1, i_clamp: 1}
+    joint_5: {p: 100, d: 1, i: 1, i_clamp: 1}
+    joint_6: {p: 100, d: 1, i: 1, i_clamp: 1}
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/sensors_3d.yaml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/sensors_3d.yaml
new file mode 100644
index 000000000..d2955dcd9
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/sensors_3d.yaml
@@ -0,0 +1,3 @@
+# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it
+sensors:
+  - {}
\ No newline at end of file
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/default_warehouse_db.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/default_warehouse_db.launch
new file mode 100644
index 000000000..69715bf8d
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/default_warehouse_db.launch
@@ -0,0 +1,15 @@
+<launch>
+
+  <arg name="reset" default="false"/>
+  <!-- If not specified, we'll use a default database location -->
+  <arg name="moveit_warehouse_database_path" default="$(find niryo_ned_moveit_config_standalone)/default_warehouse_mongo_db" />
+
+  <!-- Launch the warehouse with the configured database location -->
+  <include file="$(find niryo_ned_moveit_config_standalone)/launch/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
+  </include>
+
+  <!-- If we want to reset the database, run this node -->
+  <node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/demo.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/demo.launch
new file mode 100644
index 000000000..392b2871c
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/demo.launch
@@ -0,0 +1,49 @@
+<launch>
+
+    <!-- By default, we do not start a database (it can be large) -->
+    <arg name="db" default="false"/>
+    <!-- Allow user to specify database location -->
+    <arg name="db_path" default="$(find niryo_ned_moveit_config_standalone)/default_warehouse_mongo_db"/>
+
+    <!-- By default, we are not in debug mode -->
+    <arg name="debug" default="false"/>
+
+    <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
+    <include file="$(find niryo_ned_moveit_config_standalone)/launch/planning_context.launch">
+        <arg name="load_robot_description" value="true"/>
+    </include>
+
+    <!-- If needed, broadcast static tf for robot root -->
+
+
+    <!-- We do not have a robot connected, so publish fake joint states -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+        <param name="/use_gui" value="false"/>
+        <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
+    </node>
+
+    <!-- Given the published joint states, publish tf for the robot links -->
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true"
+          output="screen">
+    </node>
+
+    <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
+    <include file="$(find niryo_ned_moveit_config_standalone)/launch/move_group.launch">
+        <arg name="allow_trajectory_execution" value="true"/>
+        <arg name="fake_execution" value="true"/>
+        <arg name="info" value="true"/>
+        <arg name="debug" value="$(arg debug)"/>
+    </include>
+
+    <!-- Run Rviz and load the default config to see the state of the move_group node -->
+    <include file="$(find niryo_ned_moveit_config_standalone)/launch/moveit_rviz.launch">
+        <arg name="config" value="true"/>
+        <arg name="debug" value="$(arg debug)"/>
+    </include>
+
+    <!-- If database loading was enabled, start mongodb as well -->
+    <include file="$(find niryo_ned_moveit_config_standalone)/launch/default_warehouse_db.launch" if="$(arg db)">
+        <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+    </include>
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/fake_moveit_controller_manager.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/fake_moveit_controller_manager.launch.xml
new file mode 100644
index 000000000..b06a12301
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/fake_moveit_controller_manager.launch.xml
@@ -0,0 +1,9 @@
+<launch>
+
+  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
+  <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
+
+  <!-- The rest of the params are specific to this plugin -->
+  <rosparam file="$(find niryo_ned_moveit_config_standalone)/config/fake_controllers.yaml"/>
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/joystick_control.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/joystick_control.launch
new file mode 100644
index 000000000..9411f6e60
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/joystick_control.launch
@@ -0,0 +1,17 @@
+<launch>
+  <!-- See moveit_ros/visualization/doc/joystick.rst for documentation -->
+
+  <arg name="dev" default="/dev/input/js0" />
+
+  <!-- Launch joy node -->
+  <node pkg="joy" type="joy_node" name="joy">
+    <param name="dev" value="$(arg dev)" /> <!-- Customize this to match the location your joystick is plugged in on-->
+    <param name="deadzone" value="0.2" />
+    <param name="autorepeat_rate" value="40" />
+    <param name="coalesce_interval" value="0.025" />
+  </node>
+
+  <!-- Launch python interface -->
+  <node pkg="moveit_ros_visualization" type="moveit_joy.py" output="screen" name="moveit_joy"/>
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/move_group.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/move_group.launch
new file mode 100644
index 000000000..ad922016e
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/move_group.launch
@@ -0,0 +1,76 @@
+<launch>
+
+    <include file="$(find niryo_ned_moveit_config_standalone)/launch/planning_context.launch"/>
+
+    <!-- GDB Debug Option -->
+    <arg name="debug" default="false"/>
+    <arg unless="$(arg debug)" name="launch_prefix" value=""/>
+    <arg if="$(arg debug)" name="launch_prefix"
+         value="gdb -x $(find niryo_ned_moveit_config_standalone)/launch/gdb_settings.gdb --ex run --args"/>
+
+    <!-- Verbose Mode Option -->
+    <arg name="info" default="$(arg debug)"/>
+    <arg unless="$(arg info)" name="command_args" value=""/>
+    <arg if="$(arg info)" name="command_args" value="--debug"/>
+
+    <!-- move_group settings -->
+    <arg name="allow_trajectory_execution" default="true"/>
+    <arg name="fake_execution" default="false"/>
+    <arg name="max_safe_path_cost" default="1"/>
+    <arg name="jiggle_fraction" default="0.05"/>
+    <arg name="publish_monitored_planning_scene" default="true"/>
+
+    <!-- Planning Functionality -->
+    <include ns="move_group" file="$(find niryo_ned_moveit_config_standalone)/launch/planning_pipeline.launch.xml">
+        <arg name="pipeline" value="ompl"/>
+    </include>
+
+    <!-- Trajectory Execution Functionality -->
+    <include ns="move_group" file="$(find niryo_ned_moveit_config_standalone)/launch/trajectory_execution.launch.xml"
+             if="$(arg allow_trajectory_execution)">
+        <arg name="moveit_manage_controllers" value="true"/>
+        <arg name="moveit_controller_manager" value="niryo_ned" unless="$(arg fake_execution)"/>
+        <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
+    </include>
+
+    <!-- Sensors Functionality -->
+    <include ns="move_group" file="$(find niryo_ned_moveit_config_standalone)/launch/sensor_manager.launch.xml"
+             if="$(arg allow_trajectory_execution)">
+        <arg name="moveit_sensor_manager" value="niryo_ned"/>
+    </include>
+
+    <!-- Start the actual move_group node/action server -->
+    <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group"
+          respawn="false" output="log" args="$(arg command_args)">
+        <!-- Set the display variable, in case OpenGL code is used internally -->
+        <env name="DISPLAY" value="$(optenv DISPLAY :0)"/>
+
+        <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
+        <param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
+        <param name="jiggle_fraction" value="$(arg jiggle_fraction)"/>
+
+        <!-- load these non-default MoveGroup capabilities -->
+        <!--
+        <param name="capabilities" value="
+                      a_package/AwsomeMotionPlanningCapability
+                      another_package/GraspPlanningPipeline
+                      " />
+        -->
+
+        <!-- inhibit these default MoveGroup capabilities -->
+        <!--
+        <param name="disable_capabilities" value="
+                      move_group/MoveGroupKinematicsService
+                      move_group/ClearOctomapService
+                      " />
+        -->
+
+        <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
+        <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)"/>
+        <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)"/>
+        <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)"/>
+        <param name="planning_scene_monitor/publish_transforms_updates"
+               value="$(arg publish_monitored_planning_scene)"/>
+    </node>
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/moveit.rviz b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/moveit.rviz
new file mode 100644
index 000000000..8b2b768ad
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/moveit.rviz
@@ -0,0 +1,689 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 84
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /MotionPlanning1
+      Splitter Ratio: 0.74256
+    Tree Height: 664
+  - Class: rviz/Help
+    Name: Help
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: moveit_rviz_plugin/MotionPlanning
+      Enabled: true
+      MoveIt_Goal_Tolerance: 0
+      MoveIt_Planning_Time: 5
+      MoveIt_Use_Constraint_Aware_IK: true
+      MoveIt_Warehouse_Host: 127.0.0.1
+      MoveIt_Warehouse_Port: 33829
+      Name: MotionPlanning
+      Planned Path:
+        Links:
+          base_bellow_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          base_footprint:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          base_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          double_stereo_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_kinect_ir_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_kinect_rgb_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_prosilica_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_plate_frame:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_tilt_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_elbow_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_forearm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_forearm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_l_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_l_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_motor_accelerometer_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_palm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_r_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_r_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_shoulder_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_shoulder_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_upper_arm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_upper_arm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_wrist_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_wrist_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          laser_tilt_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_elbow_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_forearm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_forearm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_l_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_l_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_motor_accelerometer_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_palm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_r_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_r_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_shoulder_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_shoulder_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_upper_arm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_upper_arm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_wrist_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_wrist_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          sensor_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          torso_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+        Loop Animation: true
+        Robot Alpha: 0.5
+        Show Robot Collision: false
+        Show Robot Visual: true
+        Show Trail: false
+        State Display Time: 0.05 s
+        Trajectory Topic: move_group/display_planned_path
+      Planning Metrics:
+        Payload: 1
+        Show Joint Torques: false
+        Show Manipulability: false
+        Show Manipulability Index: false
+        Show Weight Limit: false
+      Planning Request:
+        Colliding Link Color: 255; 0; 0
+        Goal State Alpha: 1
+        Goal State Color: 250; 128; 0
+        Interactive Marker Size: 0
+        Joint Violation Color: 255; 0; 255
+        Planning Group: left_arm
+        Query Goal State: true
+        Query Start State: false
+        Show Workspace: false
+        Start State Alpha: 1
+        Start State Color: 0; 255; 0
+      Planning Scene Topic: move_group/monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 1
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.2
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Links:
+          base_bellow_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          base_footprint:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          base_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          double_stereo_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_kinect_ir_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_kinect_rgb_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_prosilica_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_plate_frame:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_tilt_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_elbow_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_forearm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_forearm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_l_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_l_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_motor_accelerometer_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_palm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_r_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_r_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_shoulder_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_shoulder_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_upper_arm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_upper_arm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_wrist_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_wrist_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          laser_tilt_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_elbow_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_forearm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_forearm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_l_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_l_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_motor_accelerometer_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_palm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_r_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_r_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_shoulder_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_shoulder_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_upper_arm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_upper_arm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_wrist_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_wrist_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          sensor_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          torso_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+        Robot Alpha: 0.5
+        Show Scene Robot: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: /world
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+  Value: true
+  Views:
+    Current:
+      Class: rviz/XYOrbit
+      Distance: 2.9965
+      Focal Point:
+        X: 0.113567
+        Y: 0.10592
+        Z: 2.23518e-07
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.509797
+      Target Frame: /world
+      Value: XYOrbit (rviz)
+      Yaw: 5.65995
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1337
+  Help:
+    collapsed: false
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Motion Planning:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Views:
+    collapsed: false
+  Width: 1828
+  X: 459
+  Y: -243
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/moveit_rviz.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/moveit_rviz.launch
new file mode 100644
index 000000000..6f89c7093
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/moveit_rviz.launch
@@ -0,0 +1,16 @@
+<launch>
+
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <arg name="config" default="false" />
+  <arg unless="$(arg config)" name="command_args" value="" />
+  <arg     if="$(arg config)" name="command_args" value="-d $(find niryo_ned_moveit_config_standalone)/launch/moveit.rviz" />
+  
+  <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
+	args="$(arg command_args)" output="screen">
+    <rosparam command="load" file="$(find niryo_ned_moveit_config_standalone)/config/kinematics.yaml"/>
+  </node>
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/niryo_ned_moveit_controller_manager.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/niryo_ned_moveit_controller_manager.launch.xml
new file mode 100644
index 000000000..56e48b5d9
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/niryo_ned_moveit_controller_manager.launch.xml
@@ -0,0 +1,7 @@
+<launch>
+    <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
+
+    <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
+
+    <rosparam file="$(find niryo_ned_moveit_config_standalone)/config/ros_controllers.yaml" />
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/niryo_ned_moveit_sensor_manager.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/niryo_ned_moveit_sensor_manager.launch.xml
new file mode 100644
index 000000000..5d02698d7
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/niryo_ned_moveit_sensor_manager.launch.xml
@@ -0,0 +1,3 @@
+<launch>
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/ompl_planning_pipeline.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/ompl_planning_pipeline.launch.xml
new file mode 100644
index 000000000..011c2f0f1
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/ompl_planning_pipeline.launch.xml
@@ -0,0 +1,22 @@
+<launch>
+
+  <!-- OMPL Plugin for MoveIt! -->
+  <arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
+
+  <!-- The request adapters (plugins) used when planning with OMPL. 
+       ORDER MATTERS -->
+  <arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
+				       default_planner_request_adapters/FixWorkspaceBounds
+				       default_planner_request_adapters/FixStartStateBounds
+				       default_planner_request_adapters/FixStartStateCollision
+				       default_planner_request_adapters/FixStartStatePathConstraints" />
+
+  <arg name="start_state_max_bounds_error" value="0.1" />
+
+  <param name="planning_plugin" value="$(arg planning_plugin)" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+
+  <rosparam command="load" file="$(find niryo_ned_moveit_config_standalone)/config/ompl_planning.yaml"/>
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/planning_context.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/planning_context.launch
new file mode 100644
index 000000000..1c65406f8
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/planning_context.launch
@@ -0,0 +1,24 @@
+<launch>
+  <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
+  <arg name="load_robot_description" default="false"/>
+
+  <!-- The name of the parameter under which the URDF is loaded -->
+  <arg name="robot_description" default="robot_description"/>
+
+  <!-- Load universal robot description format (URDF) -->
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro $(find niryo_robot_description)/urdf/ned/niryo_ned.urdf.xacro"/>
+
+  <!-- The semantic description that corresponds to the URDF -->
+  <param name="$(arg robot_description)_semantic" textfile="$(find niryo_ned_moveit_config_standalone)/config/niryo_ned.srdf" />
+  
+  <!-- Load updated joint limits (override information from URDF) -->
+  <group ns="$(arg robot_description)_planning">
+    <rosparam command="load" file="$(find niryo_ned_moveit_config_standalone)/config/joint_limits.yaml"/>
+  </group>
+
+  <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
+  <group ns="$(arg robot_description)_kinematics">
+    <rosparam command="load" file="$(find niryo_ned_moveit_config_standalone)/config/kinematics.yaml"/>
+  </group>
+  
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/planning_pipeline.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/planning_pipeline.launch.xml
new file mode 100644
index 000000000..39db0dfbe
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/planning_pipeline.launch.xml
@@ -0,0 +1,10 @@
+<launch>
+
+  <!-- This file makes it easy to include different planning pipelines; 
+       It is assumed that all planning pipelines are named XXX_planning_pipeline.launch  -->  
+
+  <arg name="pipeline" default="ompl" />
+
+  <include file="$(find niryo_ned_moveit_config_standalone)/launch/$(arg pipeline)_planning_pipeline.launch.xml" />
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/run_benchmark_ompl.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/run_benchmark_ompl.launch
new file mode 100644
index 000000000..85001aa12
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/run_benchmark_ompl.launch
@@ -0,0 +1,22 @@
+<launch>
+
+  <!-- This argument must specify the list of .cfg files to process for benchmarking -->
+  <arg name="cfg" />
+
+  <!-- Load URDF -->
+  <include file="$(find niryo_ned_moveit_config_standalone)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- Start the database -->
+  <include file="$(find niryo_ned_moveit_config_standalone)/launch/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
+  </include>  
+
+  <!-- Start Benchmark Executable -->
+  <node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
+    <rosparam command="load" file="$(find niryo_ned_moveit_config_standalone)/config/kinematics.yaml"/>
+    <rosparam command="load" file="$(find niryo_ned_moveit_config_standalone)/config/ompl_planning.yaml"/>
+  </node>
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/sensor_manager.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/sensor_manager.launch.xml
new file mode 100644
index 000000000..d29d7d466
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/sensor_manager.launch.xml
@@ -0,0 +1,14 @@
+<launch>
+
+  <!-- This file makes it easy to include the settings for sensor managers -->  
+
+  <!-- Params for the octomap monitor -->
+  <!--  <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
+  <param name="octomap_resolution" type="double" value="0.025" />
+  <param name="max_range" type="double" value="5.0" />
+
+  <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
+  <arg name="moveit_sensor_manager" default="niryo_ned" />
+  <include file="$(find niryo_ned_moveit_config_standalone)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
+  
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/setup_assistant.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/setup_assistant.launch
new file mode 100644
index 000000000..cebeb8bfb
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/setup_assistant.launch
@@ -0,0 +1,15 @@
+<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
+<launch>
+
+  <!-- Debug Info -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <!-- Run -->
+  <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant" 
+	args="--config_pkg=niryo_ned_moveit_config_standalone"
+	launch-prefix="$(arg launch_prefix)"
+        output="screen" />
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/trajectory_execution.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/trajectory_execution.launch.xml
new file mode 100644
index 000000000..56edaa6ed
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/trajectory_execution.launch.xml
@@ -0,0 +1,20 @@
+<launch>
+
+  <!-- This file makes it easy to include the settings for trajectory execution  -->  
+
+  <!-- Flag indicating whether MoveIt! is allowed to load/unload  or switch controllers -->
+  <arg name="moveit_manage_controllers" default="true"/>
+  <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
+
+  <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
+  <param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
+  <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
+  <param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
+  <!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
+  <param name="trajectory_execution/allowed_start_tolerance" value="0.0"/> <!-- default 0.01 -->
+  
+  <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
+  <arg name="moveit_controller_manager" default="niryo_ned" />
+  <include file="$(find niryo_ned_moveit_config_standalone)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
+  
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/warehouse.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/warehouse.launch
new file mode 100644
index 000000000..0c1d75c53
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/warehouse.launch
@@ -0,0 +1,15 @@
+<launch>
+  
+  <!-- The path to the database must be specified -->
+  <arg name="moveit_warehouse_database_path" />
+
+  <!-- Load warehouse parameters -->  
+  <include file="$(find niryo_ned_moveit_config_standalone)/launch/warehouse_settings.launch.xml" />
+
+  <!-- Run the DB server -->
+  <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
+    <param name="overwrite" value="false"/>
+    <param name="database_path" value="$(arg moveit_warehouse_database_path)" />
+  </node>
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/warehouse_settings.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/warehouse_settings.launch.xml
new file mode 100644
index 000000000..967e0ff4d
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/warehouse_settings.launch.xml
@@ -0,0 +1,16 @@
+<launch>
+  <!-- Set the parameters for the warehouse and run the mongodb server. -->
+
+  <!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->  
+  <arg name="moveit_warehouse_port" default="33829" /> 
+
+  <!-- The default DB host for moveit -->
+  <arg name="moveit_warehouse_host" default="localhost" /> 
+  
+  <!-- Set parameters for the warehouse -->
+  <param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
+  <param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
+  <param name="warehouse_exec" value="mongod" />
+  <param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/package.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/package.xml
new file mode 100644
index 000000000..868c8f107
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/package.xml
@@ -0,0 +1,32 @@
+<package>
+
+  <name>niryo_ned_moveit_config_standalone</name>
+  <version>3.0.0</version>
+  <description>
+     An automatically generated package with all the configuration and launch files for using Ned with the MoveIt! Motion Planning Framework
+  </description>
+  <author email="e.renard@niryo.com">Edouard Renard</author>
+  <maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>
+
+  <license>GPLv3</license>
+
+  <url type="website">http://moveit.ros.org/</url>
+  <url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
+  <url type="repository">https://github.com/ros-planning/moveit</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <run_depend>moveit_ros_move_group</run_depend>
+  <run_depend>moveit_kinematics</run_depend>
+  <run_depend>moveit_planners_ompl</run_depend>
+  <run_depend>moveit_ros_visualization</run_depend>
+  <run_depend>joint_state_publisher</run_depend>
+  <run_depend>robot_state_publisher</run_depend>
+  <run_depend>xacro</run_depend>
+  <!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
+  <!-- <run_depend>warehouse_ros_mongo</run_depend> -->
+  <build_depend>niryo_robot_description</build_depend>
+  <run_depend>niryo_robot_description</run_depend>
+
+
+</package>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/.setup_assistant b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/.setup_assistant
new file mode 100644
index 000000000..3c8ab0bbf
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/.setup_assistant
@@ -0,0 +1,11 @@
+moveit_setup_assistant_config:
+  URDF:
+    package: niryo_robot_description
+    relative_path: urdf/ned/niryo_ned_gripper1_n_camera.urdf.xacro
+    xacro_args: ""
+  SRDF:
+    relative_path: config/niryo_ned.srdf
+  CONFIG:
+    author_name: Rémi lux
+    author_email: r.lux@niryo.com
+    generated_timestamp: 1586943668
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/CMakeLists.txt b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/CMakeLists.txt
new file mode 100644
index 000000000..48e7018cb
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(niryo_ned_moveit_config_w_gripper1)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  PATTERN "setup_assistant.launch" EXCLUDE)
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/chomp_planning.yaml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/chomp_planning.yaml
new file mode 100644
index 000000000..d74115e90
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/chomp_planning.yaml
@@ -0,0 +1,17 @@
+planning_time_limit: 10.0
+max_iterations: 200
+max_iterations_after_collision_free: 5
+smoothness_cost_weight: 0.1
+obstacle_cost_weight: 1.0
+learning_rate: 0.01
+smoothness_cost_velocity: 0.0
+smoothness_cost_acceleration: 1.0
+smoothness_cost_jerk: 0.0
+ridge_factor: 0.01
+use_pseudo_inverse: false
+pseudo_inverse_ridge_factor: 1e-4
+joint_update_limit: 0.1
+collision_clearence: 0.2
+collision_threshold: 0.07
+use_stochastic_descent: true
+enable_failure_recovery: true
\ No newline at end of file
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/fake_controllers.yaml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/fake_controllers.yaml
new file mode 100644
index 000000000..6badce254
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/fake_controllers.yaml
@@ -0,0 +1,13 @@
+controller_list:
+  - name: fake_niryo_robot_follow_joint_trajectory_controller
+    joints:
+      - joint_1
+      - joint_2
+      - joint_3
+      - joint_4
+      - joint_5
+      - joint_6
+  - name: fake_gazebo_tool_controller
+    joints:
+      - joint_base_to_mors_1
+      - joint_base_to_mors_2
\ No newline at end of file
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/joint_limits.yaml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/joint_limits.yaml
new file mode 100644
index 000000000..df22b2469
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/joint_limits.yaml
@@ -0,0 +1,44 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+joint_limits:
+  joint_base_to_mors_1:
+    has_velocity_limits: true
+    max_velocity: 4.8
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint_base_to_mors_2:
+    has_velocity_limits: true
+    max_velocity: 4.8
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint_1:
+    has_velocity_limits: true
+    max_velocity: 3
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint_2:
+    has_velocity_limits: true
+    max_velocity: 3
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint_3:
+    has_velocity_limits: true
+    max_velocity: 3
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint_4:
+    has_velocity_limits: true
+    max_velocity: 3
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint_5:
+    has_velocity_limits: true
+    max_velocity: 3
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint_6:
+    has_velocity_limits: true
+    max_velocity: 3
+    has_acceleration_limits: false
+    max_acceleration: 0
\ No newline at end of file
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/kinematics.yaml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/kinematics.yaml
new file mode 100644
index 000000000..05573e5c6
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/kinematics.yaml
@@ -0,0 +1,4 @@
+arm:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005
\ No newline at end of file
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/niryo_ned.srdf b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/niryo_ned.srdf
new file mode 100644
index 000000000..d85796490
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/niryo_ned.srdf
@@ -0,0 +1,78 @@
+<?xml version="1.0" ?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot name="niryo_ned">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="arm">
+        <link name="hand_link"/>
+        <link name="tool_link"/>
+        <joint name="joint_1"/>
+        <joint name="joint_2"/>
+        <joint name="joint_3"/>
+        <joint name="joint_4"/>
+        <joint name="joint_5"/>
+        <joint name="joint_6"/>
+    </group>
+    <group name="tool">
+        <link name="base_gripper_1"/>
+        <joint name="joint_to_gripper"/>
+        <joint name="joint_base_to_mors_1"/>
+        <joint name="joint_base_to_mors_2"/>
+    </group>
+    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <group_state name="straight forward" group="arm">
+        <joint name="joint_1" value="0"/>
+        <joint name="joint_2" value="0"/>
+        <joint name="joint_3" value="0"/>
+        <joint name="joint_4" value="0"/>
+        <joint name="joint_5" value="0"/>
+        <joint name="joint_6" value="0"/>
+    </group_state>
+    <group_state name="close" group="tool">
+        <joint name="joint_base_to_mors_1" value="-0.01"/>
+        <joint name="joint_base_to_mors_2" value="-0.01"/>
+    </group_state>
+    <group_state name="open" group="tool">
+        <joint name="joint_base_to_mors_1" value="0.007"/>
+        <joint name="joint_base_to_mors_2" value="0.007"/>
+    </group_state>
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <end_effector name="tool_eef" parent_link="tool_link" group="tool" parent_group="arm"/>
+    <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
+    <!--    <passive_joint name="joint_base_to_mors_2"/>-->
+    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    <disable_collisions link1="arm_link" link2="base_link" reason="Never"/>
+    <disable_collisions link1="arm_link" link2="elbow_link" reason="Adjacent"/>
+    <disable_collisions link1="arm_link" link2="shoulder_link" reason="Adjacent"/>
+    <disable_collisions link1="base_gripper_1" link2="camera_link" reason="Never"/>
+    <disable_collisions link1="base_gripper_1" link2="elbow_link" reason="Never"/>
+    <disable_collisions link1="base_gripper_1" link2="forearm_link" reason="Never"/>
+    <disable_collisions link1="base_gripper_1" link2="hand_link" reason="Adjacent"/>
+    <disable_collisions link1="base_gripper_1" link2="mors_1" reason="User"/>
+    <disable_collisions link1="base_gripper_1" link2="mors_2" reason="User"/>
+    <disable_collisions link1="base_gripper_1" link2="wrist_link" reason="Never"/>
+    <disable_collisions link1="base_link" link2="elbow_link" reason="Never"/>
+    <disable_collisions link1="base_link" link2="shoulder_link" reason="Adjacent"/>
+    <disable_collisions link1="camera_link" link2="elbow_link" reason="Never"/>
+    <disable_collisions link1="camera_link" link2="forearm_link" reason="Never"/>
+    <disable_collisions link1="camera_link" link2="hand_link" reason="Never"/>
+    <disable_collisions link1="camera_link" link2="wrist_link" reason="Adjacent"/>
+    <disable_collisions link1="elbow_link" link2="forearm_link" reason="Adjacent"/>
+    <disable_collisions link1="elbow_link" link2="hand_link" reason="Never"/>
+    <disable_collisions link1="elbow_link" link2="mors_1" reason="Never"/>
+    <disable_collisions link1="elbow_link" link2="mors_2" reason="Never"/>
+    <disable_collisions link1="elbow_link" link2="shoulder_link" reason="Never"/>
+    <disable_collisions link1="elbow_link" link2="wrist_link" reason="Never"/>
+    <disable_collisions link1="forearm_link" link2="hand_link" reason="Never"/>
+    <disable_collisions link1="forearm_link" link2="wrist_link" reason="Adjacent"/>
+    <disable_collisions link1="hand_link" link2="wrist_link" reason="Adjacent"/>
+    <disable_collisions link1="hand_link" link2="mors_1" reason="Adjacent"/>
+    <disable_collisions link1="hand_link" link2="mors_2" reason="Adjacent"/>
+    <disable_collisions link1="mors_1" link2="mors_2" reason="User"/>
+</robot>
\ No newline at end of file
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/ompl_planning.yaml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/ompl_planning.yaml
new file mode 100644
index 000000000..3c20b7377
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/ompl_planning.yaml
@@ -0,0 +1,177 @@
+planner_configs:
+  SBL:
+    type: geometric::SBL
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  EST:
+    type: geometric::EST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+  LBKPIECE:
+    type: geometric::LBKPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  BKPIECE:
+    type: geometric::BKPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  KPIECE:
+    type: geometric::KPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9 (0.0,1.]
+    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  RRT:
+    type: geometric::RRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+  RRTConnect:
+    type: geometric::RRTConnect
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  RRTstar:
+    type: geometric::RRTstar
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+    delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
+  TRRT:
+    type: geometric::TRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+    max_states_failed: 10  # when to start increasing temp. default: 10
+    temp_change_factor: 2.0  # how much to increase or decrease temp. default: 2.0
+    min_temperature: 10e-10  # lower limit of temp change. default: 10e-10
+    init_temperature: 10e-6  # initial temperature. default: 10e-6
+    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+    frountierNodeRatio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+    k_constant: 0.0  # value used to normalize expresssion. default: 0.0 set in setup()
+  PRM:
+    type: geometric::PRM
+    max_nearest_neighbors: 10  # use k nearest neighbors. default: 10
+  PRMstar:
+    type: geometric::PRMstar
+  FMT:
+    type: geometric::FMT
+    num_samples: 1000  # number of states that the planner should sample. default: 1000
+    radius_multiplier: 1.1  # multiplier used for the nearest neighbors search radius. default: 1.1
+    nearest_k: 1  # use Knearest strategy. default: 1
+    cache_cc: 1  # use collision checking cache. default: 1
+    heuristics: 0  # activate cost to go heuristics. default: 0
+    extended_fmt: 1  # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
+  BFMT:
+    type: geometric::BFMT
+    num_samples: 1000  # number of states that the planner should sample. default: 1000
+    radius_multiplier: 1.0  # multiplier used for the nearest neighbors search radius. default: 1.0
+    nearest_k: 1  # use the Knearest strategy. default: 1
+    balanced: 0  # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
+    optimality: 1  # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
+    heuristics: 1  # activates cost to go heuristics. default: 1
+    cache_cc: 1  # use the collision checking cache. default: 1
+    extended_fmt: 1  # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
+  PDST:
+    type: geometric::PDST
+  STRIDE:
+    type: geometric::STRIDE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    use_projected_distance: 0  # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
+    degree: 16  # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
+    max_degree: 18  # max degree of a node in the GNAT. default: 12
+    min_degree: 12  # min degree of a node in the GNAT. default: 12
+    max_pts_per_leaf: 6  # max points per leaf in the GNAT. default: 6
+    estimated_dimension: 0.0  # estimated dimension of the free space. default: 0.0
+    min_valid_path_fraction: 0.2  # Accept partially valid moves above fraction. default: 0.2
+  BiTRRT:
+    type: geometric::BiTRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    temp_change_factor: 0.1  # how much to increase or decrease temp. default: 0.1
+    init_temperature: 100  # initial temperature. default: 100
+    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+    frountier_node_ratio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+    cost_threshold: 1e300  # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
+  LBTRRT:
+    type: geometric::LBTRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    epsilon: 0.4  # optimality approximation factor. default: 0.4
+  BiEST:
+    type: geometric::BiEST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  ProjEST:
+    type: geometric::ProjEST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+  LazyPRM:
+    type: geometric::LazyPRM
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  LazyPRMstar:
+    type: geometric::LazyPRMstar
+  SPARS:
+    type: geometric::SPARS
+    stretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
+    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
+    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
+    max_failures: 1000  # maximum consecutive failure limit. default: 1000
+  SPARStwo:
+    type: geometric::SPARStwo
+    stretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
+    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
+    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
+    max_failures: 5000  # maximum consecutive failure limit. default: 5000
+arm:
+  planner_configs:
+    - SBL
+    - EST
+    - LBKPIECE
+    - BKPIECE
+    - KPIECE
+    - RRT
+    - RRTConnect
+    - RRTstar
+    - TRRT
+    - PRM
+    - PRMstar
+    - FMT
+    - BFMT
+    - PDST
+    - STRIDE
+    - BiTRRT
+    - LBTRRT
+    - BiEST
+    - ProjEST
+    - LazyPRM
+    - LazyPRMstar
+    - SPARS
+    - SPARStwo
+  projection_evaluator: joints(joint_1,joint_2)
+  longest_valid_segment_fraction: 0.005
+tool:
+  default_planner_config: ""
+  planner_configs:
+    - SBL
+    - EST
+    - LBKPIECE
+    - BKPIECE
+    - KPIECE
+    - RRT
+    - RRTConnect
+    - RRTstar
+    - TRRT
+    - PRM
+    - PRMstar
+    - FMT
+    - BFMT
+    - PDST
+    - STRIDE
+    - BiTRRT
+    - LBTRRT
+    - BiEST
+    - ProjEST
+    - LazyPRM
+    - LazyPRMstar
+    - SPARS
+    - SPARStwo
+  projection_evaluator: joints(joint_base_to_mors_1)
+  longest_valid_segment_fraction: 0.005
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/ros_controllers.yaml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/ros_controllers.yaml
new file mode 100644
index 000000000..9369d12a0
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/ros_controllers.yaml
@@ -0,0 +1,93 @@
+# MoveIt-specific simulation settings
+moveit_sim_hw_interface:
+  joint_model_group: controllers_initial_group_
+  joint_model_group_pose: controllers_initial_pose_
+# Settings for ros_control control loop
+generic_hw_control_loop:
+  loop_hz: 300
+  cycle_time_error_threshold: 0.01
+# Settings for ros_control hardware interface
+hardware_interface:
+  joints:
+    - joint_1
+    - joint_2
+    - joint_3
+    - joint_4
+    - joint_5
+    - joint_6
+    - joint_base_to_mors_1
+    - joint_base_to_mors_2
+  sim_control_mode: 1  # 0: position, 1: velocity
+
+# Publish all joint states
+# Creates the /joint_states topic necessary in ROS
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50
+
+controller_list:
+  - name: "niryo_robot_follow_joint_trajectory_controller"
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: true
+    joints:
+      - joint_1
+      - joint_2
+      - joint_3
+      - joint_4
+      - joint_5
+      - joint_6
+  - name: "gazebo_tool_controller"
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: true
+    joints:
+      - joint_base_to_mors_1
+      - joint_base_to_mors_2
+
+niryo_robot_follow_joint_trajectory_controller:
+  type: position_controllers/JointTrajectoryController
+  joints:
+    - joint_1
+    - joint_2
+    - joint_3
+    - joint_4
+    - joint_5
+    - joint_6
+  constraints:
+    goal_time: 1.0
+    stopped_velocity_tolerance: 0.05
+    joint_1: {trajectory: 0.5, goal: 0.2}
+    joint_2: {trajectory: 0.5, goal: 0.2}
+    joint_3: {trajectory: 0.5, goal: 0.2}
+    joint_4: {trajectory: 0.5, goal: 0.2}
+    joint_5: {trajectory: 1.0, goal: 0.3}
+    joint_6: {trajectory: 1.0, goal: 0.3}
+  stop_trajectory_duration: 1.0
+  state_publish_rate: 20
+  action_monitor_rate: 10
+
+gazebo_tool_controller:
+  type: effort_controllers/JointTrajectoryController
+  joints:
+      - joint_base_to_mors_1
+      - joint_base_to_mors_2
+  gains:
+    joint_base_to_mors_1:
+      p: 100
+      d: 1
+      i: 1
+    joint_base_to_mors_2:
+      p: 100
+      d: 1
+      i: 1
+
+gazebo_ros_control/pid_gains:
+  joint_1: {p: 100, d: 1, i: 1, i_clamp: 1}
+  joint_2: {p: 100, d: 1, i: 1, i_clamp: 1}
+  joint_3: {p: 100, d: 1, i: 1, i_clamp: 1}
+  joint_4: {p: 100, d: 1, i: 1, i_clamp: 1}
+  joint_5: {p: 100, d: 1, i: 1, i_clamp: 1}
+  joint_6: {p: 100, d: 1, i: 1, i_clamp: 1}
+  joint_base_to_mors_1: {p: 100, d: 1, i: 1}
+  joint_base_to_mors_2: {p: 100, d: 1, i: 1}
\ No newline at end of file
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/sensors_3d.yaml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/sensors_3d.yaml
new file mode 100644
index 000000000..d2955dcd9
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/sensors_3d.yaml
@@ -0,0 +1,3 @@
+# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it
+sensors:
+  - {}
\ No newline at end of file
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/chomp_planning_pipeline.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/chomp_planning_pipeline.launch.xml
new file mode 100644
index 000000000..6e952befa
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/chomp_planning_pipeline.launch.xml
@@ -0,0 +1,10 @@
+<launch>
+   <!-- CHOMP Plugin for MoveIt! -->
+   <arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
+   <arg name="start_state_max_bounds_error" value="0.1" />
+
+   <param name="planning_plugin" value="$(arg planning_plugin)" />
+   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+
+   <rosparam command="load" file="$(find niryo_ned_moveit_config_w_gripper1)/config/chomp_planning.yaml" />
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/default_warehouse_db.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/default_warehouse_db.launch
new file mode 100644
index 000000000..9010d1f16
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/default_warehouse_db.launch
@@ -0,0 +1,15 @@
+<launch>
+
+  <arg name="reset" default="false"/>
+  <!-- If not specified, we'll use a default database location -->
+  <arg name="moveit_warehouse_database_path" default="$(find niryo_ned_moveit_config_w_gripper1)/default_warehouse_mongo_db" />
+
+  <!-- Launch the warehouse with the configured database location -->
+  <include file="$(find niryo_ned_moveit_config_w_gripper1)/launch/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
+  </include>
+
+  <!-- If we want to reset the database, run this node -->
+  <node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/demo.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/demo.launch
new file mode 100644
index 000000000..53816db80
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/demo.launch
@@ -0,0 +1,65 @@
+<launch>
+
+    <!-- specify the planning pipeline -->
+    <arg name="pipeline" default="ompl"/>
+
+    <!-- By default, we do not start a database (it can be large) -->
+    <arg name="db" default="false"/>
+    <!-- Allow user to specify database location -->
+    <arg name="db_path" default="$(find niryo_ned_moveit_config_w_gripper1)/default_warehouse_mongo_db"/>
+
+    <!-- By default, we are not in debug mode -->
+    <arg name="debug" default="false"/>
+
+    <!--
+    By default, hide joint_state_publisher's GUI
+
+    MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
+    The latter one maintains and publishes the current joint configuration of the simulated robot.
+    It also provides a GUI to move the simulated robot around "manually".
+    This corresponds to moving around the real robot without the use of MoveIt.
+    -->
+    <arg name="use_gui" default="false"/>
+
+    <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
+    <include file="$(find niryo_ned_moveit_config_w_gripper1)/launch/planning_context.launch">
+        <arg name="load_robot_description" value="true"/>
+    </include>
+
+    <!-- If needed, broadcast static tf for robot root -->
+
+
+    <!-- We do not have a robot connected, so publish fake joint states -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+        <param name="use_gui" value="$(arg use_gui)"/>
+        <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+
+    </node>
+
+    <!-- Given the published joint states, publish tf for the robot links -->
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true"
+          output="screen">
+
+    </node>
+
+    <!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
+    <include file="$(find niryo_ned_moveit_config_w_gripper1)/launch/move_group.launch">
+        <arg name="allow_trajectory_execution" value="true"/>
+        <arg name="fake_execution" value="true"/>
+        <arg name="info" value="true"/>
+        <arg name="debug" value="$(arg debug)"/>
+        <arg name="pipeline" value="$(arg pipeline)"/>
+    </include>
+
+    <!-- Run Rviz and load the default config to see the state of the move_group node -->
+    <include file="$(find niryo_ned_moveit_config_w_gripper1)/launch/moveit_rviz.launch">
+        <arg name="rviz_config" value="$(find niryo_ned_moveit_config_w_gripper1)/launch/moveit.rviz"/>
+        <arg name="debug" value="$(arg debug)"/>
+    </include>
+
+    <!-- If database loading was enabled, start mongodb as well -->
+    <include file="$(find niryo_ned_moveit_config_w_gripper1)/launch/default_warehouse_db.launch" if="$(arg db)">
+        <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+    </include>
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/demo_gazebo.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/demo_gazebo.launch
new file mode 100644
index 000000000..05a4a3814
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/demo_gazebo.launch
@@ -0,0 +1,73 @@
+<launch>
+
+    <!-- By default, we do not start a database (it can be large) -->
+    <arg name="db" default="false"/>
+    <!-- Allow user to specify database location -->
+    <arg name="db_path" default="$(find niryo_ned_moveit_config_w_gripper1)/default_warehouse_mongo_db"/>
+
+    <!-- By default, we are not in debug mode -->
+    <arg name="debug" default="false"/>
+
+    <!--
+    By default, hide joint_state_publisher's GUI
+
+    MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
+    The latter one maintains and publishes the current joint configuration of the simulated robot.
+    It also provides a GUI to move the simulated robot around "manually".
+    This corresponds to moving around the real robot without the use of MoveIt.
+    -->
+    <arg name="use_gui" default="false"/>
+
+    <!-- Gazebo specific options -->
+    <arg name="gazebo_gui" default="true"/>
+    <arg name="paused" default="false"/>
+    <!-- By default, use the urdf location provided from the package -->
+    <arg name="urdf_path" default="$(find niryo_robot_description)/urdf/ned/niryo_ned_gripper1_n_camera.urdf.xacro"/>
+
+    <!-- launch the gazebo simulator and spawn the robot -->
+    <include file="$(find niryo_ned_moveit_config_w_gripper1)/launch/gazebo.launch">
+        <arg name="paused" value="$(arg paused)"/>
+        <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+        <arg name="urdf_path" value="$(arg urdf_path)"/>
+    </include>
+
+    <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
+    <include file="$(find niryo_ned_moveit_config_w_gripper1)/launch/planning_context.launch">
+        <arg name="load_robot_description" value="false"/>
+    </include>
+
+    <!-- If needed, broadcast static tf for robot root -->
+
+
+    <!-- We do not have a robot connected, so publish fake joint states -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+        <param name="use_gui" value="$(arg use_gui)"/>
+        <rosparam param="source_list">[/joint_states]</rosparam>
+
+    </node>
+
+    <!-- Given the published joint states, publish tf for the robot links -->
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true"
+          output="screen">
+    </node>
+
+    <!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
+    <include file="$(find niryo_ned_moveit_config_w_gripper1)/launch/move_group.launch">
+        <arg name="allow_trajectory_execution" value="true"/>
+        <arg name="fake_execution" value="false"/>
+        <arg name="info" value="true"/>
+        <arg name="debug" value="$(arg debug)"/>
+    </include>
+
+    <!-- Run Rviz and load the default config to see the state of the move_group node -->
+    <include file="$(find niryo_ned_moveit_config_w_gripper1)/launch/moveit_rviz.launch">
+        <arg name="config" value="true"/>
+        <arg name="debug" value="$(arg debug)"/>
+    </include>
+
+    <!-- If database loading was enabled, start mongodb as well -->
+    <include file="$(find niryo_ned_moveit_config_w_gripper1)/launch/default_warehouse_db.launch" if="$(arg db)">
+        <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+    </include>
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/fake_moveit_controller_manager.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/fake_moveit_controller_manager.launch.xml
new file mode 100644
index 000000000..904fa5aa8
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/fake_moveit_controller_manager.launch.xml
@@ -0,0 +1,9 @@
+<launch>
+
+  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
+  <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
+
+  <!-- The rest of the params are specific to this plugin -->
+  <rosparam file="$(find niryo_ned_moveit_config_w_gripper1)/config/fake_controllers.yaml"/>
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/gazebo.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/gazebo.launch
new file mode 100644
index 000000000..9ae231e37
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/gazebo.launch
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="paused" default="false"/>
+  <arg name="gazebo_gui" default="true"/>
+  <arg name="urdf_path" default="$(find niryo_robot_description)/urdf/ned/niryo_ned_gripper1_n_camera.urdf.xacro"/>
+
+  <!-- startup simulated world -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" default="worlds/empty.world"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gui" value="$(arg gazebo_gui)"/>
+  </include>
+
+  <!-- send robot urdf to param server -->
+<!--  <param name="robot_description" textfile="$(arg urdf_path)" />-->
+  <param name="robot_description" command="xacro '$(arg urdf_path)'"/>
+
+  <!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position -->
+  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model niryo_ned -x 0 -y 0 -z 0"
+    respawn="false" output="screen" />
+
+  <include file="$(find niryo_ned_moveit_config_w_gripper1)/launch/ros_controllers.launch"/>
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/joystick_control.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/joystick_control.launch
new file mode 100644
index 000000000..9411f6e60
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/joystick_control.launch
@@ -0,0 +1,17 @@
+<launch>
+  <!-- See moveit_ros/visualization/doc/joystick.rst for documentation -->
+
+  <arg name="dev" default="/dev/input/js0" />
+
+  <!-- Launch joy node -->
+  <node pkg="joy" type="joy_node" name="joy">
+    <param name="dev" value="$(arg dev)" /> <!-- Customize this to match the location your joystick is plugged in on-->
+    <param name="deadzone" value="0.2" />
+    <param name="autorepeat_rate" value="40" />
+    <param name="coalesce_interval" value="0.025" />
+  </node>
+
+  <!-- Launch python interface -->
+  <node pkg="moveit_ros_visualization" type="moveit_joy.py" output="screen" name="moveit_joy"/>
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/move_group.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/move_group.launch
new file mode 100644
index 000000000..1a6994a21
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/move_group.launch
@@ -0,0 +1,66 @@
+<launch>
+
+    <!-- GDB Debug Option -->
+    <arg name="debug" default="false"/>
+    <arg unless="$(arg debug)" name="launch_prefix" value=""/>
+    <arg if="$(arg debug)" name="launch_prefix"
+         value="gdb -x $(find niryo_ned_moveit_config_w_gripper1)/launch/gdb_settings.gdb --ex run --args"/>
+
+    <!-- Verbose Mode Option -->
+    <arg name="info" default="$(arg debug)"/>
+    <arg unless="$(arg info)" name="command_args" value=""/>
+    <arg if="$(arg info)" name="command_args" value="--debug"/>
+
+    <!-- move_group settings -->
+    <arg name="pipeline" default="ompl"/>
+    <arg name="allow_trajectory_execution" default="true"/>
+    <arg name="fake_execution" default="false"/>
+    <arg name="max_safe_path_cost" default="1"/>
+    <arg name="jiggle_fraction" default="0.05"/>
+    <arg name="publish_monitored_planning_scene" default="true"/>
+
+    <!-- load URDF, SRDF and joint_limits configuration -->
+    <arg name="load_robot_description" default="true"/>
+    <include file="$(find niryo_ned_moveit_config_w_gripper1)/launch/planning_context.launch">
+        <arg name="load_robot_description" value="$(arg load_robot_description)"/>
+    </include>
+
+    <!-- Planning Functionality -->
+    <include ns="move_group" file="$(find niryo_ned_moveit_config_w_gripper1)/launch/planning_pipeline.launch.xml">
+        <arg name="pipeline" value="$(arg pipeline)"/>
+    </include>
+
+    <!-- Trajectory Execution Functionality -->
+    <include ns="move_group" file="$(find niryo_ned_moveit_config_w_gripper1)/launch/trajectory_execution.launch.xml"
+             if="$(arg allow_trajectory_execution)">
+        <arg name="moveit_manage_controllers" value="true"/>
+        <arg name="moveit_controller_manager" value="niryo_ned" unless="$(arg fake_execution)"/>
+        <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
+    </include>
+
+    <!-- Sensors Functionality -->
+    <include ns="move_group" file="$(find niryo_ned_moveit_config_w_gripper1)/launch/sensor_manager.launch.xml"
+             if="$(arg allow_trajectory_execution)">
+        <arg name="moveit_sensor_manager" value="niryo_ned"/>
+    </include>
+
+    <!-- Start the actual move_group node/action server -->
+    <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group"
+          respawn="false" output="log" args="$(arg command_args)">
+        <!-- Set the display variable, in case OpenGL code is used internally -->
+        <env name="DISPLAY" value="$(optenv DISPLAY :0)"/>
+
+        <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
+        <param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
+        <param name="jiggle_fraction" value="$(arg jiggle_fraction)"/>
+
+
+        <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
+        <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)"/>
+        <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)"/>
+        <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)"/>
+        <param name="planning_scene_monitor/publish_transforms_updates"
+               value="$(arg publish_monitored_planning_scene)"/>
+    </node>
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/moveit.rviz b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/moveit.rviz
new file mode 100644
index 000000000..3e2b1a2de
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/moveit.rviz
@@ -0,0 +1,689 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 84
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /MotionPlanning1
+      Splitter Ratio: 0.74256
+    Tree Height: 664
+  - Class: rviz/Help
+    Name: Help
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: moveit_rviz_plugin/MotionPlanning
+      Enabled: true
+      MoveIt_Goal_Tolerance: 0
+      MoveIt_Planning_Time: 5
+      MoveIt_Use_Constraint_Aware_IK: true
+      MoveIt_Warehouse_Host: 127.0.0.1
+      MoveIt_Warehouse_Port: 33829
+      Name: MotionPlanning
+      Planned Path:
+        Links:
+          base_bellow_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          base_footprint:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          base_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          double_stereo_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_kinect_ir_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_kinect_rgb_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_prosilica_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_plate_frame:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_tilt_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_elbow_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_forearm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_forearm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_l_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_l_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_motor_accelerometer_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_palm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_r_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_r_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_shoulder_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_shoulder_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_upper_arm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_upper_arm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_wrist_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_wrist_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          laser_tilt_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_elbow_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_forearm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_forearm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_l_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_l_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_motor_accelerometer_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_palm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_r_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_r_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_shoulder_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_shoulder_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_upper_arm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_upper_arm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_wrist_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_wrist_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          sensor_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          torso_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+        Loop Animation: true
+        Robot Alpha: 0.5
+        Show Robot Collision: false
+        Show Robot Visual: true
+        Show Trail: false
+        State Display Time: 0.05 s
+        Trajectory Topic: move_group/display_planned_path
+      Planning Metrics:
+        Payload: 1
+        Show Joint Torques: false
+        Show Manipulability: false
+        Show Manipulability Index: false
+        Show Weight Limit: false
+      Planning Request:
+        Colliding Link Color: 255; 0; 0
+        Goal State Alpha: 1
+        Goal State Color: 250; 128; 0
+        Interactive Marker Size: 0
+        Joint Violation Color: 255; 0; 255
+        Planning Group: left_arm
+        Query Goal State: true
+        Query Start State: false
+        Show Workspace: false
+        Start State Alpha: 1
+        Start State Color: 0; 255; 0
+      Planning Scene Topic: move_group/monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 1
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.2
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Links:
+          base_bellow_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          base_footprint:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          base_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          double_stereo_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_kinect_ir_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_kinect_rgb_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_prosilica_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_plate_frame:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_tilt_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_elbow_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_forearm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_forearm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_l_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_l_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_motor_accelerometer_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_palm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_r_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_r_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_shoulder_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_shoulder_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_upper_arm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_upper_arm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_wrist_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_wrist_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          laser_tilt_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_elbow_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_forearm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_forearm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_l_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_l_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_motor_accelerometer_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_palm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_r_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_r_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_shoulder_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_shoulder_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_upper_arm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_upper_arm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_wrist_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_wrist_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          sensor_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          torso_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+        Robot Alpha: 0.5
+        Show Scene Robot: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: world
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+  Value: true
+  Views:
+    Current:
+      Class: rviz/XYOrbit
+      Distance: 2.9965
+      Focal Point:
+        X: 0.113567
+        Y: 0.10592
+        Z: 2.23518e-07
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.509797
+      Target Frame: /world
+      Value: XYOrbit (rviz)
+      Yaw: 5.65995
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1337
+  Help:
+    collapsed: false
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Motion Planning:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Views:
+    collapsed: false
+  Width: 1828
+  X: 459
+  Y: -243
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/moveit_rviz.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/moveit_rviz.launch
new file mode 100644
index 000000000..e324af8e5
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/moveit_rviz.launch
@@ -0,0 +1,16 @@
+<launch>
+
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <arg name="rviz_config" default="" />
+  <arg     if="$(eval rviz_config=='')" name="command_args" value="" />
+  <arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
+
+  <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
+	args="$(arg command_args)" output="screen">
+    <rosparam command="load" file="$(find niryo_ned_moveit_config_w_gripper1)/config/kinematics.yaml"/>
+  </node>
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/my_demo.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/my_demo.launch
new file mode 100644
index 000000000..908d13a65
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/my_demo.launch
@@ -0,0 +1,58 @@
+<launch>
+
+    <!-- specify the planning pipeline -->
+    <arg name="pipeline" default="ompl"/>
+
+    <!-- By default, we do not start a database (it can be large) -->
+    <arg name="db" default="false"/>
+    <!-- Allow user to specify database location -->
+    <arg name="db_path" default="$(find niryo_ned_moveit_config_w_gripper1)/default_warehouse_mongo_db"/>
+
+    <!-- By default, we are not in debug mode -->
+    <arg name="debug" default="false"/>
+
+    <!--
+    By default, hide joint_state_publisher's GUI
+
+    MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
+    The latter one maintains and publishes the current joint configuration of the simulated robot.
+    It also provides a GUI to move the simulated robot around "manually".
+    This corresponds to moving around the real robot without the use of MoveIt.
+    -->
+    <arg name="use_gui" default="false"/>
+
+    <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
+    <include file="$(find niryo_ned_moveit_config_w_gripper1)/launch/planning_context.launch">
+        <arg name="load_robot_description" value="true"/>
+    </include>
+
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+        <param name="use_gui" value="$(arg use_gui)"/>
+        <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+
+    </node>
+    <!-- Ros Control -->
+    <include file="$(find niryo_ned_moveit_config_w_gripper1)/launch/ros_controllers.launch"/>
+
+    <!-- Given the published joint states, publish tf for the robot links -->
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true"
+          output="screen">
+    </node>
+
+    <!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
+    <include file="$(find niryo_ned_moveit_config_w_gripper1)/launch/move_group.launch">
+        <arg name="allow_trajectory_execution" value="true"/>
+        <arg name="fake_execution" value="true"/>
+        <arg name="info" value="true"/>
+        <arg name="debug" value="$(arg debug)"/>
+        <arg name="pipeline" value="$(arg pipeline)"/>
+    </include>
+
+    <!-- Run Rviz and load the default config to see the state of the move_group node -->
+    <include file="$(find niryo_ned_moveit_config_w_gripper1)/launch/moveit_rviz.launch">
+        <arg name="rviz_config" value="$(find niryo_ned_moveit_config_w_gripper1)/launch/moveit.rviz"/>
+        <arg name="debug" value="$(arg debug)"/>
+    </include>
+
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/niryo_ned_moveit_controller_manager.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/niryo_ned_moveit_controller_manager.launch.xml
new file mode 100644
index 000000000..efe4db763
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/niryo_ned_moveit_controller_manager.launch.xml
@@ -0,0 +1,10 @@
+<launch>
+
+  <!-- loads moveit_controller_manager on the parameter server which is taken as argument 
+    if no argument is passed, moveit_simple_controller_manager will be set -->
+  <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
+  <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
+
+  <!-- loads ros_controllers to the param server -->
+  <rosparam file="$(find niryo_ned_moveit_config_w_gripper1)/config/ros_controllers.yaml"/>
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/niryo_ned_moveit_sensor_manager.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/niryo_ned_moveit_sensor_manager.launch.xml
new file mode 100644
index 000000000..5d02698d7
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/niryo_ned_moveit_sensor_manager.launch.xml
@@ -0,0 +1,3 @@
+<launch>
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/ompl_planning_pipeline.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/ompl_planning_pipeline.launch.xml
new file mode 100644
index 000000000..5500e6778
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/ompl_planning_pipeline.launch.xml
@@ -0,0 +1,22 @@
+<launch>
+
+  <!-- OMPL Plugin for MoveIt! -->
+  <arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
+
+  <!-- The request adapters (plugins) used when planning with OMPL.
+       ORDER MATTERS -->
+  <arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
+				       default_planner_request_adapters/FixWorkspaceBounds
+				       default_planner_request_adapters/FixStartStateBounds
+				       default_planner_request_adapters/FixStartStateCollision
+				       default_planner_request_adapters/FixStartStatePathConstraints" />
+
+  <arg name="start_state_max_bounds_error" value="0.1" />
+
+  <param name="planning_plugin" value="$(arg planning_plugin)" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+
+  <rosparam command="load" file="$(find niryo_ned_moveit_config_w_gripper1)/config/ompl_planning.yaml"/>
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/planning_context.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/planning_context.launch
new file mode 100644
index 000000000..f09c0377f
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/planning_context.launch
@@ -0,0 +1,24 @@
+<launch>
+  <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
+  <arg name="load_robot_description" default="false"/>
+
+  <!-- The name of the parameter under which the URDF is loaded -->
+  <arg name="robot_description" default="robot_description"/>
+
+  <!-- Load universal robot description format (URDF) -->
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro  '$(find niryo_robot_description)/urdf/ned/niryo_ned_gripper1_n_camera.urdf.xacro'"/>
+
+  <!-- The semantic description that corresponds to the URDF -->
+  <param name="$(arg robot_description)_semantic" textfile="$(find niryo_ned_moveit_config_w_gripper1)/config/niryo_ned.srdf" />
+
+  <!-- Load updated joint limits (override information from URDF) -->
+  <group ns="$(arg robot_description)_planning">
+    <rosparam command="load" file="$(find niryo_ned_moveit_config_w_gripper1)/config/joint_limits.yaml"/>
+  </group>
+
+  <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
+  <group ns="$(arg robot_description)_kinematics">
+    <rosparam command="load" file="$(find niryo_ned_moveit_config_w_gripper1)/config/kinematics.yaml"/>
+  </group>
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/planning_pipeline.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/planning_pipeline.launch.xml
new file mode 100644
index 000000000..7feb41d0e
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/planning_pipeline.launch.xml
@@ -0,0 +1,10 @@
+<launch>
+
+  <!-- This file makes it easy to include different planning pipelines;
+       It is assumed that all planning pipelines are named XXX_planning_pipeline.launch  -->
+
+  <arg name="pipeline" default="ompl" />
+
+  <include file="$(find niryo_ned_moveit_config_w_gripper1)/launch/$(arg pipeline)_planning_pipeline.launch.xml" />
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/ros_controllers.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/ros_controllers.launch
new file mode 100644
index 000000000..26a6e4986
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/ros_controllers.launch
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<launch>
+
+  <!-- Load joint controller configurations from YAML file to parameter server -->
+  <rosparam file="$(find niryo_ned_moveit_config_w_gripper1)/config/ros_controllers.yaml" command="load"/>
+
+  <!-- Load the controllers -->
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+    output="log" args="niryo_robot_follow_joint_trajectory_controller gazebo_tool_controller "/>
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/run_benchmark_ompl.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/run_benchmark_ompl.launch
new file mode 100644
index 000000000..97ecb0af8
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/run_benchmark_ompl.launch
@@ -0,0 +1,22 @@
+<launch>
+
+  <!-- This argument must specify the list of .cfg files to process for benchmarking -->
+  <arg name="cfg" />
+
+  <!-- Load URDF -->
+  <include file="$(find niryo_ned_moveit_config_w_gripper1)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- Start the database -->
+  <include file="$(find niryo_ned_moveit_config_w_gripper1)/launch/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
+  </include>
+
+  <!-- Start Benchmark Executable -->
+  <node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
+    <rosparam command="load" file="$(find niryo_ned_moveit_config_w_gripper1)/config/kinematics.yaml"/>
+    <rosparam command="load" file="$(find niryo_ned_moveit_config_w_gripper1)/config/ompl_planning.yaml"/>
+  </node>
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/sensor_manager.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/sensor_manager.launch.xml
new file mode 100644
index 000000000..bab7dbc8b
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/sensor_manager.launch.xml
@@ -0,0 +1,17 @@
+<launch>
+
+  <!-- This file makes it easy to include the settings for sensor managers -->
+
+  <!-- Params for 3D sensors config -->
+  <rosparam command="load" file="$(find niryo_ned_moveit_config_w_gripper1)/config/sensors_3d.yaml" />
+
+  <!-- Params for the octomap monitor -->
+  <!--  <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
+  <param name="octomap_resolution" type="double" value="0.025" />
+  <param name="max_range" type="double" value="5.0" />
+
+  <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
+  <arg name="moveit_sensor_manager" default="niryo_ned" />
+  <include file="$(find niryo_ned_moveit_config_w_gripper1)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/setup_assistant.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/setup_assistant.launch
new file mode 100644
index 000000000..e051f3607
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/setup_assistant.launch
@@ -0,0 +1,15 @@
+<!-- Re-launch the MoveIt! Setup Assistant with this configuration package already loaded -->
+<launch>
+
+  <!-- Debug Info -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <!-- Run -->
+  <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
+	args="--config_pkg=niryo_ned_moveit_config_w_gripper1"
+	launch-prefix="$(arg launch_prefix)"
+        output="screen" />
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/trajectory_execution.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/trajectory_execution.launch.xml
new file mode 100644
index 000000000..5b00a01e7
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/trajectory_execution.launch.xml
@@ -0,0 +1,20 @@
+<launch>
+
+  <!-- This file makes it easy to include the settings for trajectory execution  -->
+
+  <!-- Flag indicating whether MoveIt! is allowed to load/unload  or switch controllers -->
+  <arg name="moveit_manage_controllers" default="true"/>
+  <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
+
+  <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
+  <param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
+  <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
+  <param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
+  <!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
+  <param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
+
+  <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
+  <arg name="moveit_controller_manager" default="niryo_ned" />
+  <include file="$(find niryo_ned_moveit_config_w_gripper1)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/warehouse.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/warehouse.launch
new file mode 100644
index 000000000..6c5917c8b
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/warehouse.launch
@@ -0,0 +1,15 @@
+<launch>
+
+  <!-- The path to the database must be specified -->
+  <arg name="moveit_warehouse_database_path" />
+
+  <!-- Load warehouse parameters -->
+  <include file="$(find niryo_ned_moveit_config_w_gripper1)/launch/warehouse_settings.launch.xml" />
+
+  <!-- Run the DB server -->
+  <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
+    <param name="overwrite" value="false"/>
+    <param name="database_path" value="$(arg moveit_warehouse_database_path)" />
+  </node>
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/warehouse_settings.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/warehouse_settings.launch.xml
new file mode 100644
index 000000000..e473b083b
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/warehouse_settings.launch.xml
@@ -0,0 +1,16 @@
+<launch>
+  <!-- Set the parameters for the warehouse and run the mongodb server. -->
+
+  <!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->
+  <arg name="moveit_warehouse_port" default="33829" />
+
+  <!-- The default DB host for moveit -->
+  <arg name="moveit_warehouse_host" default="localhost" />
+
+  <!-- Set parameters for the warehouse -->
+  <param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
+  <param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
+  <param name="warehouse_exec" value="mongod" />
+  <param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />
+
+</launch>
diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/package.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/package.xml
new file mode 100644
index 000000000..e4e393e21
--- /dev/null
+++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/package.xml
@@ -0,0 +1,35 @@
+<package>
+
+  <name>niryo_ned_moveit_config_w_gripper1</name>
+  <version>0.3.0</version>
+  <description>
+     An automatically generated package with all the configuration and launch files for using Ned with the MoveIt! Motion Planning Framework
+  </description>
+  <author email="r.lux@niryo.com">Rémi lux</author>
+  <maintainer email="r.lux@niryo.com">Rémi lux</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://moveit.ros.org/</url>
+  <url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
+  <url type="repository">https://github.com/ros-planning/moveit</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <run_depend>moveit_ros_move_group</run_depend>
+  <run_depend>moveit_fake_controller_manager</run_depend>
+  <run_depend>moveit_kinematics</run_depend>
+  <run_depend>moveit_planners_ompl</run_depend>
+  <run_depend>moveit_ros_visualization</run_depend>
+  <run_depend>moveit_setup_assistant</run_depend>
+  <run_depend>joint_state_publisher</run_depend>
+  <run_depend>robot_state_publisher</run_depend>
+  <run_depend>tf2_ros</run_depend>
+  <run_depend>xacro</run_depend>
+  <!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
+  <!-- <run_depend>warehouse_ros_mongo</run_depend> -->
+  <build_depend>niryo_robot_description</build_depend>
+  <run_depend>niryo_robot_description</run_depend>
+
+
+</package>
diff --git a/niryo_robot_msgs/CMakeLists.txt b/niryo_robot_msgs/CMakeLists.txt
new file mode 100644
index 000000000..9d967e1d0
--- /dev/null
+++ b/niryo_robot_msgs/CMakeLists.txt
@@ -0,0 +1,50 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(niryo_robot_msgs)
+
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  message_generation
+  std_msgs
+)
+
+add_message_files(
+  FILES
+  BusState.msg
+  CommandStatus.msg
+  HardwareStatus.msg
+  MotorHeader.msg
+  ObjectPose.msg
+  RobotState.msg
+  RPY.msg
+  SoftwareVersion.msg
+)
+
+add_service_files(
+  DIRECTORY srv
+  FILES
+  GetBool.srv
+  GetInt.srv
+  GetNameDescriptionList.srv
+  GetStringList.srv
+  SetBool.srv
+  SetInt.srv
+  SetString.srv
+  Trigger.srv
+)
+
+generate_messages(
+  DEPENDENCIES
+  geometry_msgs
+  std_msgs
+)
+
+catkin_package(
+  CATKIN_DEPENDS
+  geometry_msgs
+  message_runtime
+  std_msgs
+)
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
diff --git a/niryo_robot_msgs/msg/BusState.msg b/niryo_robot_msgs/msg/BusState.msg
new file mode 100644
index 000000000..8dd5233cb
--- /dev/null
+++ b/niryo_robot_msgs/msg/BusState.msg
@@ -0,0 +1,4 @@
+std_msgs/Header header
+bool connection_status
+uint8[] motor_id_connected
+string error
\ No newline at end of file
diff --git a/niryo_robot_msgs/msg/CommandStatus.msg b/niryo_robot_msgs/msg/CommandStatus.msg
new file mode 100644
index 000000000..c10e62f91
--- /dev/null
+++ b/niryo_robot_msgs/msg/CommandStatus.msg
@@ -0,0 +1,95 @@
+int32 val
+
+# overall behavior
+int32 SUCCESS = 1
+int32 CANCELLED = 2
+int32 PREEMPTED = 3
+
+int32 FAILURE = -1
+int32 ABORTED = -3
+int32 STOPPED = -4
+
+int32 ROS_ERROR = -20
+
+int32 FILE_ALREADY_EXISTS = -30
+
+int32 UNKNOWN_COMMAND = -50
+int32 NOT_IMPLEMENTED_COMMAND = -51
+int32 INVALID_PARAMETERS = -52
+
+# - Hardware
+int32 HARDWARE_FAILURE = -110
+int32 HARDWARE_NOT_OK = -111
+int32 LEARNING_MODE_ON = -112
+int32 CALIBRATION_NOT_DONE = -113
+int32 DIGITAL_IO_PANEL_ERROR = -114
+int32 LED_MANAGER_ERROR = -115
+int32 BUTTON_ERROR = -116
+int32 WRONG_MOTOR_TYPE = -117
+int32 DXL_WRITE_ERROR = -118
+int32 DXL_READ_ERROR = -119
+int32 CAN_WRITE_ERROR = -120
+int32 CAN_READ_ERROR = -121
+int32 NO_CONVEYOR_LEFT = -122
+int32 NO_CONVEYOR_FOUND = -123
+int32 CONVEYOR_ID_INVALID = -124
+int32 CALIBRATION_IN_PROGRESS = -125
+
+# - Vision
+int32 VIDEO_STREAM_ON_OFF_FAILURE = -170
+int32 VIDEO_STREAM_NOT_RUNNING = -171
+int32 OBJECT_NOT_FOUND = -172
+int32 MARKERS_NOT_FOUND = -173
+
+# - Commander
+# Arm Commander
+int32 ARM_COMMANDER_FAILURE = -220
+int32 GOAL_STILL_ACTIVE = -221
+int32 JOG_CONTROLLER_ENABLED = -222
+int32 CONTROLLER_PROBLEMS = -223
+int32 SHOULD_RESTART = -224
+int32 JOG_CONTROLLER_FAILURE = -220
+
+int32 PLAN_FAILED = -230
+int32 NO_PLAN_AVAILABLE = -231
+int32 INVERT_KINEMATICS_FAILURE = -232
+
+# Tool Commander
+int32 TOOL_FAILURE = -251
+int32 TOOL_ID_INVALID = -252
+int32 TOOL_NOT_CONNECTED = -253
+int32 TOOL_ROS_INTERFACE_ERROR = -254
+
+# - Pose Handlers
+int32 POSES_HANDLER_CREATION_FAILED = -300
+int32 POSES_HANDLER_REMOVAL_FAILED = -301
+int32 POSES_HANDLER_READ_FAILURE = -302
+int32 POSES_HANDLER_COMPUTE_FAILURE = -303
+
+int32 WORKSPACE_CREATION_FAILED = -308
+
+# - Programs Manager
+int32 PROGRAMS_MANAGER_FAILURE = -320
+int32 PROGRAMS_MANAGER_READ_FAILURE = -321
+int32 PROGRAMS_MANAGER_UNKNOWN_LANGUAGE = -325
+int32 PROGRAMS_MANAGER_NOT_RUNNABLE_LANGUAGE = -326
+int32 PROGRAMS_MANAGER_EXECUTION_FAILED = -327
+int32 PROGRAMS_MANAGER_STOPPING_FAILED = -328
+int32 PROGRAMS_MANAGER_AUTORUN_FAILURE = -329
+int32 PROGRAMS_MANAGER_WRITING_FAILURE = -330
+int32 PROGRAMS_MANAGER_FILE_ALREADY_EXISTS = -331
+int32 PROGRAMS_MANAGER_FILE_DOES_NOT_EXIST = -332
+
+
+# - Serial
+int32 SERIAL_FILE_ERROR = -400
+int32 SERIAL_UNKNOWN_ERROR = -401
+
+# - MQTT Client
+int32 MQTT_PUBLISH_FUNCTION_DOESNT_EXIST = -420
+int32 MQTT_PUBLISH_FUNCTION_INVALID_ARGUMENTS = -421
+
+# - System Api Client
+int32 SYSTEM_API_CLIENT_UNKNOWN_ERROR = -440
+int32 SYSTEM_API_CLIENT_INVALID_ROBOT_NAME = -441
+int32 SYSTEM_API_CLIENT_REQUEST_FAILED = -442
diff --git a/niryo_robot_msgs/msg/HardwareStatus.msg b/niryo_robot_msgs/msg/HardwareStatus.msg
new file mode 100644
index 000000000..fe4ceab44
--- /dev/null
+++ b/niryo_robot_msgs/msg/HardwareStatus.msg
@@ -0,0 +1,21 @@
+std_msgs/Header header
+
+# Raspberry Pi board
+int32 rpi_temperature 
+
+# Robot version : 1 Ned (only one until needed modification)
+int32 hardware_version
+
+# Motors
+bool connection_up
+string error_message
+bool calibration_needed
+bool calibration_in_progress
+
+string[] motor_names
+string[] motor_types
+
+int32[] temperatures
+float64[] voltages
+int32[] hardware_errors
+string[] hardware_errors_message
diff --git a/niryo_robot_msgs/msg/MotorHeader.msg b/niryo_robot_msgs/msg/MotorHeader.msg
new file mode 100644
index 000000000..468313f3e
--- /dev/null
+++ b/niryo_robot_msgs/msg/MotorHeader.msg
@@ -0,0 +1,6 @@
+uint8 motor_id
+
+uint8 motor_type
+uint8 MOTOR_TYPE_STEPPER=1
+uint8 MOTOR_TYPE_XL430=2
+uint8 MOTOR_TYPE_XL320=3
diff --git a/niryo_robot_msgs/msg/ObjectPose.msg b/niryo_robot_msgs/msg/ObjectPose.msg
new file mode 100644
index 000000000..927693389
--- /dev/null
+++ b/niryo_robot_msgs/msg/ObjectPose.msg
@@ -0,0 +1,7 @@
+float64 x
+float64 y
+float64 z
+
+float64 roll
+float64 pitch
+float64 yaw
diff --git a/niryo_robot_msgs/msg/ObjectSave.msg b/niryo_robot_msgs/msg/ObjectSave.msg
new file mode 100644
index 000000000..60fab9460
--- /dev/null
+++ b/niryo_robot_msgs/msg/ObjectSave.msg
@@ -0,0 +1,5 @@
+int32 cmd
+int32 SAVE = 1
+int32 DELETE = -1
+
+string name
\ No newline at end of file
diff --git a/niryo_robot_msgs/msg/RPY.msg b/niryo_robot_msgs/msg/RPY.msg
new file mode 100644
index 000000000..2fd5871ed
--- /dev/null
+++ b/niryo_robot_msgs/msg/RPY.msg
@@ -0,0 +1,5 @@
+# roll, pitch and yaw
+
+float64 roll
+float64 pitch
+float64 yaw
diff --git a/niryo_robot_msgs/msg/RobotState.msg b/niryo_robot_msgs/msg/RobotState.msg
new file mode 100644
index 000000000..f2d4c4726
--- /dev/null
+++ b/niryo_robot_msgs/msg/RobotState.msg
@@ -0,0 +1,3 @@
+geometry_msgs/Point position
+niryo_robot_msgs/RPY rpy
+geometry_msgs/Quaternion orientation
diff --git a/niryo_robot_msgs/msg/SoftwareVersion.msg b/niryo_robot_msgs/msg/SoftwareVersion.msg
new file mode 100644
index 000000000..c60c9e6f2
--- /dev/null
+++ b/niryo_robot_msgs/msg/SoftwareVersion.msg
@@ -0,0 +1,5 @@
+string rpi_image_version
+string ros_niryo_robot_version
+
+string[] motor_names
+string[] stepper_firmware_versions
diff --git a/niryo_robot_msgs/package.xml b/niryo_robot_msgs/package.xml
new file mode 100644
index 000000000..4b2cbe61b
--- /dev/null
+++ b/niryo_robot_msgs/package.xml
@@ -0,0 +1,19 @@
+<package>
+  <name>niryo_robot_msgs</name>
+  <version>3.0.0</version>
+  <description>Niryo "Standards messages" used in other Niryo Robot packages</description>
+  <author email="r.lux@niryo.com">Rémi Lux</author>
+  <maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>
+  <maintainer email="c.ducatez@niryo.com">Corentin Ducatez</maintainer>
+  <license>GPLv3</license>
+  
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>std_msgs</build_depend>
+
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>message_runtime</run_depend>
+  <run_depend>std_msgs</run_depend>
+</package>
diff --git a/niryo_robot_msgs/srv/GetBool.srv b/niryo_robot_msgs/srv/GetBool.srv
new file mode 100644
index 000000000..e3e4ce7c4
--- /dev/null
+++ b/niryo_robot_msgs/srv/GetBool.srv
@@ -0,0 +1,2 @@
+---
+bool value
diff --git a/niryo_robot_msgs/srv/GetInt.srv b/niryo_robot_msgs/srv/GetInt.srv
new file mode 100644
index 000000000..92f224663
--- /dev/null
+++ b/niryo_robot_msgs/srv/GetInt.srv
@@ -0,0 +1,2 @@
+---
+int32 value
diff --git a/niryo_robot_msgs/srv/GetNameDescriptionList.srv b/niryo_robot_msgs/srv/GetNameDescriptionList.srv
new file mode 100644
index 000000000..dfd829bb4
--- /dev/null
+++ b/niryo_robot_msgs/srv/GetNameDescriptionList.srv
@@ -0,0 +1,3 @@
+---
+string[] name_list
+string[] description_list
diff --git a/niryo_robot_msgs/srv/GetStringList.srv b/niryo_robot_msgs/srv/GetStringList.srv
new file mode 100644
index 000000000..436e01c5d
--- /dev/null
+++ b/niryo_robot_msgs/srv/GetStringList.srv
@@ -0,0 +1,2 @@
+---
+string[] string_list
diff --git a/niryo_robot_msgs/srv/SetBool.srv b/niryo_robot_msgs/srv/SetBool.srv
new file mode 100644
index 000000000..ae2f1a02d
--- /dev/null
+++ b/niryo_robot_msgs/srv/SetBool.srv
@@ -0,0 +1,4 @@
+bool value
+---
+int32 status
+string message
diff --git a/niryo_robot_msgs/srv/SetInt.srv b/niryo_robot_msgs/srv/SetInt.srv
new file mode 100644
index 000000000..013aa3d74
--- /dev/null
+++ b/niryo_robot_msgs/srv/SetInt.srv
@@ -0,0 +1,4 @@
+int32 value
+---
+int32 status
+string message
diff --git a/niryo_robot_msgs/srv/SetString.srv b/niryo_robot_msgs/srv/SetString.srv
new file mode 100644
index 000000000..1286ac2c9
--- /dev/null
+++ b/niryo_robot_msgs/srv/SetString.srv
@@ -0,0 +1,4 @@
+string value
+---
+int32 status
+string message
diff --git a/niryo_robot_msgs/srv/Trigger.srv b/niryo_robot_msgs/srv/Trigger.srv
new file mode 100644
index 000000000..bab64caed
--- /dev/null
+++ b/niryo_robot_msgs/srv/Trigger.srv
@@ -0,0 +1,3 @@
+---
+int32 status
+string message
diff --git a/niryo_robot_poses_handlers/CMakeLists.txt b/niryo_robot_poses_handlers/CMakeLists.txt
new file mode 100644
index 000000000..85301b666
--- /dev/null
+++ b/niryo_robot_poses_handlers/CMakeLists.txt
@@ -0,0 +1,53 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(niryo_robot_poses_handlers)
+
+find_package(catkin REQUIRED
+  COMPONENTS
+  geometry_msgs
+  message_generation
+  moveit_msgs
+  niryo_robot_msgs
+)
+
+add_message_files(
+  FILES
+  NiryoPose.msg
+  Trajectory.msg
+  Workspace.msg
+)
+
+add_service_files(
+  DIRECTORY srv
+  FILES
+  GetPose.srv
+  GetTargetPose.srv
+  GetTrajectory.srv
+  GetWorkspaceRatio.srv
+  GetWorkspaceRobotPoses.srv
+  ManagePose.srv
+  ManageTrajectory.srv
+  ManageWorkspace.srv
+)
+
+catkin_python_setup()
+
+generate_messages(
+  DEPENDENCIES
+  geometry_msgs
+  moveit_msgs
+  niryo_robot_msgs
+)
+
+catkin_package()
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+#############
+## Testing ##
+#############
+find_package(rostest REQUIRED)
+
+add_rostest(launch/rpi_poses_handlers.test)
+add_rostest(launch/simulation_poses_handlers.test)
diff --git a/niryo_robot_poses_handlers/grips/ned/default_Calibration_Tip.grip b/niryo_robot_poses_handlers/grips/ned/default_Calibration_Tip.grip
new file mode 100644
index 000000000..7fbf87a3e
--- /dev/null
+++ b/niryo_robot_poses_handlers/grips/ned/default_Calibration_Tip.grip
@@ -0,0 +1,18 @@
+{
+  "name": "default_Calibration_Tip", 
+  "transform": {
+    "header_frame_id": "object_base", 
+    "translation": [
+      0.026,
+      0.0, 
+      0.0045
+    ], 
+    "quaternion": [
+      0.0, 
+      0.0,
+      0.0,
+      1.0
+    ], 
+    "child_frame_id": "tool_link_target"
+  }
+}
diff --git a/niryo_robot_poses_handlers/grips/ned/default_Electromagnet_1.grip b/niryo_robot_poses_handlers/grips/ned/default_Electromagnet_1.grip
new file mode 100644
index 000000000..bc465f5d4
--- /dev/null
+++ b/niryo_robot_poses_handlers/grips/ned/default_Electromagnet_1.grip
@@ -0,0 +1,18 @@
+{
+  "name": "default_Electromagnet_1", 
+  "transform": {
+    "header_frame_id": "object_base", 
+    "translation": [
+      0.0,
+      0.0, 
+      0.0225
+    ], 
+    "quaternion": [
+      0.0, 
+      0.7071068,
+      0.0,
+      0.7071068
+    ], 
+    "child_frame_id": "tool_link_target"
+  }
+}
diff --git a/niryo_robot_poses_handlers/grips/ned/default_Gripper_1.grip b/niryo_robot_poses_handlers/grips/ned/default_Gripper_1.grip
new file mode 100644
index 000000000..134822ad6
--- /dev/null
+++ b/niryo_robot_poses_handlers/grips/ned/default_Gripper_1.grip
@@ -0,0 +1,18 @@
+{
+  "name": "default_Gripper_1", 
+  "transform": {
+    "header_frame_id": "object_base", 
+    "translation": [
+      0.0,
+      0.0, 
+      0.085
+    ], 
+    "quaternion": [
+      0.0, 
+      0.7071068, 
+      0.0, 
+      0.7071068
+    ], 
+    "child_frame_id": "tool_link_target"
+  }
+}
diff --git a/niryo_robot_poses_handlers/grips/ned/default_Gripper_2.grip b/niryo_robot_poses_handlers/grips/ned/default_Gripper_2.grip
new file mode 100644
index 000000000..74066dc45
--- /dev/null
+++ b/niryo_robot_poses_handlers/grips/ned/default_Gripper_2.grip
@@ -0,0 +1,18 @@
+{
+  "name": "default_Gripper_2", 
+  "transform": {
+    "header_frame_id": "object_base", 
+    "translation": [
+      0.0,
+      0.0, 
+      0.113
+    ],
+    "quaternion": [
+      0.0, 
+      0.7071068, 
+      0.0, 
+      0.7071068
+    ], 
+    "child_frame_id": "tool_link_target"
+  }
+}
diff --git a/niryo_robot_poses_handlers/grips/ned/default_Gripper_3.grip b/niryo_robot_poses_handlers/grips/ned/default_Gripper_3.grip
new file mode 100644
index 000000000..89977e5b1
--- /dev/null
+++ b/niryo_robot_poses_handlers/grips/ned/default_Gripper_3.grip
@@ -0,0 +1,18 @@
+{
+  "name": "default_Gripper_3", 
+  "transform": {
+    "header_frame_id": "object_base", 
+    "translation": [
+      0.0,
+      0.0, 
+      0.1215
+    ], 
+    "quaternion": [
+      0.0, 
+      0.7071068, 
+      0.0, 
+      0.7071068
+    ], 
+    "child_frame_id": "tool_link_target"
+  }
+}
diff --git a/niryo_robot_poses_handlers/grips/ned/default_No_Tool.grip b/niryo_robot_poses_handlers/grips/ned/default_No_Tool.grip
new file mode 100644
index 000000000..44fb37a18
--- /dev/null
+++ b/niryo_robot_poses_handlers/grips/ned/default_No_Tool.grip
@@ -0,0 +1,18 @@
+{
+  "name": "default_No_Tool", 
+  "transform": {
+    "header_frame_id": "object_base", 
+    "translation": [
+      0.00,
+      0.0, 
+      0.0
+    ], 
+    "quaternion": [
+      0.0, 
+      0.7071068,
+      0.0,
+      0.7071068
+    ], 
+    "child_frame_id": "tool_link_target"
+  }
+}
diff --git a/niryo_robot_poses_handlers/grips/ned/default_Vacuum_Pump_1.grip b/niryo_robot_poses_handlers/grips/ned/default_Vacuum_Pump_1.grip
new file mode 100644
index 000000000..205bf45d0
--- /dev/null
+++ b/niryo_robot_poses_handlers/grips/ned/default_Vacuum_Pump_1.grip
@@ -0,0 +1,18 @@
+{
+  "name": "default_Vacuum_Pump_1", 
+  "transform": {
+    "header_frame_id": "object_base", 
+    "translation": [
+      0.0,
+      0.0, 
+      0.047
+    ], 
+    "quaternion": [
+      0.0, 
+      0.7071068, 
+      0.0, 
+      0.7071068
+    ], 
+    "child_frame_id": "tool_link_target"
+  }
+}
diff --git a/niryo_robot_poses_handlers/launch/poses_handlers.launch b/niryo_robot_poses_handlers/launch/poses_handlers.launch
new file mode 100644
index 000000000..5d6477816
--- /dev/null
+++ b/niryo_robot_poses_handlers/launch/poses_handlers.launch
@@ -0,0 +1,21 @@
+<launch>
+    <arg name="simulation_mode" default="false" />
+    <arg name="hardware_version" value="ned"/>
+
+    <arg name="dir_desktop" value="~/.niryo/simulation/"/>
+    <arg name="dir_rpi" value="~/niryo_robot_saved_files/"/>
+
+    <arg name="saved_files_dir" value="$(arg dir_desktop)" if="$(arg simulation_mode)"/>
+    <arg name="saved_files_dir" value="$(arg dir_rpi)" unless="$(arg simulation_mode)"/>
+
+    <node name="niryo_robot_poses_handlers" pkg="niryo_robot_poses_handlers" type="poses_handlers_node.py" output="screen">
+        <param name="grip_dir" type="string" value="$(find niryo_robot_poses_handlers)/grips/$(arg hardware_version)/"/>
+
+        <param name="workspace_dir" type="string"  value="$(arg saved_files_dir)niryo_robot_workspaces/"  />
+
+        <param name="poses_dir" type="string"  value="$(arg saved_files_dir)niryo_robot_poses/"/>
+
+        <param name="trajectories_dir" type="string"  value="$(arg saved_files_dir)niryo_robot_trajectories/"/>
+
+    </node>
+</launch>
diff --git a/niryo_robot_poses_handlers/launch/rpi_poses_handlers.test b/niryo_robot_poses_handlers/launch/rpi_poses_handlers.test
new file mode 100644
index 000000000..87a92eefe
--- /dev/null
+++ b/niryo_robot_poses_handlers/launch/rpi_poses_handlers.test
@@ -0,0 +1,8 @@
+<launch>
+    <!-- Launching Node -->
+    <include file="$(find niryo_robot_poses_handlers)/launch/poses_handlers.launch" pass_all_args="true">
+        <param name="simulation_mode" type="bool" value="false"/>
+    </include>
+    <!-- Launching Test -->
+    <test test-name="poses_handlers" pkg="niryo_robot_poses_handlers" type="test_poses_handlers.py"/>
+</launch>
diff --git a/niryo_robot_poses_handlers/launch/simulation_poses_handlers.test b/niryo_robot_poses_handlers/launch/simulation_poses_handlers.test
new file mode 100644
index 000000000..874334367
--- /dev/null
+++ b/niryo_robot_poses_handlers/launch/simulation_poses_handlers.test
@@ -0,0 +1,8 @@
+<launch>
+    <!-- Launching Node -->
+    <include file="$(find niryo_robot_poses_handlers)/launch/poses_handlers.launch">
+        <arg name="simulation_mode" value="true"/>
+    </include>
+    <!-- Launching Test -->
+    <test test-name="poses_handlers" pkg="niryo_robot_poses_handlers" type="test_poses_handlers.py"/>
+</launch>
diff --git a/niryo_robot_poses_handlers/msg/NiryoPose.msg b/niryo_robot_poses_handlers/msg/NiryoPose.msg
new file mode 100644
index 000000000..403a0ad30
--- /dev/null
+++ b/niryo_robot_poses_handlers/msg/NiryoPose.msg
@@ -0,0 +1,8 @@
+string name
+string description
+
+float64[] joints 
+geometry_msgs/Point position
+niryo_robot_msgs/RPY rpy
+geometry_msgs/Quaternion orientation
+
diff --git a/niryo_robot_poses_handlers/msg/Trajectory.msg b/niryo_robot_poses_handlers/msg/Trajectory.msg
new file mode 100644
index 000000000..2f973466c
--- /dev/null
+++ b/niryo_robot_poses_handlers/msg/Trajectory.msg
@@ -0,0 +1,2 @@
+string name
+geometry_msgs/Pose[] poses
diff --git a/niryo_robot_poses_handlers/msg/Workspace.msg b/niryo_robot_poses_handlers/msg/Workspace.msg
new file mode 100644
index 000000000..266e2b2d2
--- /dev/null
+++ b/niryo_robot_poses_handlers/msg/Workspace.msg
@@ -0,0 +1,5 @@
+string name
+string description
+
+geometry_msgs/Point[] points
+niryo_robot_msgs/RobotState[] poses
diff --git a/niryo_robot_poses_handlers/package.xml b/niryo_robot_poses_handlers/package.xml
new file mode 100644
index 000000000..94d025555
--- /dev/null
+++ b/niryo_robot_poses_handlers/package.xml
@@ -0,0 +1,29 @@
+<package>
+    <name>niryo_robot_poses_handlers</name>
+    <version>3.0.0</version>
+    <description>
+        - Handles the conversion of workspace-relative poses to robot poses
+        - Handles Poses
+        - Handles Trajectories
+    </description>
+    <author>Andreas Voigt</author>
+    <author email="r.lux@niryo.com">Rémi Lux</author>
+    <maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>
+    <license>GPLv3</license>
+
+    <buildtool_depend>catkin</buildtool_depend>
+
+    <build_depend>geometry_msgs</build_depend>
+    <build_depend>moveit_msgs</build_depend>
+    <build_depend>niryo_robot_msgs</build_depend>
+
+    <run_depend>moveit_msgs</run_depend>
+    <run_depend>niryo_robot_msgs</run_depend>
+    <run_depend>tf</run_depend>
+
+    <!-- Python Dependencies -->
+    <run_depend>python-numpy</run_depend>
+
+    <export>
+    </export>
+</package>
diff --git a/niryo_robot_poses_handlers/scripts/__init__.py b/niryo_robot_poses_handlers/scripts/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/niryo_robot_poses_handlers/scripts/poses_handlers_node.py b/niryo_robot_poses_handlers/scripts/poses_handlers_node.py
new file mode 100755
index 000000000..d50cdf96f
--- /dev/null
+++ b/niryo_robot_poses_handlers/scripts/poses_handlers_node.py
@@ -0,0 +1,468 @@
+#!/usr/bin/env python
+
+# Libs
+import rospy
+
+from transform_handler import TransformHandler
+from niryo_robot_poses_handlers.transform_functions import euler_from_quaternion
+from niryo_robot_poses_handlers.file_manager import NiryoRobotFileException
+from niryo_robot_poses_handlers.grip_manager import GripManager
+from niryo_robot_poses_handlers.pose_manager import PoseManager
+from niryo_robot_poses_handlers.trajectory_manager import TrajectoryManager
+from niryo_robot_poses_handlers.workspace_manager import WorkspaceManager
+
+# Command Status
+from niryo_robot_msgs.msg import CommandStatus
+
+# Messages
+from geometry_msgs.msg import Pose, Point, Quaternion
+from niryo_robot_msgs.msg import RobotState
+from niryo_robot_msgs.msg import RPY
+from niryo_robot_poses_handlers.msg import NiryoPose
+
+# Services
+from niryo_robot_msgs.srv import GetNameDescriptionList
+
+from niryo_robot_poses_handlers.srv import GetTargetPose
+from niryo_robot_poses_handlers.srv import GetWorkspaceRatio
+from niryo_robot_poses_handlers.srv import GetWorkspaceRobotPoses
+from niryo_robot_poses_handlers.srv import ManageWorkspace
+from niryo_robot_poses_handlers.srv import GetPose, ManagePose
+from niryo_robot_poses_handlers.srv import GetTrajectory, ManageTrajectory
+
+
+class PoseHandlerNode:
+    """
+    This class is an interface for manipulating object poses and converting them to robot poses.
+    In particular, it allows
+        - creation of workspaces
+        - created of grips
+        - convertion of workspace-relative poses (e.g. from camera) to robot poses
+    """
+
+    def __init__(self):
+        rospy.logdebug("Poses Handlers - Entering in Init")
+
+        # Workspaces
+        ws_dir = rospy.get_param("~workspace_dir")
+        self.__ws_manager = WorkspaceManager(ws_dir)
+        rospy.Service('~manage_workspace', ManageWorkspace,
+                      self.__callback_manage_workspace)
+        rospy.Service('~get_workspace_ratio', GetWorkspaceRatio,
+                      self.__callback_workspace_ratio)
+        rospy.Service('~get_workspace_list', GetNameDescriptionList,
+                      self.__callback_workspace_list)
+        rospy.Service('~get_workspace_poses', GetWorkspaceRobotPoses,
+                      self.__callback_get_workspace_poses)
+        # Grips
+        tool_config_dict = rospy.get_param("niryo_robot_tools/tool_list", dict())
+        self.__tool_id_gripname_dict = {tool["id"]: "default_" + tool["name"].replace(" ", "_")
+                                        for tool in tool_config_dict}
+        self.__tool_id_gripname_dict[-1] = "default_Calibration_Tip"
+
+        grip_dir = rospy.get_param("~grip_dir")
+        self.__grip_manager = GripManager(grip_dir, self.__tool_id_gripname_dict.values())
+        rospy.Service('~get_target_pose', GetTargetPose,
+                      self.__callback_target_pose)
+
+        # Transform Handlers
+        self.__transform_handler = TransformHandler(self.__grip_manager)
+
+        rospy.logdebug("Poses Handlers - Transform Handler created")
+
+        # -- POSES AND TRAJECTORIES
+        # Poses
+        poses_dir = rospy.get_param("~poses_dir")
+        self.__pos_manager = PoseManager(poses_dir)
+
+        rospy.Service('~manage_pose', ManagePose,
+                      self.__callback_manage_pose)
+        rospy.Service('~get_pose', GetPose,
+                      self.__callback_get_pose)
+        rospy.Service('~get_pose_list', GetNameDescriptionList,
+                      self.__callback_get_position_list)
+
+        # Trajectories
+        trajectories_dir = rospy.get_param("~trajectories_dir")
+        self.traj_manager = TrajectoryManager(trajectories_dir)
+        rospy.Service('~manage_trajectory', ManageTrajectory,
+                      self.__callback_manage_trajectory)
+        rospy.Service('~get_trajectory', GetTrajectory,
+                      self.__callback_get_trajectory)
+        rospy.Service('~get_trajectory_list', GetNameDescriptionList,
+                      self.__callback_get_trajectory_list)
+
+        # Set a bool to mentioned this node is initialized
+        rospy.set_param('~initialized', True)
+
+        rospy.loginfo("Poses Handlers - Started")
+
+    # -- ROS CALLBACKS
+    # Workspace
+    def __callback_manage_workspace(self, req):
+        cmd = req.cmd
+        workspace = req.workspace
+        if cmd == req.SAVE:
+            if len(workspace.poses) != 4:
+                return CommandStatus.WORKSPACE_CREATION_FAILED, "Workspaces have 4 positions, {} given".format(
+                    len(workspace.poses))
+            try:
+                self.create_workspace(workspace.name, workspace.description, workspace.poses)
+                return CommandStatus.SUCCESS, "Created workspace '{}'".format(workspace.name)
+            except NiryoRobotFileException as e:
+                return CommandStatus.FILE_ALREADY_EXISTS, str(e)
+            except (ValueError, Exception) as e:
+                return CommandStatus.WORKSPACE_CREATION_FAILED, str(e)
+
+        elif cmd == req.SAVE_WITH_POINTS:
+            if len(workspace.points) != 4:
+                return CommandStatus.WORKSPACE_CREATION_FAILED, "Workspaces have 4 points, {} given".format(
+                    len(workspace.points))
+            try:
+                self.create_workspace_from_points(workspace.name, workspace.description, workspace.points)
+                return CommandStatus.SUCCESS, "Created workspace '{}'".format(workspace.name)
+            except NiryoRobotFileException as e:
+                return CommandStatus.FILE_ALREADY_EXISTS, str(e)
+            except Exception as e:
+                return CommandStatus.WORKSPACE_CREATION_FAILED, str(e)
+        elif cmd == req.DELETE:
+            try:
+                self.remove_workspace(workspace.name)
+                return CommandStatus.SUCCESS, "Removed workspace '{}'".format(workspace.name)
+            except Exception as e:
+                return CommandStatus.POSES_HANDLER_REMOVAL_FAILED, str(e)
+        else:
+            return CommandStatus.UNKNOWN_COMMAND, "cmd '{}' not found.".format(req.cmd)
+
+    def __callback_workspace_ratio(self, req):
+        try:
+            ratio = self.get_workspace_ratio(req.workspace)
+            return CommandStatus.SUCCESS, "Success", ratio
+        except Exception as e:
+            return CommandStatus.POSES_HANDLER_READ_FAILURE, str(e), 0
+
+    def __callback_workspace_list(self, _):
+        try:
+            ws_list, description_list = self.get_available_workspaces()
+        except Exception as e:
+            rospy.logerr("Poses Handlers - Error occured when getting workspace list: {}".format(e))
+            ws_list = description_list = []
+        return {"name_list": ws_list, "description_list": description_list}
+
+    def __callback_get_workspace_poses(self, req):
+        try:
+            poses = self.get_workspace_poses(req.name)
+            return CommandStatus.SUCCESS, "Success", poses
+        except Exception as e:
+            return CommandStatus.POSES_HANDLER_READ_FAILURE, str(e), 4 * [RobotState()]
+
+    # Grips
+    def __callback_target_pose(self, req):
+        try:
+            if req.grip == req.GRIP_AUTO:
+                pose = self.get_target_pose_auto_grip(req.workspace, req.tool_id, req.height_offset,
+                                                      req.x_rel, req.y_rel, req.yaw_rel)
+            else:
+                pose = self.get_target_pose(req.workspace, req.grip, req.height_offset,
+                                            req.x_rel, req.y_rel, req.yaw_rel)
+            return CommandStatus.SUCCESS, "Success", pose
+        except Exception as e:
+            return CommandStatus.POSES_HANDLER_COMPUTE_FAILURE, str(e), RobotState()
+
+    # Position
+    def __callback_get_position_list(self, _):
+        try:
+            pos_list, description_list = self.get_available_poses()
+        except Exception as e:
+            rospy.logerr("Poses Handlers - Error occured when getting position list: {}".format(e))
+            pos_list = description_list = []
+        return {"name_list": pos_list, "description_list": description_list}
+
+    def __callback_get_pose(self, req):
+        try:
+            pos_read = self.get_pose(req.name)
+            pos_msg = NiryoPose(pos_read.name, pos_read.description,
+                                pos_read.joints, pos_read.position, pos_read.rpy, pos_read.orientation)
+            return CommandStatus.SUCCESS, "Success", pos_msg
+        except Exception as e:
+            return CommandStatus.POSES_HANDLER_READ_FAILURE, str(e), NiryoPose()
+
+    def __callback_manage_pose(self, req):
+        cmd = req.cmd
+        pose = req.pose
+        if cmd == req.SAVE:
+            try:
+                self.create_pose(pose.name, pose.description, pose.joints, pose.position, pose.rpy, pose.orientation)
+                return CommandStatus.SUCCESS, "Created Position '{}'".format(pose.name)
+            except Exception as e:
+                return CommandStatus.POSES_HANDLER_CREATION_FAILED, str(e)
+        elif cmd == req.DELETE:
+            try:
+                self.remove_pose(pose.name)
+                return CommandStatus.SUCCESS, "Removed Position '{}'".format(pose.name)
+            except Exception as e:
+                return CommandStatus.POSES_HANDLER_REMOVAL_FAILED, str(e)
+        else:
+            return CommandStatus.UNKNOWN_COMMAND, "cmd '{}' not found.".format(cmd)
+
+    def __callback_manage_trajectory(self, req):
+        cmd = req.cmd
+        if cmd == req.SAVE:
+            try:
+                self.create_trajectory(req.name, req.description, req.poses)
+                return CommandStatus.SUCCESS, "Created trajectory '{}'".format(req.name)
+            except Exception as e:
+                return CommandStatus.POSES_HANDLER_CREATION_FAILED, str(e)
+        elif cmd == req.DELETE:
+            try:
+                self.remove_trajectory(req.name)
+                return CommandStatus.SUCCESS, "Removed trajectory '{}'".format(req.name)
+            except Exception as e:
+                return CommandStatus.POSES_HANDLER_REMOVAL_FAILED, str(e)
+        else:
+            return CommandStatus.UNKNOWN_COMMAND, "cmd '{}' not found.".format(req.cmd)
+
+    # Trajectories
+    def __callback_get_trajectory_list(self, _):
+        try:
+            trajectory_list, description_list = self.get_available_trajectories_w_description()
+        except Exception as e:
+            rospy.logerr("Poses Handlers - Error occured when getting trajectories list: {}".format(e))
+            trajectory_list = description_list = []
+        return {"name_list": trajectory_list, "description_list": description_list}
+
+    def __callback_get_trajectory(self, req):
+        try:
+            traj_list_poses = self.get_trajectory(req.name)
+            return CommandStatus.SUCCESS, "Success", traj_list_poses
+        except Exception as e:
+            return CommandStatus.POSES_HANDLER_READ_FAILURE, str(e), []
+
+    # -- REGULAR CLASS FUNCTIONS
+    # Workspace
+    def create_workspace(self, name, description, robot_poses):
+        """
+        Creates a new workspace based on 4 recorded robot poses. The 0th point
+        needs to be the workspace origin. Points ordered clockwise.
+
+        :param name: name of the new workspace
+        :param description: description of the new workspace
+        :param robot_poses: [pose when pointing at origin, pose on marker 1,...]
+        """
+        points = []
+        robot_poses_raw = []
+
+        for pose in robot_poses:
+            rospy.logdebug("Robot point\n{}".format(pose.position))
+            point = self.__transform_handler.get_calibration_tip_position(pose)
+            rospy.logdebug("Tip point\n{}".format(point))
+            points.append([point.x, point.y, point.z])
+            pose_raw = [[pose.position.x, pose.position.y, pose.position.z],
+                        [pose.rpy.roll, pose.rpy.pitch, pose.rpy.yaw]]
+            robot_poses_raw.append(pose_raw)
+        self.__ws_manager.create(name, points, robot_poses_raw, description)
+
+    def create_workspace_from_points(self, name, description, points):
+        """
+
+        :param name: name of the new workspace
+        :param description: description of the new workspace
+        :param points: [pose of origin marker, pose of marker 1,...]
+        """
+        points_raw = []
+        for point in points:
+            points_raw.append([point.x, point.y, point.z])
+        self.__ws_manager.create(name, points_raw, description)
+
+    def remove_workspace(self, name):
+        """
+        Removes a workspace
+        :param name: name of the workspace to remove
+        """
+        self.__ws_manager.remove(name)
+
+    def get_available_workspaces(self):
+        """
+        Returns a list of all available workspace names.
+        """
+        return self.__ws_manager.get_all_names_w_description()
+
+    def get_workspace_poses(self, name):
+        ws_raw = self.__ws_manager.read(name)
+        poses = [RobotState(position=Point(*pose[0]), rpy=RPY(*pose[1]))
+                 for pose in ws_raw.robot_poses]
+        return poses
+
+    def get_workspace_ratio(self, workspace):
+        """
+        Reads the ratio (width/height) of the specified workspace. This function is used by the
+        camera to do the perspective transform.
+
+        :param workspace: name of the workspace
+        """
+        current_ws = self.__ws_manager.read(workspace)
+        return current_ws.x_width / current_ws.y_width
+
+    # Grips
+    def get_target_pose_auto_grip(self, workspace, tool_id, height_offset, x_rel, y_rel, yaw_rel):
+        """
+        Loads the default grip corresponding to the tool_id and calls get_target_pose.
+
+        See arguments of 'get_target_pose'
+        """
+        return self.get_target_pose(workspace, self.__tool_id_gripname_dict[tool_id], height_offset,
+                                    x_rel, y_rel, yaw_rel)
+
+    def get_target_pose(self, workspace, grip, height_offset, x_rel, y_rel, yaw_rel):
+        """
+        Computes the robot pose that can be used to grab an object which is
+        positioned relative to the given workspace using the specified grip.
+
+        :param workspace: name of the workspace the object is in
+        :param grip: name of the grip to use to pick the object
+        :param height_offset: z-offset that is added to the grip
+        :param x_rel: x relative position of the object inside working zone
+        :param y_rel: y relative position of the object inside working zone
+        :param yaw_rel: angle of the object inside working zone
+        """
+        current_ws = self.__ws_manager.read(workspace)
+        current_grip = self.__grip_manager.read(grip)
+        current_grip.transform.transform.translation.z += height_offset
+
+        self.__transform_handler.set_grip(current_grip)
+        self.__transform_handler.set_relative_pose_object(current_ws, x_rel, y_rel, yaw_rel,
+                                                          yaw_center=current_ws.yaw_center)
+
+        base_link_to_tool_target = self.__transform_handler.get_gripping_transform()
+        q = base_link_to_tool_target.transform.rotation
+
+        roll, pitch, yaw = euler_from_quaternion([q.x, q.y, q.z, q.w])
+
+        pose = RobotState()
+        pose.position.x = base_link_to_tool_target.transform.translation.x
+        pose.position.y = base_link_to_tool_target.transform.translation.y
+        pose.position.z = base_link_to_tool_target.transform.translation.z
+        pose.rpy.roll = roll
+        pose.rpy.pitch = pitch
+        pose.rpy.yaw = yaw
+
+        return pose
+
+    # -- Pose
+    def create_pose(self, name, description, joints, point, rpy, quaternion):
+        """
+        Create a pose from ManagePose message fields
+
+        :type name: str
+        :type description: str
+        :type joints: list[float]
+        :type point: Point
+        :type rpy: RPY
+        :type quaternion: Quaternion
+        :return: None
+        """
+        point_raw = [point.x, point.y, point.z]
+        rpy_raw = [rpy.roll, rpy.pitch, rpy.yaw]
+        quaternion_raw = [quaternion.x, quaternion.y, quaternion.z, quaternion.w]
+        self.__pos_manager.create(name, joints, point_raw, rpy_raw, quaternion_raw, description)
+
+    def get_pose(self, name):
+        """
+        Get pose from pose manager and return NiryoPose
+
+        :param name: pose name
+        :type name: str
+        :return: The pose object
+        :rtype: NiryoPose
+        """
+        pose_raw = self.__pos_manager.read(name)
+        pose = NiryoPose()
+        pose.joints = pose_raw.joints
+        pose.position = Point(*pose_raw.position)
+        pose.rpy = RPY(*pose_raw.rpy)
+        pose.orientation = Quaternion(*pose_raw.orientation)
+        return pose
+
+    def remove_pose(self, name):
+        """
+        Asks pose manager to remove pose
+
+        :param name: pose name
+        :type name: str
+        :return: None
+        """
+        self.__pos_manager.remove(name)
+
+    def get_available_poses(self):
+        """
+        Ask the poses manager which pose(s) are available
+
+        :return: list of positions name
+        :rtype: list[str]
+        """
+        return self.__pos_manager.get_all_names_w_description()
+
+    # -- Trajectories
+    def create_trajectory(self, name, description, poses):
+        """
+        Create a pose from ManageTrajectory message fields
+
+        :type name: str
+        :type description: str
+        :type poses: list[Pose]
+        :return: None
+        """
+        poses_raw = []
+        for pose in poses:
+            point_raw = [pose.position.x, pose.position.y, pose.position.z]
+            quaternion_raw = [pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w]
+            pose_raw = [point_raw, quaternion_raw]
+            poses_raw.append(pose_raw)
+        self.traj_manager.create(name, poses_raw, description)
+
+    def get_trajectory(self, name):
+        """
+        Get trajectory from trajectories manager and return list of NiryoPose
+
+        :param name: pose name
+        :type name: str
+        :return: The trajectory object
+        :rtype: list[NiryoPose]
+        """
+        traj_read = self.traj_manager.read(name)
+        list_poses_raw = traj_read.list_poses
+        list_poses = []
+        for pose_raw in list_poses_raw:
+            point = Point(*pose_raw[0])
+            quaternion = Quaternion(*pose_raw[1])
+            pose = Pose(point, quaternion)
+            list_poses.append(pose)
+        return list_poses
+
+    def remove_trajectory(self, name):
+        """
+        Asks trajectories manager to remove pose
+
+        :param name: trajectory name
+        :type name: str
+        :return: None
+        """
+        self.traj_manager.remove(name)
+
+    def get_available_trajectories_w_description(self):
+        """
+        Ask the trajectories manager which trajectories are available
+
+        :return: list of trajectories name
+        :rtype: list[str]
+        """
+        return self.traj_manager.get_all_names_w_description()
+
+
+if __name__ == "__main__":
+    rospy.init_node('niryo_robot_poses_handlers', anonymous=False, log_level=rospy.INFO)
+    try:
+        vision_node = PoseHandlerNode()
+        rospy.spin()
+    except rospy.ROSInterruptException:
+        pass
diff --git a/niryo_robot_poses_handlers/scripts/transform_handler.py b/niryo_robot_poses_handlers/scripts/transform_handler.py
new file mode 100644
index 000000000..f20fb618d
--- /dev/null
+++ b/niryo_robot_poses_handlers/scripts/transform_handler.py
@@ -0,0 +1,276 @@
+# Libs
+import rospy
+import tf2_ros
+
+import niryo_robot_poses_handlers.transform_functions as transformations
+
+import threading
+import numpy as np
+
+# Messages
+from geometry_msgs.msg import TransformStamped
+from visualization_msgs.msg import Marker
+
+
+class TransformHandler:
+    """
+    This class uses a tfBuffer to handle transforms related to the vision kit.
+    """
+
+    def __init__(self, grip_manager):
+        self.__tf_buffer = tf2_ros.Buffer()
+        self.__debug_stop_event = threading.Event()
+        self.__debug_thread = None
+        self.__debug_current_ws = None  # only for debugging purposes
+
+        self.__grip_manager = grip_manager
+
+    def __del__(self):
+        self.disable_debug()
+
+    def set_relative_pose_object(self, workspace, x_rel, y_rel, yaw_rel, yaw_center=None):
+        """
+        Updates the transform base_link -> object_base in local tfBuffer
+
+        :param workspace: reference workspace object
+        :param x_rel: object base x position relative to workspace
+        :param y_rel: object base y position relative to workspace
+        :param yaw_rel: object base rotation on z relative to workspace
+        :param yaw_center: Avoid over rotation
+        """
+        position = np.dot(workspace.position_matrix, np.array([x_rel, y_rel, 1]))
+        camera_rotation = transformations.euler_matrix(0, 0, yaw_rel)
+        # Here we correct the object orientation to be similar to base_link if
+        # the object in on the ground. Not neccessarily needed to be honest...
+        convention_rotation = np.array([[0, -1, 0, 0],
+                                        [-1, 0, 0, 0],
+                                        [0, 0, -1, 0],
+                                        [0, 0, 0, 1]])
+
+        object_rotation = transformations.concatenate_matrices(
+            workspace.rotation_matrix, camera_rotation, convention_rotation)
+        roll, pitch, yaw = transformations.euler_from_matrix(object_rotation)
+
+        # Correcting yaw to avoid out of reach targets
+        if yaw_center is not None:
+            if yaw < yaw_center - np.pi / 2:
+                yaw += np.pi
+            elif yaw > yaw_center + np.pi / 2:
+                yaw -= np.pi
+
+        q = transformations.quaternion_from_euler(roll, pitch, yaw)
+
+        t = TransformStamped()
+        t.transform.translation.x = position[0]
+        t.transform.translation.y = position[1]
+        t.transform.translation.z = position[2]
+
+        t.transform.rotation.x = q[0]
+        t.transform.rotation.y = q[1]
+        t.transform.rotation.z = q[2]
+        t.transform.rotation.w = q[3]
+
+        t.header.frame_id = "base_link"
+        t.child_frame_id = "object_base"
+
+        self.__tf_buffer.set_transform(t, "default_authority")
+
+    def set_grip(self, grip):
+        """
+        Updates the transform object_base -> tool_link_target in local tfBuffer
+        :param grip:
+
+        """
+        if grip.transform.header.frame_id != "object_base":
+            rospy.logerr("TransformHandler - Grip transform need to have header frame 'object_base'")
+            return False
+
+        if grip.transform.child_frame_id != "tool_link_target":
+            rospy.logerr("Transform Handler - Grip transform need to have child frame 'tool_link_target'")
+            return False
+
+        self.__tf_buffer.set_transform(grip.transform, "default_authority")
+        return True
+
+    def get_object_base_transform(self):
+        """
+        Reads the transform base_link -> object_base from local tfBuffer
+
+        :returns: transform base_link -> object_base
+        """
+        return self.__tf_buffer.lookup_transform("base_link", "object_base",
+                                                 rospy.Time(0))
+
+    def get_gripping_transform(self):
+        """
+        Reads the transform base_link -> tool_link_target from local tfBuffer
+
+        :returns: transform base_link -> tool_link_target
+        """
+        return self.__tf_buffer.lookup_transform(
+            "base_link", "tool_link_target", rospy.Time(0))
+
+    def get_calibration_tip_position(self, robot_pose):
+        """
+        Retrieves the position of the calibration tip from a given robot pose.
+
+        :param robot_pose: pose of the robot's tool_link
+        :returns: xyz position of calibration tip in robot coordinates
+        """
+        # First apply transform for robot pose
+        base_link_to_tool_link = self.transform_from_euler(
+            robot_pose.position.x, robot_pose.position.y, robot_pose.position.z,
+            robot_pose.rpy.roll, robot_pose.rpy.pitch, robot_pose.rpy.yaw,
+            "base_link", "tool_link"
+        )
+        self.__tf_buffer.set_transform(base_link_to_tool_link,
+                                       "default_authority")
+
+        # Getting calibration tip
+        calibration_tip_grip = self.__grip_manager.read("default_Calibration_Tip")
+        tool_link_to_calib_tip = calibration_tip_grip.transform
+        tool_link_to_calib_tip.header.frame_id = "tool_link"
+        tool_link_to_calib_tip.child_frame_id = "calibration_tip"
+
+        self.__tf_buffer.set_transform(tool_link_to_calib_tip,
+                                       "default_authority")
+
+        base_link_to_calib_tip = self.__tf_buffer.lookup_transform(
+            "base_link", "calibration_tip", rospy.Time(0))
+
+        calib_tip_position = base_link_to_calib_tip.transform.translation
+        # rospy.loginfo("Base Link -> Tool Link : {}".format(base_link_to_tool_link.transform.translation))
+        # rospy.loginfo("Base Link -> Calib Tip : {}".format(base_link_to_calib_tip.transform.translation))
+        return calib_tip_position
+
+    def get_grip_transform(self, ws_name, robot_pose):
+        """
+        Retrieves the transform needed to create a grip supposing the object
+        is placed on the origin of the given workspace.
+
+        :param ws_name: name of the workspace the object is placed on
+        :param robot_pose: pose of the robot's tool_link
+        """
+        # First apply transform for robot pose
+        base_link_to_tool_link = self.transform_from_euler(
+            robot_pose.position.x, robot_pose.position.y, robot_pose.position.z,
+            robot_pose.rpy.roll, robot_pose.rpy.pitch, robot_pose.rpy.yaw,
+            "base_link", "tool_link"
+        )
+        self.__tf_buffer.set_transform(base_link_to_tool_link,
+                                       "default_authority")
+
+        # Manually place object on origin
+        self.set_relative_pose_object(ws_name, 0, 0, 0)
+
+        # Lookup the grip
+        t = self.__tf_buffer.lookup_transform("object_base", "tool_link",
+                                              rospy.Time(0))
+        t.child_frame_id = "tool_link_target"
+        return t
+
+    @staticmethod
+    def transform_from_euler(x, y, z, roll, pitch, yaw, header_frame_id,
+                             child_frame_id):
+        """
+        Creates a new stamped transform from translation and euler-orientation
+
+        :param x: x translation
+        :param y: y translation
+        :param z: z translation
+        :param roll: orientation roll
+        :param pitch: orientation pitch
+        :param yaw: orientation yaw
+        :param header_frame_id: transform from this frame
+        :param child_frame_id: transform to this frame
+
+        :returns: transform
+        """
+        t = TransformStamped()
+        t.transform.translation.x = x
+        t.transform.translation.y = y
+        t.transform.translation.z = z
+
+        q = transformations.quaternion_from_euler(roll, pitch, yaw)
+        t.transform.rotation.x = q[0]
+        t.transform.rotation.y = q[1]
+        t.transform.rotation.z = q[2]
+        t.transform.rotation.w = q[3]
+
+        t.header.frame_id = header_frame_id
+        t.child_frame_id = child_frame_id
+
+        return t
+
+    def enable_debug(self):
+        """
+        Start publishing debug information on /tf and /visualization_marker for
+        debugging using rviz. This will happen in a separate thread.
+        """
+        self.__debug_thread = threading.Thread(target=self.__debug_loop,
+                                               name="Transform Handler Debug Thread")
+        self.__debug_thread.start()
+
+    def disable_debug(self):
+        """
+        Stop publishing debug inforation
+        """
+        self.__debug_stop_event.set()
+        if self.__debug_thread is not None:
+            self.__debug_thread.join()
+
+    def __debug_loop(self):
+        """
+        Debug loop that will run in a separate thread.
+        (tfBuffer should be threadsafe)
+        """
+        broadcaster = tf2_ros.TransformBroadcaster()
+        rviz_marker_pub = rospy.Publisher('/visualization_marker', Marker,
+                                          queue_size=1000)
+        rate = rospy.Rate(5)
+        while not self.__debug_stop_event.is_set() and not rospy.is_shutdown():
+            if self.__debug_current_ws is None:
+                rospy.logerr("Transform Handler - Could not publish debug tf, no workspace set.")
+                rate.sleep()
+                continue
+
+            try:
+                broadcaster.sendTransform(
+                    self.__tf_buffer.lookup_transform(
+                        "base_link", self.__debug_current_ws.name,
+                        rospy.Time(0))
+                )
+                broadcaster.sendTransform(
+                    self.__tf_buffer.lookup_transform(
+                        self.__debug_current_ws.name, "object_base",
+                        rospy.Time(0))
+                )
+                broadcaster.sendTransform(
+                    self.__tf_buffer.lookup_transform(
+                        "object_base", "tool_link_target", rospy.Time(0))
+                )
+            except tf2_ros.LookupException as e:
+                rospy.logerr("Transform Handler - Could not publish debug tf: {}".format(e))
+
+            for i in range(4):  # Iterate over the 4 markers defining the workspace
+                msg = Marker()
+                msg.header.frame_id = "base_link"
+                msg.id = i
+                msg.type = 2  # It correspond to a sphere which will be drawn
+
+                msg.pose.position.x = self.__debug_current_ws.points[i][0]
+                msg.pose.position.y = self.__debug_current_ws.points[i][1]
+                msg.pose.position.z = self.__debug_current_ws.points[i][2]
+
+                msg.scale.x = 0.005
+                msg.scale.y = 0.005
+                msg.scale.z = 0.005
+
+                msg.color.r = 1.0 if i == 0 or i == 3 else 0.0
+                msg.color.g = 1.0 if i == 1 or i == 3 else 0.0
+                msg.color.b = 1.0 if i == 2 or i == 3 else 0.0
+                msg.color.a = 1.0
+
+                rviz_marker_pub.publish(msg)
+
+        rate.sleep()
diff --git a/niryo_robot_poses_handlers/setup.py b/niryo_robot_poses_handlers/setup.py
new file mode 100644
index 000000000..dc41a2eb9
--- /dev/null
+++ b/niryo_robot_poses_handlers/setup.py
@@ -0,0 +1,10 @@
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    packages=['niryo_robot_poses_handlers'],
+    # scripts=['bin/myscript'],
+    package_dir={'': 'src'}
+)
+
+setup(**d)
diff --git a/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/__init__.py b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/file_manager.py b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/file_manager.py
new file mode 100644
index 000000000..88e15e632
--- /dev/null
+++ b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/file_manager.py
@@ -0,0 +1,133 @@
+#!/usr/bin/env python
+
+import os
+import json
+
+
+class NiryoRobotFileException(Exception):
+    pass
+
+
+class FileManager(object):
+    """
+    Manages the creation, storage and loading of objects that implement the functions
+    from_dict and to_dict.
+
+    !!! This class is an abstract class
+
+    :raises NiryoRobotFileException:
+
+    """
+    object_type = None
+
+    def __init__(self, base_dir, extension, protected_names=None):
+        self._base_dir = os.path.expanduser(base_dir)
+        self._protected_names = protected_names if protected_names is not None else []
+        if not self._base_dir.endswith('/'):
+            self._base_dir += '/'
+        if not os.path.exists(self._base_dir):
+            os.makedirs(self._base_dir)
+
+        self._extension = extension
+        self._suffix = "." + self._extension
+
+    # - Private
+    def __name_from_filename(self, filename):
+        if filename.endswith(self._suffix):
+            return filename[:-len(self._suffix)]
+        return filename
+
+    def __filename_from_name(self, name):
+        return name + self._suffix
+
+    def __path_from_name(self, name):
+        return self._base_dir + self.__filename_from_name(name)
+
+    def _write(self, name, object_):
+        if name in self._protected_names:
+            raise NiryoRobotFileException("Object '{}' is protected and cannot be written".format(name))
+        with open(self.__path_from_name(name), 'w') as f:
+            try:
+                f.write(json.dumps(object_.to_dict(), indent=2))
+            except Exception as e:
+                raise NiryoRobotFileException("Could not write object. " + str(e))
+
+    # - Public
+    def read(self, name):
+        """
+        Read file
+
+        :param name: file name
+        :type name: str
+
+        :raises: NiryoRobotFileException: if any error
+
+        :return: An object corresponding to object_type
+        :rtype: object_type
+        """
+        if not self.exists(name):
+            raise NiryoRobotFileException("Object '{}' does not exist".format(name))
+
+        with open(self.__path_from_name(name), 'r') as f:
+            try:
+                return self.object_type.from_dict(json.loads(f.read()))
+            except Exception as e:
+                raise NiryoRobotFileException("Could not read object '{}' : {}".format(name, e))
+
+    def read_description(self, name):
+        obj = self.read(name)
+        return obj.description
+
+    def remove(self, name):
+        """
+        Remove file
+
+        :param name: file name
+        :type name: str
+        :raises: NiryoRobotFileException: if any error
+
+        :return: None
+        """
+        if name in self._protected_names:
+            raise NiryoRobotFileException("Object '{}' is protected and cannot be removed".format(name))
+        try:
+            os.remove(self.__path_from_name(name))
+        except OSError as e:
+            raise NiryoRobotFileException("Could not remove object '{}' : {}".format(name, e))
+
+    def get_all_names(self):
+        """
+        Get all filenames available in storage
+
+        :raises: NiryoRobotFileException: if any error
+
+        :return: list of filenames
+        :rtype: list[str]
+        """
+        try:
+            filenames = sorted(os.listdir(self._base_dir))
+        except OSError as e:
+            raise NiryoRobotFileException("Could not retrieve files. " + str(e))
+        return [self.__name_from_filename(f) for f in filenames if f.endswith(self._suffix)]
+
+    def get_all_names_w_description(self):
+        """
+        Get all filenames available in storage + their descriptions
+
+        :return: list of filenames
+        :rtype: list[str]
+        """
+        list_name = self.get_all_names()
+        list_description = [self.read_description(name=n) for n in list_name]
+        return list_name, list_description
+
+    def exists(self, name):
+        """
+        Check if a file with a certain name exists
+
+        :param name: file name
+        :type name: str
+        :return: True if file exists, else False
+        :rtype: bool
+        """
+        return os.path.isfile(self.__path_from_name(name))
diff --git a/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/grip_manager.py b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/grip_manager.py
new file mode 100644
index 000000000..a8ae97ea4
--- /dev/null
+++ b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/grip_manager.py
@@ -0,0 +1,75 @@
+#!/usr/bin/env python
+
+from niryo_robot_poses_handlers.file_manager import FileManager
+
+from geometry_msgs.msg import TransformStamped
+
+
+# Todo : Shouldn't be ROS dependant
+class Grip(object):
+    """
+    Represents the robot tool_0 position (the one we plan for) with respect to
+    an object we want to approach.
+
+    :param name: unique (!) name for the grip that will be used to reference it
+    :param transform: the tf transform msg from object to tool_0
+    """
+
+    def __init__(self, name, transform):
+        self.name = name
+        self.transform = transform
+
+    def __str__(self):
+        return "Grip name : {}".format(self.name)
+
+    def __repr__(self):
+        return self.__str__()
+
+    def to_dict(self):
+        dict_ = dict()
+        dict_["name"] = self.name
+        transform_dict = dict()
+        transform_dict["header_frame_id"] = self.transform.header.frame_id
+        transform_dict["child_frame_id"] = self.transform.child_frame_id
+        transform_dict["translation"] = [self.transform.transform.translation.x,
+                                         self.transform.transform.translation.y,
+                                         self.transform.transform.translation.z]
+        transform_dict["quaternion"] = [self.transform.transform.rotation.x,
+                                        self.transform.transform.rotation.y,
+                                        self.transform.transform.rotation.z,
+                                        self.transform.transform.rotation.w]
+        dict_["transform"] = transform_dict
+        return dict_
+
+    @classmethod
+    def from_dict(cls, dict_):
+        t = TransformStamped()
+        t.transform.translation.x = dict_["transform"]["translation"][0]
+        t.transform.translation.y = dict_["transform"]["translation"][1]
+        t.transform.translation.z = dict_["transform"]["translation"][2]
+
+        t.transform.rotation.x = dict_["transform"]["quaternion"][0]
+        t.transform.rotation.y = dict_["transform"]["quaternion"][1]
+        t.transform.rotation.z = dict_["transform"]["quaternion"][2]
+        t.transform.rotation.w = dict_["transform"]["quaternion"][3]
+
+        t.header.frame_id = dict_["transform"]["header_frame_id"]
+        t.child_frame_id = dict_["transform"]["child_frame_id"]
+
+        return cls(dict_["name"], t)
+
+
+class GripManager(FileManager):
+    """
+    Manages the creation, storage and loading of grips.
+
+    :raises NiryoRobotFileException:
+    """
+    object_type = Grip
+
+    def __init__(self, grip_dir, protected_grips=None):
+        super(GripManager, self).__init__(grip_dir, "grip", protected_names=protected_grips)
+
+    def create(self, grip_name, transform):
+        grip = Grip(grip_name, transform)
+        self._write(grip_name, grip)
diff --git a/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/pose_manager.py b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/pose_manager.py
new file mode 100755
index 000000000..0fcac580e
--- /dev/null
+++ b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/pose_manager.py
@@ -0,0 +1,59 @@
+#!/usr/bin/env python
+
+from niryo_robot_poses_handlers.file_manager import FileManager
+
+
+class PoseObj:
+
+    def __init__(self, name, description):
+        self.name = name
+        self.description = description
+        self.joints = None
+        self.position = None
+        self.rpy = None
+        self.orientation = None
+
+    def to_dict(self):
+        dict_ = dict()
+        dict_["name"] = self.name
+        dict_["description"] = self.description
+        dict_["joints"] = self.joints
+        dict_["position"] = self.position
+        dict_["rpy"] = self.rpy
+        dict_["orientation"] = self.orientation
+        return dict_
+
+    @classmethod
+    def from_dict(cls, dict_):
+        pos = cls(dict_["name"], dict_["description"])
+        pos.joints = dict_["joints"]
+        pos.position = dict_["position"]
+        pos.rpy = dict_["rpy"]
+        pos.orientation = dict_["orientation"]
+        return pos
+
+    def get_value(self):
+        return [self.joints, self.position, self.rpy, self.orientation]
+
+    def __str__(self):
+        return "{} {} {}".format(self.name, self.position, self.rpy)
+
+
+class PoseManager(FileManager):
+    """
+    Manages the creation, storage and loading of positions.
+
+    :raises NiryoRobotFileException:
+    """
+    object_type = PoseObj
+
+    def __init__(self, position_dir):
+        super(PoseManager, self).__init__(position_dir, "position")
+
+    def create(self, pos_name, joints, position, rpy, orientation, description=""):
+        position_obj = PoseObj(pos_name, description)
+        position_obj.joints = joints
+        position_obj.rpy = rpy
+        position_obj.position = position
+        position_obj.orientation = orientation
+        self._write(pos_name, position_obj)
diff --git a/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/test_pure_python_poses_handlers.py b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/test_pure_python_poses_handlers.py
new file mode 100644
index 000000000..5c1efecb9
--- /dev/null
+++ b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/test_pure_python_poses_handlers.py
@@ -0,0 +1,141 @@
+#!/usr/bin/env python
+
+import unittest
+import os
+import shutil
+
+from niryo_robot_poses_handlers.file_manager import NiryoRobotFileException
+
+import niryo_robot_poses_handlers.pose_manager as pose_manager
+import niryo_robot_poses_handlers.trajectory_manager as trajectory_manager
+import niryo_robot_poses_handlers.workspace_manager as workspace_manager
+
+test_folder = "~/Tests_Niryo_Ned/"
+test_folder = os.path.expanduser(test_folder)
+
+points = [[0.278, 0.104, 0.058], [0.275, -0.036, 0.058],
+          [0.125, -0.040, 0.059], [0.127, 0.109, 0.059]]
+robot_poses = [[[0.281, 0.102, 0.083], [2.200, 1.439, 2.367]],
+               [[0.276, -0.03, 0.083], [2.058, 1.473, 1.704]],
+               [[0.123, -0.04, 0.084], [0.132, 1.499, -0.12]],
+               [[0.121, 0.110, 0.083], [-0.19, 1.339, -0.19]]]
+
+
+def create_test_folder():
+    if not os.path.isdir(test_folder):
+        os.makedirs(test_folder)
+
+
+def delete_test_folder():
+    if os.path.isdir(test_folder):
+        shutil.rmtree(test_folder)
+
+
+def check_get_read_remove(obj):
+    obj.assertEqual(obj.manager.get_all_names(), [])
+    obj.assertFalse(obj.manager.exists("NotExist"))
+    with obj.assertRaises(NiryoRobotFileException):
+        obj.manager.read("NoOne")
+    with obj.assertRaises(NiryoRobotFileException):
+        obj.manager.remove("NoOne")
+
+
+class TestPoseMethods(unittest.TestCase):
+
+    def setUp(self):
+        create_test_folder()
+        self.path = os.path.join(test_folder, "positions")
+        self.manager = pose_manager.PoseManager(position_dir=self.path)
+
+    def tearDown(self):
+        shutil.rmtree(self.path)
+        delete_test_folder()
+
+    def test_python_get_read_remove_pos(self):
+        check_get_read_remove(self)
+
+    def test_python_creation_delete_pos(self):
+        self.assertEqual(self.manager.get_all_names(), [])
+        list_names = []
+        pose = [[0., 1., 2., 3., 4., 5.], [1, 2, 3], [1, 2, 3], [1, 2, 3, 4]]
+        for i in range(5):
+            name = "Test{}".format(i)
+            self.manager.create(name, *pose)
+            self.assertEqual(self.manager.read(name).get_value(), pose)
+
+            list_names.append(name)
+            self.assertEqual(self.manager.get_all_names(), list_names)
+        for name in list_names:
+            self.manager.remove(name)
+        self.assertEqual(self.manager.get_all_names(), [])
+
+
+class TestTrajectoryMethods(unittest.TestCase):
+
+    def setUp(self):
+        create_test_folder()
+        self.path = os.path.join(test_folder, "trajectories")
+        self.manager = trajectory_manager.TrajectoryManager(trajectory_dir=self.path)
+
+    def tearDown(self):
+        shutil.rmtree(self.path)
+        delete_test_folder()
+
+    def test_python_get_read_remove_trajectories(self):
+        check_get_read_remove(self)
+
+    def test_python_creation_delete_traj(self):
+        self.assertEqual(self.manager.get_all_names(), [])
+        list_names = []
+        poses = [[[1, 2, 3], [1, 0, 0, 0]],
+                 [[1, 2, 3], [1, 0, 0, 0]]]
+        for i in range(5):
+            name = "Test{}".format(i)
+            self.manager.create(name, poses)
+            self.assertEqual(self.manager.read(name).get_value(), poses)
+
+            list_names.append(name)
+            self.assertEqual(self.manager.get_all_names(), list_names)
+        for name in list_names:
+            self.manager.remove(name)
+        self.assertEqual(self.manager.get_all_names(), [])
+
+
+class TestWorkspaceMethods(unittest.TestCase):
+
+    def setUp(self):
+        create_test_folder()
+        self.path = os.path.join(test_folder, "workspaces")
+        self.manager = workspace_manager.WorkspaceManager(self.path)
+
+    def tearDown(self):
+        shutil.rmtree(self.path)
+        delete_test_folder()
+
+    def test_python_get_read_remove_workspaces(self):
+        check_get_read_remove(self)
+
+    def test_python_creation_delete_workspace(self):
+        self.assertEqual(self.manager.get_all_names(), [])
+        list_names = []
+        for i in range(3):
+            name = "Test{}".format(i)
+            self.manager.create(name, points, robot_poses=None)
+            self.assertEqual(self.manager.read(name).get_value(), tuple([points, []]))
+            self.manager.remove(name)
+            self.manager.create(name, points, robot_poses)
+            self.assertEqual(self.manager.read(name).get_value(), tuple([points, robot_poses]))
+
+            list_names.append(name)
+            self.assertEqual(self.manager.get_all_names(), list_names)
+        for name in list_names:
+            self.manager.remove(name)
+        self.assertEqual(self.manager.get_all_names(), [])
+
+
+def process_py():
+    unittest.main()
+
+
+if __name__ == '__main__':
+    process_py()
diff --git a/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/trajectory_manager.py b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/trajectory_manager.py
new file mode 100755
index 000000000..bb816194e
--- /dev/null
+++ b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/trajectory_manager.py
@@ -0,0 +1,52 @@
+#!/usr/bin/env python
+
+from niryo_robot_poses_handlers.file_manager import FileManager
+
+
+class Trajectory:
+    def __init__(self, name, description):
+        self.name = name
+        self.description = description
+        self.list_poses = None
+
+    def to_dict(self):
+        dict_ = dict()
+        dict_["name"] = self.name
+        dict_["description"] = self.description
+        dict_["list_poses"] = []
+        for pose in self.list_poses:
+            sub_dict = dict()
+            sub_dict["position"] = pose[0]
+            sub_dict["orientation"] = pose[1]
+            dict_["list_poses"].append(sub_dict)
+        return dict_
+
+    @classmethod
+    def from_dict(cls, dict_):
+        traj = cls(dict_["name"], dict_["description"])
+        traj.list_poses = []
+        for pose in dict_["list_poses"]:
+            point = pose["position"]
+            quaternion = pose["orientation"]
+            traj.list_poses.append([point, quaternion])
+        return traj
+
+    def get_value(self):
+        return self.list_poses
+
+
+class TrajectoryManager(FileManager):
+    """
+    Manages the creation, storage and loading of trajectories.
+
+    :raises NiryoRobotFileException:
+    """
+    object_type = Trajectory
+
+    def __init__(self, trajectory_dir):
+        super(TrajectoryManager, self).__init__(trajectory_dir, "trajectory")
+
+    def create(self, trajectory_name, lists_poses, description=""):
+        trajectory = Trajectory(trajectory_name, description)
+        trajectory.list_poses = lists_poses
+        self._write(trajectory_name, trajectory)
diff --git a/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/transform_functions.py b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/transform_functions.py
new file mode 100644
index 000000000..99cabfc10
--- /dev/null
+++ b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/transform_functions.py
@@ -0,0 +1,188 @@
+import numpy as np
+import math
+
+__all__ = [
+    'concatenate_matrices',
+    'euler_matrix',
+    'euler_from_matrix',
+    'euler_from_quaternion',
+    'quaternion_matrix',
+    'quaternion_from_euler'
+]
+
+# epsilon for testing whether a number is close to zero
+_EPS = np.finfo(float).eps * 4.0
+
+# axis sequences for Euler angles
+_NEXT_AXIS = [1, 2, 0, 1]
+
+# map axes strings to/from tuples of inner axis, parity, repetition, frame
+_AXES2TUPLE = {
+    'sxyz': (0, 0, 0, 0), 'sxyx': (0, 0, 1, 0), 'sxzy': (0, 1, 0, 0),
+    'sxzx': (0, 1, 1, 0), 'syzx': (1, 0, 0, 0), 'syzy': (1, 0, 1, 0),
+    'syxz': (1, 1, 0, 0), 'syxy': (1, 1, 1, 0), 'szxy': (2, 0, 0, 0),
+    'szxz': (2, 0, 1, 0), 'szyx': (2, 1, 0, 0), 'szyz': (2, 1, 1, 0),
+    'rzyx': (0, 0, 0, 1), 'rxyx': (0, 0, 1, 1), 'ryzx': (0, 1, 0, 1),
+    'rxzx': (0, 1, 1, 1), 'rxzy': (1, 0, 0, 1), 'ryzy': (1, 0, 1, 1),
+    'rzxy': (1, 1, 0, 1), 'ryxy': (1, 1, 1, 1), 'ryxz': (2, 0, 0, 1),
+    'rzxz': (2, 0, 1, 1), 'rxyz': (2, 1, 0, 1), 'rzyz': (2, 1, 1, 1)}
+
+_TUPLE2AXES = dict((v, k) for k, v in _AXES2TUPLE.items())
+
+
+def concatenate_matrices(*matrices):
+    M = np.identity(4)
+    for i in matrices:
+        M = np.dot(M, i)
+    return M
+
+
+def euler_matrix(ai, aj, ak, axes='sxyz'):
+    try:
+        firstaxis, parity, repetition, frame = _AXES2TUPLE[axes]
+    except (AttributeError, KeyError):
+        _ = _TUPLE2AXES[axes]
+        firstaxis, parity, repetition, frame = axes
+
+    i = firstaxis
+    j = _NEXT_AXIS[i+parity]
+    k = _NEXT_AXIS[i-parity+1]
+
+    if frame:
+        ai, ak = ak, ai
+    if parity:
+        ai, aj, ak = -ai, -aj, -ak
+
+    si, sj, sk = math.sin(ai), math.sin(aj), math.sin(ak)
+    ci, cj, ck = math.cos(ai), math.cos(aj), math.cos(ak)
+    cc, cs = ci*ck, ci*sk
+    sc, ss = si*ck, si*sk
+
+    M = np.identity(4)
+    if repetition:
+        M[i, i] = cj
+        M[i, j] = sj*si
+        M[i, k] = sj*ci
+        M[j, i] = sj*sk
+        M[j, j] = -cj*ss+cc
+        M[j, k] = -cj*cs-sc
+        M[k, i] = -sj*ck
+        M[k, j] = cj*sc+cs
+        M[k, k] = cj*cc-ss
+    else:
+        M[i, i] = cj*ck
+        M[i, j] = sj*sc-cs
+        M[i, k] = sj*cc+ss
+        M[j, i] = cj*sk
+        M[j, j] = sj*ss+cc
+        M[j, k] = sj*cs-sc
+        M[k, i] = -sj
+        M[k, j] = cj*si
+        M[k, k] = cj*ci
+    return M
+
+
+def euler_from_matrix(matrix, axes='sxyz'):
+    try:
+        firstaxis, parity, repetition, frame = _AXES2TUPLE[axes.lower()]
+    except (AttributeError, KeyError):
+        _ = _TUPLE2AXES[axes]
+        firstaxis, parity, repetition, frame = axes
+
+    i = firstaxis
+    j = _NEXT_AXIS[i + parity]
+    k = _NEXT_AXIS[i - parity + 1]
+
+    M = np.array(matrix, dtype=np.float64, copy=False)[:3, :3]
+    if repetition:
+        sy = math.sqrt(M[i, j] * M[i, j] + M[i, k] * M[i, k])
+        if sy > _EPS:
+            ax = math.atan2(M[i, j], M[i, k])
+            ay = math.atan2(sy, M[i, i])
+            az = math.atan2(M[j, i], -M[k, i])
+        else:
+            ax = math.atan2(-M[j, k], M[j, j])
+            ay = math.atan2(sy, M[i, i])
+            az = 0.0
+    else:
+        cy = math.sqrt(M[i, i] * M[i, i] + M[j, i] * M[j, i])
+        if cy > _EPS:
+            ax = math.atan2(M[k, j], M[k, k])
+            ay = math.atan2(-M[k, i], cy)
+            az = math.atan2(M[j, i], M[i, i])
+        else:
+            ax = math.atan2(-M[j, k], M[j, j])
+            ay = math.atan2(-M[k, i], cy)
+            az = 0.0
+
+    if parity:
+        ax, ay, az = -ax, -ay, -az
+    if frame:
+        ax, az = az, ax
+    return ax, ay, az
+
+
+def euler_from_quaternion(quaternion, axes='sxyz'):
+    return euler_from_matrix(quaternion_matrix(quaternion), axes)
+
+
+def quaternion_matrix(quaternion):
+    q = np.array(quaternion[:4], dtype=np.float64, copy=True)
+    nq = np.dot(q, q)
+    if nq < _EPS:
+        return np.identity(4)
+    q *= math.sqrt(2.0 / nq)
+    q = np.outer(q, q)
+    return np.array((
+        (1.0-q[1, 1]-q[2, 2],     q[0, 1]-q[2, 3],     q[0, 2]+q[1, 3], 0.0),
+        (    q[0, 1]+q[2, 3], 1.0-q[0, 0]-q[2, 2],     q[1, 2]-q[0, 3], 0.0),
+        (    q[0, 2]-q[1, 3],     q[1, 2]+q[0, 3], 1.0-q[0, 0]-q[1, 1], 0.0),
+        (                0.0,                 0.0,                 0.0, 1.0)
+    ), dtype=np.float64)
+
+
+def quaternion_from_euler(ai, aj, ak, axes='sxyz'):
+    try:
+        firstaxis, parity, repetition, frame = _AXES2TUPLE[axes.lower()]
+    except (AttributeError, KeyError):
+        _ = _TUPLE2AXES[axes]
+        firstaxis, parity, repetition, frame = axes
+
+    i = firstaxis
+    j = _NEXT_AXIS[i + parity]
+    k = _NEXT_AXIS[i - parity + 1]
+
+    if frame:
+        ai, ak = ak, ai
+    if parity:
+        aj = -aj
+
+    ai /= 2.0
+    aj /= 2.0
+    ak /= 2.0
+    ci = math.cos(ai)
+    si = math.sin(ai)
+    cj = math.cos(aj)
+    sj = math.sin(aj)
+    ck = math.cos(ak)
+    sk = math.sin(ak)
+    cc = ci * ck
+    cs = ci * sk
+    sc = si * ck
+    ss = si * sk
+
+    quaternion = np.empty((4,), dtype=np.float64)
+    if repetition:
+        quaternion[i] = cj * (cs + sc)
+        quaternion[j] = sj * (cc + ss)
+        quaternion[k] = sj * (cs - sc)
+        quaternion[3] = cj * (cc - ss)
+    else:
+        quaternion[i] = cj * sc - sj * cs
+        quaternion[j] = cj * ss + sj * cc
+        quaternion[k] = cj * cs - sj * sc
+        quaternion[3] = cj * cc + sj * ss
+    if parity:
+        quaternion[j] *= -1
+
+    return quaternion
diff --git a/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/workspace_manager.py b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/workspace_manager.py
new file mode 100644
index 000000000..9c8cea413
--- /dev/null
+++ b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/workspace_manager.py
@@ -0,0 +1,163 @@
+#!/usr/bin/env python
+
+from niryo_robot_poses_handlers.file_manager import FileManager, NiryoRobotFileException
+
+import numpy as np
+
+
+class Workspace(object):
+    """
+    Represents a workspace that is defined by 4 points that represent the
+    visual markers.
+
+    :param name: unique (!) name that will be used to reference it
+    :type name: str
+    :param points: points defining the workspace, 0th element is the origin.
+    :type points: [float, float, float]
+    :param x_width: width of the workspace in m (between point_0 and point_1)
+    :type x_width: float
+    :param y_width: width of the workspace in m (between point_0 and point_3)
+    :type y_width: float
+    :param transform: tf transform msg from base_link to workspace origin
+    :type transform: geometry_msgs::TransformStamped
+    """
+
+    def __init__(self, name, description):
+        self.name = name
+        self.description = description
+        self.robot_poses = []
+        self.points = []
+        self.x_width = 0.0
+        self.y_width = 0.0
+        self.yaw_center = "0"
+        self.position_matrix = np.array([])
+        self.rotation_matrix = np.array([])
+
+    def to_dict(self):
+        dict_ = dict()
+        dict_["name"] = self.name
+        dict_["description"] = self.description
+        dict_["robot_poses"] = self.robot_poses
+        dict_["points"] = self.points
+        dict_["x_width"] = self.x_width
+        dict_["y_width"] = self.y_width
+        dict_["yaw_center"] = self.yaw_center
+        dict_["position_matrix"] = self.position_matrix.tolist()
+        dict_["rotation_matrix"] = self.rotation_matrix.tolist()
+        return dict_
+
+    @classmethod
+    def from_dict(cls, dict_):
+        ws = cls(dict_["name"], dict_["description"])
+        ws.robot_poses = dict_["robot_poses"]
+        ws.points = dict_["points"]
+        ws.x_width = dict_["x_width"]
+        ws.y_width = dict_["y_width"]
+        ws.yaw_center = dict_["yaw_center"]
+        ws.position_matrix = np.array(dict_["position_matrix"])
+        ws.rotation_matrix = np.array(dict_["rotation_matrix"])
+        return ws
+
+    def get_value(self):
+        return self.points, self.robot_poses
+
+
+class WorkspaceManager(FileManager):
+    """
+    Manages the creation, storage and loading of worspaces.
+
+    :raises NiryoRobotFileException:
+    """
+    object_type = Workspace
+
+    def __init__(self, ws_dir):
+        FileManager.__init__(self, ws_dir, "workspace")
+
+    @staticmethod
+    def __validate_points(points):
+        robot_points = np.array(points)
+        if robot_points.shape != (4, 3):
+            raise ValueError("Points must contain 4 points with 3 coordinates each.")
+
+        x_1 = robot_points[1] - robot_points[0]
+        x_2 = robot_points[2] - robot_points[3]
+        y_1 = robot_points[3] - robot_points[0]
+        y_2 = robot_points[2] - robot_points[1]
+
+        # Check that the workspace as a sane size
+        min_ws_size = 0.01  # 1cm
+        for vec in (x_1, x_2, y_1, y_2):
+            if np.linalg.norm(vec) < min_ws_size:
+                raise ValueError("Workspace points are too close. "
+                                 "Make sure that there are no duplicates in the workspace points")
+
+        # Check that the workspace is approx. rectangular
+        allowed_error = 0.02  # 2cm
+        if np.linalg.norm(x_1 - x_2) > allowed_error or np.linalg.norm(y_1 - y_2) > allowed_error:
+            raise ValueError("Workspace points don't form a rectangle. "
+                             "Check that the points are in the right order.")
+
+    def create(self, workspace_name, points, robot_poses=None, description=""):
+        """
+        Create a new workspace based on 4 recorded points corresponding to the
+        real positions of the visual markers.
+
+        :param workspace_name: unique (!) name that will be used to reference it
+        :param robot_poses: ?
+        :type workspace_name: str
+        :type description: str
+        :param points: real positions of the visual markers in robot coordinates
+        :type points: [float, float, float]
+        """
+        if self.exists(workspace_name):
+            raise NiryoRobotFileException("Workspace {} already exists".format(workspace_name))
+
+        self.__validate_points(points)
+
+        robot_points = np.array(points)
+        relative_points = np.array(
+            [[0, 0, 1], [1, 0, 1], [1, 1, 1], [0, 1, 1]], dtype=float)
+        position_matrix = np.linalg.lstsq(relative_points, robot_points)[0].T
+        # rcond should be set to None for new numpy version
+        # position_matrix = np.linalg.lstsq(relative_points, robot_points, rcond=None)[0].T
+
+        # Calculate coordinate system for rotation
+        ws_points = np.dot(position_matrix, relative_points.T).T
+        ws_x_vec = ws_points[1] - ws_points[0]  # x vector is from point 0 to point 1
+        ws_y_vec = ws_points[3] - ws_points[0]  # preliminary y vecor is from point 0 to point 3
+        # but not necessarily perpendicular to the x vector. We just need it to calculate the normal vector
+        ws_z_vec = np.cross(ws_x_vec, ws_y_vec)  # The z vector is the normal vector to our workspace plane
+        ws_y_vec = np.cross(ws_z_vec, ws_x_vec)  # Recalculate the y vector s.th. it is perpendicular to x and y
+
+        # Normalize
+        ws_x_vec = ws_x_vec / np.linalg.norm(ws_x_vec)
+        ws_y_vec = ws_y_vec / np.linalg.norm(ws_y_vec)
+        ws_z_vec = ws_z_vec / np.linalg.norm(ws_z_vec)
+
+        workspace_rotation = np.eye(4)
+        workspace_rotation[:3, :3] = np.stack([ws_x_vec, ws_y_vec, ws_z_vec]).T
+
+        workspace = Workspace(workspace_name, description)
+        workspace.points = points
+        workspace.robot_poses = robot_poses if robot_poses is not None else []
+        workspace.position_matrix = position_matrix
+        workspace.rotation_matrix = workspace_rotation
+        workspace.x_width = np.linalg.norm(ws_points[1] - ws_points[0])
+        workspace.y_width = np.linalg.norm(ws_points[3] - ws_points[0])
+        workspace.yaw_center = self.__compute_yaw_center(ws_points)
+
+        self._write(workspace_name, workspace)
+
+    @staticmethod
+    def __compute_yaw_center(ws_points):
+        x_mean = np.mean([point[0] for point in ws_points])
+        y_mean = np.mean([point[1] for point in ws_points])
+
+        if 0.05 < x_mean > abs(y_mean):  # Workspace in front robot
+            return 0
+        elif 0.05 < y_mean > abs(x_mean):  # Workspace on the robot's left
+            return np.pi / 2
+        elif -0.05 > y_mean and abs(y_mean) > abs(x_mean):  # Workspace on the robot's right
+            return -np.pi / 2
+
+        return 0
diff --git a/niryo_robot_poses_handlers/srv/GetPose.srv b/niryo_robot_poses_handlers/srv/GetPose.srv
new file mode 100644
index 000000000..c811ae489
--- /dev/null
+++ b/niryo_robot_poses_handlers/srv/GetPose.srv
@@ -0,0 +1,5 @@
+string name
+---
+int32 status
+string message
+niryo_robot_poses_handlers/NiryoPose pose
diff --git a/niryo_robot_poses_handlers/srv/GetTargetPose.srv b/niryo_robot_poses_handlers/srv/GetTargetPose.srv
new file mode 100644
index 000000000..0c74e7091
--- /dev/null
+++ b/niryo_robot_poses_handlers/srv/GetTargetPose.srv
@@ -0,0 +1,13 @@
+string GRIP_AUTO = auto
+
+string workspace
+string grip
+int32 tool_id           # Used if grip_name = GRIP_AUTO
+float32 height_offset
+float32 x_rel
+float32 y_rel
+float32 yaw_rel
+---
+int32 status
+string message
+niryo_robot_msgs/RobotState target_pose
diff --git a/niryo_robot_poses_handlers/srv/GetTrajectory.srv b/niryo_robot_poses_handlers/srv/GetTrajectory.srv
new file mode 100644
index 000000000..6745b3c94
--- /dev/null
+++ b/niryo_robot_poses_handlers/srv/GetTrajectory.srv
@@ -0,0 +1,5 @@
+string name
+---
+int32 status
+string message
+geometry_msgs/Pose[] list_poses
diff --git a/niryo_robot_poses_handlers/srv/GetWorkspaceRatio.srv b/niryo_robot_poses_handlers/srv/GetWorkspaceRatio.srv
new file mode 100644
index 000000000..b188a7bec
--- /dev/null
+++ b/niryo_robot_poses_handlers/srv/GetWorkspaceRatio.srv
@@ -0,0 +1,5 @@
+string workspace
+---
+int32 status
+string message
+float32 ratio  # width/height
diff --git a/niryo_robot_poses_handlers/srv/GetWorkspaceRobotPoses.srv b/niryo_robot_poses_handlers/srv/GetWorkspaceRobotPoses.srv
new file mode 100644
index 000000000..d06f61178
--- /dev/null
+++ b/niryo_robot_poses_handlers/srv/GetWorkspaceRobotPoses.srv
@@ -0,0 +1,5 @@
+string name
+---
+int32 status
+string message
+niryo_robot_msgs/RobotState[] poses
diff --git a/niryo_robot_poses_handlers/srv/ManagePose.srv b/niryo_robot_poses_handlers/srv/ManagePose.srv
new file mode 100644
index 000000000..79d1160fa
--- /dev/null
+++ b/niryo_robot_poses_handlers/srv/ManagePose.srv
@@ -0,0 +1,8 @@
+int32 cmd
+int32 SAVE = 1
+int32 DELETE = -1
+
+niryo_robot_poses_handlers/NiryoPose pose
+---
+int32 status
+string message
diff --git a/niryo_robot_poses_handlers/srv/ManageTrajectory.srv b/niryo_robot_poses_handlers/srv/ManageTrajectory.srv
new file mode 100644
index 000000000..04cb46283
--- /dev/null
+++ b/niryo_robot_poses_handlers/srv/ManageTrajectory.srv
@@ -0,0 +1,12 @@
+int32 cmd
+int32 SAVE = 1
+int32 DELETE = -1
+
+string name
+string description
+
+geometry_msgs/Pose[] poses
+---
+int32 status
+string message
+
diff --git a/niryo_robot_poses_handlers/srv/ManageWorkspace.srv b/niryo_robot_poses_handlers/srv/ManageWorkspace.srv
new file mode 100644
index 000000000..ba3250363
--- /dev/null
+++ b/niryo_robot_poses_handlers/srv/ManageWorkspace.srv
@@ -0,0 +1,11 @@
+int32 SAVE = 1
+int32 SAVE_WITH_POINTS = 2
+int32 DELETE = -1
+
+int32 cmd
+
+niryo_robot_poses_handlers/Workspace workspace
+
+---
+int32 status
+string message
diff --git a/niryo_robot_poses_handlers/test/__init__.py b/niryo_robot_poses_handlers/test/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/niryo_robot_poses_handlers/test/test_poses_handlers.py b/niryo_robot_poses_handlers/test/test_poses_handlers.py
new file mode 100755
index 000000000..6c07a6e84
--- /dev/null
+++ b/niryo_robot_poses_handlers/test/test_poses_handlers.py
@@ -0,0 +1,275 @@
+#!/usr/bin/env python
+
+import rospy
+import rostest
+
+from niryo_robot_poses_handlers.test_pure_python_poses_handlers import *
+
+from geometry_msgs.msg import Pose, Point, Quaternion
+from niryo_robot_msgs.msg import RPY, RobotState
+
+from niryo_robot_msgs.srv import GetNameDescriptionList
+
+from niryo_robot_poses_handlers.srv import GetPose
+from niryo_robot_poses_handlers.srv import ManagePose, ManagePoseRequest
+from niryo_robot_poses_handlers.srv import GetTrajectory
+from niryo_robot_poses_handlers.srv import ManageTrajectory, ManageTrajectoryRequest
+from niryo_robot_poses_handlers.srv import GetWorkspaceRobotPoses
+from niryo_robot_poses_handlers.srv import ManageWorkspace, ManageWorkspaceRequest
+
+service_timeout = 3
+position_dir = trajectory_dir = workspace_dir = None
+
+
+def call_service(service_name, service_msg_type, *args):
+    # Connect to service
+    rospy.wait_for_service(service_name, service_timeout)
+    # Call service
+    service = rospy.ServiceProxy(service_name, service_msg_type)
+    response = service(*args)
+    return response
+
+
+def clean_folders():
+    folders_list_raw = [position_dir, trajectory_dir, workspace_dir]
+    folders_list = [os.path.expanduser(folder) for folder in folders_list_raw]
+    for folder in folders_list:
+        if os.path.isdir(folder):
+            shutil.rmtree(folder)
+        os.makedirs(folder)
+
+
+class TestPoseHandlerAbstract(unittest.TestCase):
+    file_dir = None
+
+    def setUp(self):
+        clean_folders()
+
+    def tearDown(self):
+        clean_folders()
+
+    def create_folder(self):
+        if not os.path.isdir(self.file_dir):
+            os.makedirs(self.file_dir)
+
+    def delete_folder(self):
+        if os.path.isdir(self.file_dir):
+            shutil.rmtree(self.file_dir)
+
+    def assertStatus(self, ret):
+        self.assertIsNotNone(ret, msg="Assert Status cannot operate on None ret")
+        self.assertTrue(ret.status > 0, msg="status : {} - message : {}".format(ret.status, ret.message))
+
+    def assertNotStatus(self, ret):
+        self.assertIsNotNone(ret, msg="AssertNotStatus cannot operate on None ret")
+        self.assertTrue(ret.status < 0, msg="status : {} - message : {}".format(ret.status, ret.message))
+
+
+class TestServicePose(TestPoseHandlerAbstract):
+    file_dir = position_dir
+
+    # def setUp(self):
+    #     super(TestServicePostion, self).setUp()
+    #
+    # def tearDown(self):
+    #     super(TestServicePostion, self).tearDown()
+
+    @staticmethod
+    def get_pose_list():
+        return call_service('/niryo_robot_poses_handlers/get_pose_list', GetNameDescriptionList).name_list
+
+    @staticmethod
+    def get_pose(name):
+        return call_service('/niryo_robot_poses_handlers/get_pose', GetPose, name)
+
+    @staticmethod
+    def save_pose(name, x, y, z, roll, pitch, yaw):
+        req = ManagePoseRequest()
+        req.cmd = ManagePoseRequest.SAVE
+        req.pose.name = name
+        req.pose.position = Point(x, y, z)
+        req.pose.rpy = RPY(roll, pitch, yaw)
+        return call_service('/niryo_robot_poses_handlers/manage_pose', ManagePose, req)
+
+    @staticmethod
+    def delete_pose(name):
+        req = ManagePoseRequest()
+        req.cmd = ManagePoseRequest.DELETE
+        req.pose.name = name
+        return call_service('/niryo_robot_poses_handlers/manage_pose', ManagePose, req)
+
+    def test_service_get_saved_pose_list(self):
+        self.assertEqual(self.get_pose_list(), [])
+        self.assertNotStatus(self.get_pose("SomePose"))  # Do not exist
+        self.assertNotStatus(self.delete_pose("SomePose"))  # Do not exist
+
+    def test_service_creation_delete_pos(self):
+        self.assertEqual(self.get_pose_list(), [])
+        list_names = []
+        pose = [1, 2, 3, 1, 2, 3]
+        for i in range(5):
+            name = "Test{}".format(i)
+            self.assertStatus(self.save_pose(name, *pose))
+            ret_get_pos = self.get_pose(name)
+            self.assertStatus(ret_get_pos)
+            p = ret_get_pos.pose
+
+            self.assertEqual([p.position.x, p.position.y, p.position.z, p.rpy.roll, p.rpy.pitch, p.rpy.yaw], pose,
+                             "Read Failed")
+
+            list_names.append(name)
+            self.assertEqual(self.get_pose_list(), list_names, "Read All Failed")
+        for name in list_names:
+            self.assertStatus(self.delete_pose(name))
+        self.assertEqual(self.get_pose_list(), [], "Read All Failed")
+
+
+class TestServiceTrajetory(TestPoseHandlerAbstract):
+    file_dir = trajectory_dir
+
+    @staticmethod
+    def get_trajectory_list():
+        return call_service('/niryo_robot_poses_handlers/get_trajectory_list', GetNameDescriptionList).name_list
+
+    @staticmethod
+    def get_trajectory(name):
+        ret = call_service('/niryo_robot_poses_handlers/get_trajectory', GetTrajectory, name)
+        list_p = ret.list_poses
+        list_p_raw = []
+        for p in list_p:
+            pose = [[p.position.x, p.position.y, p.position.z],
+                    [p.orientation.x, p.orientation.y, p.orientation.z, p.orientation.w]]
+            list_p_raw.append(pose)
+        return ret, list_p_raw
+
+    @staticmethod
+    def save_trajectory(name, list_poses_raw):
+        req = ManageTrajectoryRequest()
+        req.name = name
+        req.cmd = ManageTrajectoryRequest.SAVE
+        list_poses = []
+        for p in list_poses_raw:
+            point = Point(*p[0])
+            orientation = Quaternion(*p[1])
+            list_poses.append(Pose(point, orientation))
+        req.poses = list_poses
+        return call_service('/niryo_robot_poses_handlers/manage_trajectory', ManageTrajectory, req)
+
+    @staticmethod
+    def delete_trajectory(name):
+        req = ManageTrajectoryRequest()
+        req.cmd = ManageTrajectoryRequest.DELETE
+        req.name = name
+        return call_service('/niryo_robot_poses_handlers/manage_trajectory', ManageTrajectory, req)
+
+    def test_service_get_saved_traj_list(self):
+        self.assertEqual(self.get_trajectory_list(), [])
+        self.assertNotStatus(self.get_trajectory("Some Traj")[0])  # Do not exist
+        self.assertNotStatus(self.delete_trajectory("Some Traj"))  # Do not exist
+
+    def test_service_creation_traj_pos(self):
+        self.assertEqual(self.get_trajectory_list(), [])
+        list_names = []
+        poses = [[[1, 2, 3], [1, 0, 0, 0]],
+                 [[1, 2, 3], [1, 0, 0, 0]]]
+        for i in range(5):
+            name = "Test{}".format(i)
+            self.assertStatus(self.save_trajectory(name, poses))
+            ret_get_pos = self.get_trajectory(name)
+            self.assertStatus(ret_get_pos[0])
+
+            self.assertEqual(ret_get_pos[1], poses)
+
+            list_names.append(name)
+            self.assertEqual(self.get_trajectory_list(), list_names, "Read All Failed")
+        for name in list_names:
+            self.assertStatus(self.delete_trajectory(name))
+        self.assertEqual(self.get_trajectory_list(), [], "Read All Failed")
+
+
+class TestServiceWorkspace(TestPoseHandlerAbstract):
+    file_dir = workspace_dir
+
+    @staticmethod
+    def get_workspace_list():
+        return call_service('/niryo_robot_poses_handlers/get_workspace_list', GetNameDescriptionList).name_list
+
+    @staticmethod
+    def get_workspace_poses(name):
+        ret = call_service('/niryo_robot_poses_handlers/get_workspace_poses', GetWorkspaceRobotPoses, name)
+        poses = ret.poses
+        list_p_raw = []
+        for p in poses:
+            pose = [[p.position.x, p.position.y, p.position.z],
+                    [p.rpy.roll, p.rpy.pitch, p.rpy.yaw]]
+            list_p_raw.append(pose)
+        return ret, list_p_raw
+
+    @staticmethod
+    def save_workspace(name, list_poses_raw):
+        list_poses = []
+        for p in list_poses_raw:
+            point = Point(*p[0])
+            rpy = RPY(*p[1])
+            list_poses.append(RobotState(point, rpy, Quaternion()))
+        req = ManageWorkspaceRequest()
+        req.cmd = ManageWorkspaceRequest.SAVE
+        req.workspace.name = name
+        req.workspace.poses = list_poses
+        return call_service('/niryo_robot_poses_handlers/manage_workspace', ManageWorkspace, req)
+
+    @staticmethod
+    def save_workspace_from_points(name, list_points_raw):
+        list_points = []
+        for p in list_points_raw:
+            list_points.append(Point(*p))
+        req = ManageWorkspaceRequest()
+        req.cmd = ManageWorkspaceRequest.SAVE_WITH_POINTS
+        req.workspace.name = name
+        req.workspace.points = list_points
+        return call_service('/niryo_robot_poses_handlers/manage_workspace', ManageWorkspace, req)
+
+    @staticmethod
+    def delete_workspace(name):
+        req = ManageWorkspaceRequest()
+        req.cmd = ManageWorkspaceRequest.DELETE
+        req.workspace.name = name
+        return call_service('/niryo_robot_poses_handlers/manage_workspace', ManageWorkspace, req)
+
+    def test_service_get_saved_workspace_list(self):
+        self.assertEqual(self.get_workspace_list(), [])
+        self.assertNotStatus(self.get_workspace_poses("Some Workspace")[0])  # Do not exist
+        self.assertNotStatus(self.delete_workspace("Some Workspace"))  # Do not exist
+
+    def test_service_creation_delete_workspace(self):
+        self.assertEqual(self.get_workspace_list(), [])
+        list_names = []
+        # robot_poses can be found in test_pure_python_pose_handlers
+        for i in range(3):
+            name = "Test{}".format(2 * i)
+            self.assertStatus(self.save_workspace(name, robot_poses))
+            ret_get_pos = self.get_workspace_poses(name)
+            self.assertStatus(ret_get_pos[0])
+
+            self.assertEqual(ret_get_pos[1], robot_poses)
+            name2 = "Test{}".format(2 * i + 1)
+            self.assertStatus(self.save_workspace_from_points(name2, points))
+
+            list_names.append(name)
+            list_names.append(name2)
+
+            self.assertEqual(self.get_workspace_list(), list_names)
+        for name in list_names:
+            self.assertStatus(self.delete_workspace(name))
+        self.assertEqual(self.get_workspace_list(), [])
+
+
+if __name__ == '__main__':
+    while not rospy.has_param('/niryo_robot_poses_handlers/initialized'):
+        rospy.sleep(0.10)
+
+    position_dir = os.path.expanduser(rospy.get_param('/niryo_robot_poses_handlers/poses_dir'))
+    trajectory_dir = os.path.expanduser(rospy.get_param('/niryo_robot_poses_handlers/trajectories_dir'))
+    workspace_dir = os.path.expanduser(rospy.get_param('/niryo_robot_poses_handlers/workspace_dir'))
+    # Going to execute all unittest.TestCase subclasses in the file -> Import are also concerned
+    rostest.rosrun("poses_handlers", "test_poses_handlers", __name__)
diff --git a/niryo_robot_programs_manager/CMakeLists.txt b/niryo_robot_programs_manager/CMakeLists.txt
new file mode 100644
index 000000000..46aa803e9
--- /dev/null
+++ b/niryo_robot_programs_manager/CMakeLists.txt
@@ -0,0 +1,44 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(niryo_robot_programs_manager)
+
+find_package(catkin REQUIRED COMPONENTS
+  message_generation
+)
+
+add_message_files(
+  FILES
+  ProgramLanguage.msg
+  ProgramLanguageList.msg
+  ProgramList.msg
+)
+
+add_service_files(
+  DIRECTORY srv
+  FILES
+  ExecuteProgram.srv
+  GetProgram.srv
+  GetProgramAutorunInfos.srv
+  GetProgramList.srv
+  ManageProgram.srv
+  SetProgramAutorun.srv
+)
+
+catkin_python_setup()
+
+generate_messages(
+  DEPENDENCIES
+)
+
+catkin_package()
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+#############
+## Testing ##
+#############
+find_package(rostest REQUIRED)
+
+add_rostest(launch/rpi_programs_manager.test)
+add_rostest(launch/simulation_programs_manager.test)
diff --git a/niryo_robot_programs_manager/config/programs_manager_params.yaml b/niryo_robot_programs_manager/config/programs_manager_params.yaml
new file mode 100644
index 000000000..91b89ba0c
--- /dev/null
+++ b/niryo_robot_programs_manager/config/programs_manager_params.yaml
@@ -0,0 +1,2 @@
+execute_from_string_program_name: "Last Interpreted Blockly Code"
+autorun_file_name : "autorun_config.yaml"
diff --git a/niryo_robot_programs_manager/launch/programs_manager.launch b/niryo_robot_programs_manager/launch/programs_manager.launch
new file mode 100644
index 000000000..9e0876c81
--- /dev/null
+++ b/niryo_robot_programs_manager/launch/programs_manager.launch
@@ -0,0 +1,19 @@
+<launch>
+    <arg name="standalone" default="false"/>
+    <arg name="simulation_mode" default="true"/>
+
+    <arg name="dir_desktop" value="~/.niryo/simulation/"/>
+    <arg name="dir_rpi" value="~/niryo_robot_saved_files/"/>
+
+    <arg name="programs_dir" value="$(arg dir_desktop)niryo_robot_programs/" if="$(arg simulation_mode)"/>
+    <arg name="programs_dir" value="$(arg dir_rpi)niryo_robot_programs/" unless="$(arg simulation_mode)"/>
+
+    <node name="niryo_robot_programs_manager" pkg="niryo_robot_programs_manager" type="programs_manager_node.py"
+          output="screen">
+        <param name="standalone" type="bool" value="$(arg standalone)"/>
+        <param name="programs_dir" type="string" value="$(arg programs_dir)"/>
+
+        <rosparam file="$(find niryo_robot_programs_manager)/config/programs_manager_params.yaml" command="load"/>
+
+    </node>
+</launch>
diff --git a/niryo_robot_programs_manager/launch/rpi_programs_manager.test b/niryo_robot_programs_manager/launch/rpi_programs_manager.test
new file mode 100644
index 000000000..564c72319
--- /dev/null
+++ b/niryo_robot_programs_manager/launch/rpi_programs_manager.test
@@ -0,0 +1,8 @@
+<launch>
+    <!-- Launching Node -->
+    <include file="$(find niryo_robot_programs_manager)/launch/programs_manager.launch">
+        <param name="simulation_mode" type="bool" value="false"/>
+    </include>
+    <!-- Launching Test -->
+    <test test-name="programs_manager" pkg="niryo_robot_programs_manager" type="test_programs_manager.py"/>
+</launch>
diff --git a/niryo_robot_programs_manager/launch/simulation_programs_manager.test b/niryo_robot_programs_manager/launch/simulation_programs_manager.test
new file mode 100644
index 000000000..9bc606c75
--- /dev/null
+++ b/niryo_robot_programs_manager/launch/simulation_programs_manager.test
@@ -0,0 +1,8 @@
+<launch>
+    <!-- Launching Node -->
+    <include file="$(find niryo_robot_programs_manager)/launch/programs_manager.launch">
+        <param name="simulation_mode" type="bool" value="true"/>
+    </include>
+    <!-- Launching Test -->
+    <test test-name="programs_manager" pkg="niryo_robot_programs_manager" type="test_programs_manager.py"/>
+</launch>
diff --git a/niryo_robot_programs_manager/msg/ProgramLanguage.msg b/niryo_robot_programs_manager/msg/ProgramLanguage.msg
new file mode 100644
index 000000000..9291e7bad
--- /dev/null
+++ b/niryo_robot_programs_manager/msg/ProgramLanguage.msg
@@ -0,0 +1,12 @@
+int8 NONE = -1
+
+int8 ALL = 0
+
+# Runnable
+int8 PYTHON2 = 1
+int8 PYTHON3 = 2
+
+# Not Runnable
+int8 BLOCKLY = 66
+
+int8 used
diff --git a/niryo_robot_programs_manager/msg/ProgramLanguageList.msg b/niryo_robot_programs_manager/msg/ProgramLanguageList.msg
new file mode 100644
index 000000000..42e1e09f2
--- /dev/null
+++ b/niryo_robot_programs_manager/msg/ProgramLanguageList.msg
@@ -0,0 +1 @@
+niryo_robot_programs_manager/ProgramLanguage[] language_list
diff --git a/niryo_robot_programs_manager/msg/ProgramList.msg b/niryo_robot_programs_manager/msg/ProgramList.msg
new file mode 100644
index 000000000..8bca43880
--- /dev/null
+++ b/niryo_robot_programs_manager/msg/ProgramList.msg
@@ -0,0 +1,4 @@
+string[] programs_names
+niryo_robot_programs_manager/ProgramLanguageList[] list_of_language_list
+string[] programs_description
+
diff --git a/niryo_robot_programs_manager/package.xml b/niryo_robot_programs_manager/package.xml
new file mode 100644
index 000000000..ea3232fe4
--- /dev/null
+++ b/niryo_robot_programs_manager/package.xml
@@ -0,0 +1,23 @@
+<package>
+    <name>niryo_robot_programs_manager</name>
+    <version>3.0.0</version>
+    <description>The niryo_robot_programs_manager package</description>
+
+    <author email="r.lux@niryo.com">Remi Lux</author>
+    <maintainer email="r.lux@niryo.com">Remi Lux</maintainer>
+    <maintainer email="e.rey-coquais@niryo.com">Etienne Rey-Coquais</maintainer>
+
+    <license>GPLv3</license>
+
+    <buildtool_depend>catkin</buildtool_depend>
+
+    <build_depend>niryo_robot_msgs</build_depend>
+
+    <run_depend>niryo_robot_msgs</run_depend>
+    <run_depend>rosbridge_server</run_depend>
+    <run_depend>std_msgs</run_depend>
+
+    <!-- Python Dependencies -->
+    <run_depend>python-yaml</run_depend>
+
+</package>
diff --git a/niryo_robot_programs_manager/scripts/programs_manager_node.py b/niryo_robot_programs_manager/scripts/programs_manager_node.py
new file mode 100755
index 000000000..7e911b0f2
--- /dev/null
+++ b/niryo_robot_programs_manager/scripts/programs_manager_node.py
@@ -0,0 +1,415 @@
+#!/usr/bin/env python
+
+import rospy
+import os
+import yaml
+
+from threading import Thread
+
+from niryo_robot_programs_manager.ProgramsFileManager import FileAlreadyExistException, FileDoesNotExistException
+from niryo_robot_programs_manager.Python2Manager import Python2FileManager
+from niryo_robot_programs_manager.BlocklyManager import BlocklyManager
+
+# Command Status
+from niryo_robot_msgs.msg import CommandStatus
+
+# Messages
+from niryo_robot_programs_manager.msg import ProgramList
+from niryo_robot_programs_manager.msg import ProgramLanguage, ProgramLanguageList
+from std_msgs.msg import Bool
+
+# Services
+from niryo_robot_msgs.srv import Trigger
+
+from niryo_robot_programs_manager.srv import ExecuteProgram
+from niryo_robot_programs_manager.srv import GetProgram, GetProgramResponse
+from niryo_robot_programs_manager.srv import GetProgramAutorunInfos, GetProgramAutorunInfosResponse
+from niryo_robot_programs_manager.srv import GetProgramList
+from niryo_robot_programs_manager.srv import ManageProgram
+from niryo_robot_programs_manager.srv import SetProgramAutorun, SetProgramAutorunRequest
+
+
+class ProgramManagerNode:
+
+    def __init__(self):
+        rospy.logdebug("Programs Manager - Entering in Init")
+
+        self.__programs_base_dir = os.path.expanduser(rospy.get_param("~programs_dir"))
+        if not os.path.isdir(self.__programs_base_dir):
+            os.makedirs(self.__programs_base_dir)
+
+        self.__python2_manager = Python2FileManager(self.__programs_base_dir)
+        self.__blockly_manager = BlocklyManager(self.__programs_base_dir)
+
+        rospy.logdebug("Programs Manager - Managers created !")
+
+        self.__standalone = rospy.get_param("~standalone")
+
+        self.__autorun_file_path = os.path.join(self.__programs_base_dir, rospy.get_param("~autorun_file_name"))
+
+        self._manager_map = {
+            ProgramLanguage.PYTHON2: self.__python2_manager,
+            ProgramLanguage.BLOCKLY: self.__blockly_manager,
+        }
+
+        self.__str_to_program_language_map = {
+            "NONE": ProgramLanguage.NONE,
+            "PYTHON2": ProgramLanguage.PYTHON2,
+            "BLOCKLY": ProgramLanguage.BLOCKLY,
+        }
+        self.__program_language_to_str_map = {index: string for string, index
+                                              in self.__str_to_program_language_map.iteritems()}
+        self.__autorun_mode_to_str = {
+            SetProgramAutorunRequest.DISABLE: "DISABLE",
+            SetProgramAutorunRequest.ONE_SHOT: "ONE_SHOT",
+            SetProgramAutorunRequest.LOOP: "LOOP",
+        }
+        self._str_to_autorun_mode = {index: string for string, index
+                                     in self.__autorun_mode_to_str.iteritems()}
+
+        # Services
+        rospy.Service('~manage_program', ManageProgram,
+                      self.__callback_manage_program)
+        rospy.Service('~get_program_list', GetProgramList,
+                      self.__callback_get_program_list)
+        rospy.Service('~get_program', GetProgram,
+                      self.__callback_get_program)
+
+        rospy.Service('~execute_program', ExecuteProgram,
+                      self.__callback_execute_program)
+        self.__execute_from_string_program_name = rospy.get_param("~execute_from_string_program_name")
+
+        rospy.Service('~stop_program', Trigger,
+                      self.__callback_stop_program)
+
+        self.__program_is_running = False
+
+        # Publisher
+        self.__program_list_publisher = rospy.Publisher(
+            '~program_list', ProgramList, latch=True, queue_size=1)
+        self.__publish_program_list()
+
+        self.__program_is_running_publisher = rospy.Publisher(
+            '~program_is_running', Bool, latch=True, queue_size=1)
+        self.__program_is_running_publisher.publish(self.__program_is_running)
+
+        # - Autorun
+        self.__set_program_autorun_service = rospy.Service(
+            '~set_program_autorun', SetProgramAutorun,
+            self.__callback_set_program_autorun)
+
+        self.__get_program_autorun_infos_service = rospy.Service(
+            '~get_program_autorun_infos', GetProgramAutorunInfos,
+            self.__callback_get_program_autorun_infos)
+
+        self.__execute_program_autorun_service = rospy.Service(
+            '~execute_program_autorun', Trigger,
+            self.__callback_execute_program_autorun)
+
+        self.__loop_autorun = False
+
+        self.__execution_thread = None
+        self.__execution_stopped = False
+
+        # Set a bool to mentioned this node is initialized
+        rospy.set_param('~initialized', True)
+
+        rospy.loginfo("Programs Manager - Started")
+
+    # -- ROS CALLBACKS
+    # Program
+    def __callback_manage_program(self, req):
+        language_used = req.language.used
+        if language_used not in self._manager_map:
+            return CommandStatus.PROGRAMS_MANAGER_UNKNOWN_LANGUAGE, "Unknown Language"
+        manager = self._manager_map[language_used]
+        try:
+            if req.cmd == req.SAVE:
+                manager.create(req.name, req.code, req.description, req.allow_overwrite)
+                self.__publish_program_list()
+
+                message = "Created program '{}'".format(req.name)
+                rospy.loginfo("Programs Manager - {}".format(message))
+
+                return CommandStatus.SUCCESS, message
+            elif req.cmd == req.DELETE:
+                manager.remove(req.name)
+                self.__publish_program_list()
+
+                message = "Removed program '{}'".format(req.name)
+                rospy.loginfo("Programs Manager - {}".format(message))
+
+                return CommandStatus.SUCCESS, message
+            else:
+                return CommandStatus.UNKNOWN_COMMAND, "Programs Manager - Command '{}' not found.".format(req.cmd)
+        except FileAlreadyExistException as e:
+            rospy.logerr("Programs Manager - File already exists !")
+            return CommandStatus.PROGRAMS_MANAGER_FILE_ALREADY_EXISTS, str(e)
+        except Exception as e:
+            return CommandStatus.PROGRAMS_MANAGER_WRITING_FAILURE, str(e)
+
+    def __callback_get_program_list(self, req):
+        language_msg = req.language
+        return self.___get_program_list(language_msg)
+
+    def __callback_get_program(self, req):
+        resp = GetProgramResponse()
+        language_used = req.language.used
+        if language_used not in self._manager_map:
+            resp.status = CommandStatus.PROGRAMS_MANAGER_UNKNOWN_LANGUAGE
+            resp.message = "Unknown Language"
+            return resp
+        manager = self._manager_map[language_used]
+        try:
+            code, description = manager.read(req.name)
+            return CommandStatus.SUCCESS, "Success", code, description
+        except Exception as e:
+            resp.status = CommandStatus.PROGRAMS_MANAGER_READ_FAILURE
+            resp.message = str(e)
+            return resp
+
+    def __callback_execute_program(self, req):
+        if self.__program_is_running:
+            return CommandStatus.PROGRAMS_MANAGER_EXECUTION_FAILED, "Program is already running"
+        language = req.language.used
+        if req.execute_from_string:
+            name = None
+            code_string = req.code_string
+        else:
+            name = req.name
+            code_string = None
+        return self.__execute_program(language, name=name, code_string=code_string)
+
+    def __callback_stop_program(self, _req):
+        if not self.__program_is_running:
+            return CommandStatus.SUCCESS, "No program is running"
+
+        try:
+            self.__loop_autorun = False
+            ret, message = self.__python2_manager.stop_execution()
+            if not self.__standalone:
+                self.__stop_robot_action()
+
+            if self.__program_is_running:
+                self.__program_is_running = False
+                self.__program_is_running_publisher.publish(self.__program_is_running)
+
+        except Exception as e:
+            return CommandStatus.PROGRAMS_MANAGER_FAILURE, str(e)
+
+        if ret:
+            self.__execution_stopped = True
+            return CommandStatus.SUCCESS, "Stop program success"
+        else:
+            return CommandStatus.PROGRAMS_MANAGER_STOPPING_FAILED, message
+
+    # Autorun
+    def __callback_set_program_autorun(self, req):
+        mode = req.mode
+
+        if mode == SetProgramAutorunRequest.DISABLE:
+            return self.__disable_autorun()
+
+        language_used = req.language.used
+        if language_used not in self._manager_map:
+            return CommandStatus.PROGRAMS_MANAGER_UNKNOWN_LANGUAGE, "Unknown Language"
+
+        manager = self._manager_map[language_used]
+        if not manager.runnable:
+            return CommandStatus.PROGRAMS_MANAGER_NOT_RUNNABLE_LANGUAGE, "Not Runnable Language"
+
+        name = req.name
+
+        if not manager.exists(name):
+            return CommandStatus.PROGRAMS_MANAGER_FILE_DOES_NOT_EXIST, "File Doesn't Exist"
+
+        return self.__save_autorun_infos(language_used, name, mode)
+
+    def __callback_get_program_autorun_infos(self, _req):
+        language, name, mode = self.__get_autorun_infos()
+
+        if language is None:
+            resp = GetProgramAutorunInfosResponse()
+            resp.status = CommandStatus.PROGRAMS_MANAGER_AUTORUN_FAILURE
+            resp.message = "Failed to get autorun infos"
+            return resp
+
+        return CommandStatus.SUCCESS, "OK", language, name, mode
+
+    def __callback_execute_program_autorun(self, _req):
+        if self.__program_is_running:
+            return CommandStatus.PROGRAMS_MANAGER_EXECUTION_FAILED, "Program is already running"
+
+        language_obj, name, mode = self.__get_autorun_infos()
+
+        if language_obj is None or language_obj == ProgramLanguage.NONE:
+            rospy.loginfo("Programs Manager - Autorun file is not set")
+            return CommandStatus.PROGRAMS_MANAGER_AUTORUN_FAILURE, "Autorun file is not set"
+
+        if mode == self._str_to_autorun_mode["ONE_SHOT"]:
+            self.__loop_autorun = False
+        elif mode == self._str_to_autorun_mode["DISABLE"]:
+            rospy.loginfo("Programs Manager - Autorun disable")
+            return CommandStatus.PROGRAMS_MANAGER_AUTORUN_FAILURE, "Autorun disable"
+        else:
+            self.__loop_autorun = True
+
+        self.__program_is_running = True
+        self.__program_is_running_publisher.publish(self.__program_is_running)
+
+        self.__execution_thread = Thread(target=self.__execute_program, name="execution_thread_programs_manager",
+                                         args=[language_obj.used, name, None])
+        self.__execution_thread.setDaemon(True)
+        self.__execution_thread.start()
+
+        message = "Executing autorun program ..."
+        rospy.loginfo("Programs Manager - {}".format(message))
+        return CommandStatus.SUCCESS, message
+
+    # - Functions
+    def __publish_program_list(self):
+        programs_list = self.___get_program_list(ProgramLanguage(ProgramLanguage.ALL))
+        self.__program_list_publisher.publish(*programs_list)
+
+    def __execute_program(self, language_used, name=None, code_string=None):
+        if language_used not in self._manager_map:
+            return CommandStatus.PROGRAMS_MANAGER_UNKNOWN_LANGUAGE, "Unknown Language"
+        manager = self._manager_map[language_used]
+        if not manager.runnable:
+            return CommandStatus.PROGRAMS_MANAGER_NOT_RUNNABLE_LANGUAGE, "Not Runnable Language"
+
+        if code_string:
+            prog_name = self.__execute_from_string_program_name
+            manager.create(prog_name, code_string, description="", allow_overwrite=True)
+        else:
+            prog_name = name
+
+        self.__execution_stopped = False
+
+        try:
+            if not self.__program_is_running:
+                self.__program_is_running = True
+                self.__program_is_running_publisher.publish(self.__program_is_running)
+
+            ret, message = manager.execute(prog_name)
+            while self.__loop_autorun and ret:
+                ret, message = manager.execute(prog_name)
+
+        except FileDoesNotExistException:
+            self.__program_is_running = False
+            self.__program_is_running_publisher.publish(self.__program_is_running)
+            return CommandStatus.PROGRAMS_MANAGER_FILE_DOES_NOT_EXIST, "File Doesn't Exist"
+        except Exception as e:
+            self.__program_is_running = False
+            self.__program_is_running_publisher.publish(self.__program_is_running)
+            return CommandStatus.PROGRAMS_MANAGER_EXECUTION_FAILED, str(e)
+
+        self.__program_is_running = False
+        self.__program_is_running_publisher.publish(self.__program_is_running)
+        if ret:
+            message = "Program execution success"
+            rospy.loginfo("Programs Manager - {}".format(message))
+            return CommandStatus.SUCCESS, message
+        elif self.__execution_stopped:
+            return CommandStatus.PREEMPTED, "Program successfully stopped"
+        else:
+            return CommandStatus.PROGRAMS_MANAGER_EXECUTION_FAILED, message
+
+    def __get_autorun_infos(self):
+        if not os.path.isfile(self.__autorun_file_path):
+            return None, None, None
+        with open(self.__autorun_file_path, "r") as input_file:
+            yaml_file = yaml.load(input_file)
+
+        mode = self._str_to_autorun_mode[yaml_file["mode"]]
+
+        language = ProgramLanguage(self.__str_to_program_language_map[yaml_file["language"]])
+
+        return language, yaml_file["name"], mode
+
+    def __disable_autorun(self):
+        self.__save_autorun_infos(ProgramLanguage.NONE, "", SetProgramAutorunRequest.DISABLE)
+        return CommandStatus.SUCCESS, "Programs Manager - Disable Autorun Program"
+
+    def __save_autorun_infos(self, language, name, mode):
+        language_str = self.__program_language_to_str_map[language]
+        mode_str = self.__autorun_mode_to_str[mode]
+
+        json_dict = {"language": language_str, "name": name, "mode": mode_str}
+        with open(self.__autorun_file_path, "w") as output_file:
+            yaml.dump(json_dict, output_file, default_flow_style=False)
+
+        message = "Programs Manager - Change autorun " \
+                  "setting to file {} in {} mode".format(name,
+                                                         mode_str.replace("_", " ").title())
+        rospy.loginfo(message)
+
+        return CommandStatus.SUCCESS, message
+
+    def ___get_program_list(self, language_msg):
+        language_used = language_msg.used
+        if language_used != language_msg.ALL:
+            # If language_used is unknown
+            if language_used not in self._manager_map:
+                return [], [], []
+            else:
+                manager = self._manager_map[language_used]
+                prog_list, description_list = manager.get_all_names_with_description()
+
+                programs_names = prog_list
+                list_of_language_list = [ProgramLanguageList([language_msg])]
+                programs_description = description_list
+        else:
+            prog_dict = {}
+            for language, manager in self._manager_map.iteritems():
+                # Get all names from a manager
+                all_names = manager.get_all_names()
+                # Adding them to dictionary
+                for name in all_names:
+                    if name[0] == ".":
+                        # Secret file
+                        continue
+                    elif name not in prog_dict:
+                        prog_dict[name] = [language]
+                    else:
+                        prog_dict[name].append(language)
+
+            languages_list_list = []
+            for lang_list in prog_dict.values():
+                ros_lang_list = ProgramLanguageList([ProgramLanguage(lang) for lang in lang_list])
+                languages_list_list.append(ros_lang_list)
+
+            description_list = []
+            for name, languages in prog_dict.iteritems():
+                if ProgramLanguage.PYTHON2 not in languages:
+                    description_list.append("")
+                else:
+                    description = self.__python2_manager.read_description(name)
+                    description_list.append(description)
+
+            programs_names = prog_dict.keys()
+            list_of_language_list = languages_list_list
+            programs_description = description_list
+
+        return programs_names, list_of_language_list, programs_description
+
+    # - Others functions
+
+    @staticmethod
+    def __stop_robot_action():
+        # Stop current move command
+        try:
+            rospy.wait_for_service('/niryo_robot_commander/stop_command', 1)
+            stop_cmd = rospy.ServiceProxy('/niryo_robot_commander/stop_command', Trigger)
+            stop_cmd()
+        except (rospy.ServiceException, rospy.ROSException):
+            pass
+
+
+if __name__ == "__main__":
+    rospy.init_node('niryo_programs_manager', anonymous=False, log_level=rospy.INFO)
+    try:
+        node = ProgramManagerNode()
+        rospy.spin()
+    except rospy.ROSInterruptException:
+        pass
diff --git a/niryo_robot_programs_manager/setup.py b/niryo_robot_programs_manager/setup.py
new file mode 100644
index 000000000..51d5e9c4c
--- /dev/null
+++ b/niryo_robot_programs_manager/setup.py
@@ -0,0 +1,10 @@
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    packages=['niryo_robot_programs_manager'],
+    # scripts=['bin/myscript'],
+    package_dir={'': 'src'}
+)
+
+setup(**d)
diff --git a/niryo_robot_programs_manager/src/__init__.py b/niryo_robot_programs_manager/src/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/niryo_robot_programs_manager/src/niryo_robot_programs_manager/BlocklyManager.py b/niryo_robot_programs_manager/src/niryo_robot_programs_manager/BlocklyManager.py
new file mode 100644
index 000000000..3069ae0dd
--- /dev/null
+++ b/niryo_robot_programs_manager/src/niryo_robot_programs_manager/BlocklyManager.py
@@ -0,0 +1,21 @@
+import os
+
+from niryo_robot_programs_manager.ProgramsFileManager import ProgramsFileManager
+from niryo_robot_programs_manager.programs_manager_enums import LanguageEnum
+
+
+class BlocklyManager(ProgramsFileManager):
+    associated_path = "blockly/"
+
+    def __init__(self, base_dir):
+        programs_dir = os.path.join(base_dir, self.associated_path)
+        super(BlocklyManager, self).__init__(progs_dir=programs_dir,
+                                             language=LanguageEnum.BLOCKLY, extension=".xml",
+                                             runnable=False)
+
+    @staticmethod
+    def _generate_raw_text(code, description):
+        return code
+
+    def read(self, name):
+        return self._read_raw_file(name), ""
diff --git a/niryo_robot_programs_manager/src/niryo_robot_programs_manager/ProgramsFileManager.py b/niryo_robot_programs_manager/src/niryo_robot_programs_manager/ProgramsFileManager.py
new file mode 100755
index 000000000..92c6dbe39
--- /dev/null
+++ b/niryo_robot_programs_manager/src/niryo_robot_programs_manager/ProgramsFileManager.py
@@ -0,0 +1,175 @@
+#!/usr/bin/env python
+import os
+
+
+class ProgramFileException(Exception):
+    pass
+
+
+class FileAlreadyExistException(ProgramFileException):
+    pass
+
+
+class FileDoesNotExistException(ProgramFileException):
+    pass
+
+
+class ProgramsFileManager(object):
+    associated_path = ""
+
+    def __init__(self, progs_dir, language, extension, runnable):
+        self._progs_dir = os.path.abspath(os.path.expanduser(progs_dir)) + "/"
+        if not os.path.isdir(self._progs_dir):
+            os.makedirs(self._progs_dir)
+
+        self._language = language
+        self._runnable = runnable
+
+        self._extension, self._suffix = self._init_extension_n_suffix(extension)
+
+    def _init_extension_n_suffix(self, extension):
+        if extension[0] == ".":
+            return extension[1:], extension
+        return extension, "." + self._extension
+
+    def _name_from_filename(self, filename):
+        if filename.endswith(self._suffix):
+            return filename[:-len(self._suffix)]
+        return filename
+
+    def _filename_from_name(self, name):
+        return name + self._suffix
+
+    def _path_from_name(self, name):
+        return self._progs_dir + self._filename_from_name(name)
+
+    def _read_raw_file(self, name):
+        """
+        Read file
+
+        :param name: file name
+        :type name: str
+
+        :raises: ProgramFileException: if any error
+
+        :return: The file
+        :rtype: str
+        """
+        if not self.exists(name):
+            raise ProgramFileException("File '{}' does not exist".format(name))
+
+        with open(self._path_from_name(name), 'r') as f:
+            try:
+                return f.read()
+            except Exception as e:
+                raise ProgramFileException("Could not read object '{}' : {}".format(name, e))
+
+    @staticmethod
+    def _generate_raw_text(code, description):
+        raise NotImplementedError
+
+    # - Public
+    def create(self, name, code, description, allow_overwrite):
+        # Getting path
+        file_path = self._path_from_name(name)
+
+        if not allow_overwrite and os.path.isfile(file_path):
+            raise FileAlreadyExistException("File already exist and overwrite permission is not given")
+
+        # Generate raw string
+        file_raw_text = self._generate_raw_text(code, description)
+        # Generating lines which should be written
+        file_lines = file_raw_text.split('\\n')
+        with open(file_path, 'w') as f:
+            try:
+                for file_line in file_lines:
+                    f.write(file_line + "\n")
+            except Exception as e:
+                raise ProgramFileException("Could not write program" + str(e))
+
+    def read(self, name):
+        """
+        Read
+
+        :param name:
+        :type name: str
+        :return: Code, description
+        :rtype: (str, str)
+        """
+        raise NotImplementedError
+
+    def read_description(self, name):
+        """
+        Read description
+        """
+        return self.read(name)[1]
+
+    def remove(self, name):
+        """
+        Remove file
+
+        :param name: file name
+        :type name: str
+        :raises: ProgramFileException: if any error
+
+        :return: None
+        """
+        try:
+            os.remove(self._path_from_name(name))
+        except OSError as e:
+            raise ProgramFileException("Could not remove object '{}' : {}".format(name, e))
+
+    def get_all_names(self, with_suffix=False):
+        """
+        Get all filenames available in storage
+
+        :param with_suffix:
+        :raises: ProgramFileException: if any error
+
+        :return: list of filenames
+        :rtype: list[str]
+        """
+        try:
+            filenames = sorted(os.listdir(self._progs_dir))
+        except OSError as e:
+            raise ProgramFileException("Could not retrieve files. " + str(e))
+        if with_suffix:
+            return [f for f in filenames if f.endswith(self._suffix)]
+        else:
+            return [self._name_from_filename(f) for f in filenames if f.endswith(self._suffix)]
+
+    def get_all_names_with_description(self):
+        list_name = self.get_all_names()
+        list_description = [self.read_description(name=n) for n in list_name]
+        return list_name, list_description
+
+    def get_all_names_with_subdirectory(self):
+        list_ = self.get_all_names(with_suffix=True)
+        return [self.associated_path + name for name in list_]
+
+    def exists(self, name):
+        """
+        Check if a file with a certain name exists
+
+        :param name: file name
+        :type name: str
+        :return: True if file exists, else False
+        :rtype: bool
+        """
+        return os.path.isfile(self._path_from_name(name))
+
+    def execute(self, name):
+        if self._runnable:
+            return False, "Execution not implemented"
+        else:
+            return False, "Execution not runnable"
+
+    def stop_execution(self):
+        if self._runnable:
+            return False, "Stop execution not implemented"
+        else:
+            return False, "Execution not runnable, why do you want to stop it ?"
+
+    @property
+    def runnable(self):
+        return self._runnable
diff --git a/niryo_robot_programs_manager/src/niryo_robot_programs_manager/Python2Manager.py b/niryo_robot_programs_manager/src/niryo_robot_programs_manager/Python2Manager.py
new file mode 100644
index 000000000..5b19b0927
--- /dev/null
+++ b/niryo_robot_programs_manager/src/niryo_robot_programs_manager/Python2Manager.py
@@ -0,0 +1,74 @@
+import os
+import subprocess
+
+from niryo_robot_programs_manager.ProgramsFileManager import ProgramsFileManager, FileDoesNotExistException
+from niryo_robot_programs_manager.programs_manager_enums import LanguageEnum
+
+triple_quotes = '"""'
+len_triple_quotes = len(triple_quotes)
+line_jump = "\n"
+len_line_jump = len(line_jump)
+
+
+class Python2FileManager(ProgramsFileManager):
+    associated_path = "python2/"
+
+    def __init__(self, base_dir):
+        programs_dir = os.path.join(base_dir, self.associated_path)
+        super(Python2FileManager, self).__init__(progs_dir=programs_dir,
+                                                 language=LanguageEnum.PYTHON2, extension=".py",
+                                                 runnable=True)
+
+        self.__process = None
+
+    @staticmethod
+    def _generate_raw_text(code, description):
+
+        file_text = triple_quotes + "\n"
+        file_text += description + "\n"
+        file_text += triple_quotes + "\n"
+        file_text += code + "\n"
+        return file_text
+
+    def execute(self, name):
+        if not self.exists(name):
+            raise FileDoesNotExistException
+        try:
+            self.__process = subprocess.Popen(['python', self._path_from_name(name)],
+                                              stdout=subprocess.PIPE, stderr=subprocess.PIPE)
+            _stdout, stderr = self.__process.communicate()
+        except Exception as e:
+            return False, str(e)
+
+        if stderr:
+            return False, stderr
+
+        return True, "Execution success"
+
+    def stop_execution(self):
+        if self.__process is None:
+            return False, "No Process is running"
+        try:
+            self.__process.terminate()
+        except Exception as e:
+            return False, str(e)
+
+        return True, "Execution stopped"
+
+    def read(self, name):
+        raw_file = self._read_raw_file(name)
+
+        # Check if description
+        if not raw_file.startswith(triple_quotes):
+            return raw_file, ""
+        # Find end of description
+        index_second_quotes = raw_file.find(triple_quotes, len_triple_quotes)
+        # Cut description
+        description = raw_file[len_triple_quotes + len_line_jump:index_second_quotes]
+        if description.endswith(line_jump):
+            description = description[:-len_line_jump]
+
+        # The remaining text is code
+        code = raw_file[index_second_quotes + len_triple_quotes + len_line_jump:]
+
+        return code, description
diff --git a/niryo_robot_programs_manager/src/niryo_robot_programs_manager/__init__.py b/niryo_robot_programs_manager/src/niryo_robot_programs_manager/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/niryo_robot_programs_manager/src/niryo_robot_programs_manager/programs_manager_enums.py b/niryo_robot_programs_manager/src/niryo_robot_programs_manager/programs_manager_enums.py
new file mode 100644
index 000000000..5ace921bc
--- /dev/null
+++ b/niryo_robot_programs_manager/src/niryo_robot_programs_manager/programs_manager_enums.py
@@ -0,0 +1,11 @@
+from enum import Enum, unique
+
+
+@unique
+class LanguageEnum(Enum):
+    # Runnable
+    PYTHON2 = 1
+    PYTHON3 = 2
+
+    # Need interpretation
+    BLOCKLY = 66
diff --git a/niryo_robot_programs_manager/srv/ExecuteProgram.srv b/niryo_robot_programs_manager/srv/ExecuteProgram.srv
new file mode 100644
index 000000000..8b13aeade
--- /dev/null
+++ b/niryo_robot_programs_manager/srv/ExecuteProgram.srv
@@ -0,0 +1,9 @@
+bool execute_from_string
+
+string name
+string code_string
+
+niryo_robot_programs_manager/ProgramLanguage language
+---
+int16 status
+string message
diff --git a/niryo_robot_programs_manager/srv/GetProgram.srv b/niryo_robot_programs_manager/srv/GetProgram.srv
new file mode 100644
index 000000000..5fceeb418
--- /dev/null
+++ b/niryo_robot_programs_manager/srv/GetProgram.srv
@@ -0,0 +1,9 @@
+string name
+
+niryo_robot_programs_manager/ProgramLanguage language
+---
+int32 status
+string message
+
+string code
+string description
diff --git a/niryo_robot_programs_manager/srv/GetProgramAutorunInfos.srv b/niryo_robot_programs_manager/srv/GetProgramAutorunInfos.srv
new file mode 100644
index 000000000..8a99ab64c
--- /dev/null
+++ b/niryo_robot_programs_manager/srv/GetProgramAutorunInfos.srv
@@ -0,0 +1,12 @@
+---
+int32 status
+string message
+
+niryo_robot_programs_manager/ProgramLanguage language
+string name
+
+# Mode
+int8 ONE_SHOT = 1
+int8 LOOP = 2
+
+int8 mode
diff --git a/niryo_robot_programs_manager/srv/GetProgramList.srv b/niryo_robot_programs_manager/srv/GetProgramList.srv
new file mode 100644
index 000000000..4335ac77f
--- /dev/null
+++ b/niryo_robot_programs_manager/srv/GetProgramList.srv
@@ -0,0 +1,6 @@
+niryo_robot_programs_manager/ProgramLanguage language
+---
+string[] programs_names
+niryo_robot_programs_manager/ProgramLanguageList[] list_of_language_list
+string[] programs_description
+
diff --git a/niryo_robot_programs_manager/srv/ManageProgram.srv b/niryo_robot_programs_manager/srv/ManageProgram.srv
new file mode 100644
index 000000000..596247c8c
--- /dev/null
+++ b/niryo_robot_programs_manager/srv/ManageProgram.srv
@@ -0,0 +1,18 @@
+# Command
+int32 SAVE = 1
+int32 DELETE = -1
+int8 cmd
+
+# Program Name
+string name
+
+# - Creation
+niryo_robot_programs_manager/ProgramLanguage language
+
+string code
+string description
+
+bool allow_overwrite
+---
+int16 status
+string message
diff --git a/niryo_robot_programs_manager/srv/SetProgramAutorun.srv b/niryo_robot_programs_manager/srv/SetProgramAutorun.srv
new file mode 100644
index 000000000..5eb1b83cc
--- /dev/null
+++ b/niryo_robot_programs_manager/srv/SetProgramAutorun.srv
@@ -0,0 +1,16 @@
+# Program language
+niryo_robot_programs_manager/ProgramLanguage language
+
+# Program Name
+string name
+
+# Mode
+int8 DISABLE = 0
+int8 ONE_SHOT = 1
+int8 LOOP = 2
+
+int8 mode
+
+---
+int16 status
+string message
diff --git a/niryo_robot_programs_manager/test/test_programs_manager.py b/niryo_robot_programs_manager/test/test_programs_manager.py
new file mode 100755
index 000000000..a25763a52
--- /dev/null
+++ b/niryo_robot_programs_manager/test/test_programs_manager.py
@@ -0,0 +1,258 @@
+#!/usr/bin/env python
+
+import rospy
+import rostest
+import os
+import unittest
+import shutil
+
+from niryo_robot_programs_manager.msg import ProgramLanguage, ProgramLanguageList
+from niryo_robot_programs_manager.srv import ExecuteProgram, ExecuteProgramRequest
+from niryo_robot_programs_manager.srv import GetProgram, GetProgramRequest
+from niryo_robot_programs_manager.srv import GetProgramAutorunInfos
+from niryo_robot_programs_manager.srv import GetProgramList, GetProgramListRequest
+from niryo_robot_programs_manager.srv import ManageProgram, ManageProgramRequest
+from niryo_robot_programs_manager.srv import SetProgramAutorun, SetProgramAutorunRequest
+
+python_language_msg = ProgramLanguage(ProgramLanguage.PYTHON2)
+blockly_language_msg = ProgramLanguage(ProgramLanguage.BLOCKLY)
+
+
+def call_service(service_name, service_msg_type, *args):
+    service_timeout = 3
+    # Connect to service
+    rospy.wait_for_service(service_name, service_timeout)
+    # Call service
+    service = rospy.ServiceProxy(service_name, service_msg_type)
+    response = service(*args)
+    return response
+
+
+def clean_folders():
+    folders_list_raw = [python2_dir, blockly_dir]
+    folders_list = [os.path.expanduser(folder) for folder in folders_list_raw]
+    for folder in folders_list:
+        if os.path.isdir(folder):
+            shutil.rmtree(folder)
+        os.makedirs(folder)
+
+
+def create_python2_code(name):
+    TestPython2Manager.save_program(name, "niryo_robot.calib()", "")
+
+
+class TestProgramManagerAbstract(unittest.TestCase):
+    language = None
+    code = None
+    description = None
+
+    def setUp(self):
+        clean_folders()
+
+    def tearDown(self):
+        clean_folders()
+
+    def assertStatus(self, ret):
+        self.assertIsNotNone(ret, msg="Assert Status cannot operate on None ret")
+        self.assertTrue(ret.status > 0, msg="status : {} - message : {}".format(ret.status, ret.message))
+
+    def assertNotStatus(self, ret):
+        self.assertIsNotNone(ret, msg="AssertNotStatus cannot operate on None ret")
+        self.assertTrue(ret.status < 0, msg="status : {} - message : {}".format(ret.status, ret.message))
+
+    @classmethod
+    def save_program(cls, name, code, description, allow_overwrite=False):
+        req = ManageProgramRequest()
+        req.cmd = ManageProgramRequest.SAVE
+        req.name = name
+        req.language = cls.language
+        req.code = code
+        req.description = description
+        req.allow_overwrite = allow_overwrite
+        return call_service('/niryo_robot_programs_manager/manage_program', ManageProgram, req)
+
+    @classmethod
+    def delete_program(cls, name):
+        req = ManageProgramRequest()
+        req.cmd = ManageProgramRequest.DELETE
+        req.name = name
+        req.language = cls.language
+        return call_service('/niryo_robot_programs_manager/manage_program', ManageProgram, req)
+
+    @classmethod
+    def get_program(cls, name):
+        req = GetProgramRequest()
+        req.name = name
+        req.language = cls.language
+        return call_service('/niryo_robot_programs_manager/get_program', GetProgram, req)
+
+    @classmethod
+    def get_program_list(cls):
+        req = GetProgramListRequest()
+        req.language = cls.language
+        return call_service('/niryo_robot_programs_manager/get_program_list', GetProgramList, req)
+
+    @classmethod
+    def get_program_name_list(cls):
+        return cls.get_program_list().programs_names
+
+    @classmethod
+    def execute_program_from_name(cls, name):
+        return cls.execute_program(execute_from_string=False, name=name, code_string="")
+
+    @classmethod
+    def execute_program_from_string(cls, string_):
+        return cls.execute_program(execute_from_string=True, name="", code_string=string_)
+
+    @classmethod
+    def execute_program(cls, execute_from_string, name, code_string):
+        req = ExecuteProgramRequest()
+        req.execute_from_string = execute_from_string
+        req.name = name
+        req.code_string = code_string
+        req.language = cls.language
+        return call_service('/niryo_robot_programs_manager/execute_program', ExecuteProgram, req)
+
+    # - Abstract test methods
+
+    def abstract_no_prog(self):
+        self.assertEqual(self.get_program_name_list(), [])
+        self.assertNotStatus(self.get_program("DontExist"))  # Do not exist
+        self.assertNotStatus(self.delete_program("DontExist"))  # Do not exist
+
+    def abstract_creation_delete_prog(self):
+        self.assertEqual(self.get_program_name_list(), [])
+        list_names = []
+        for i in range(5):
+            name = "Test{}".format(i)
+            self.assertStatus(self.save_program(name, py_code, py_description))
+            ret_get_prog = self.get_program(name)
+            self.assertStatus(ret_get_prog)
+
+            # self.assertEqual(code, ret_get_prog.code)
+            self.assertEqual(self.description, ret_get_prog.description)
+
+            list_names.append(name)
+            self.assertEqual(self.get_program_name_list(), list_names, "Read All Failed")
+        for name in list_names:
+            self.assertStatus(self.delete_program(name))
+        self.assertEqual(self.get_program_name_list(), [], "Read All Failed")
+
+    def abstract_overwrite(self):
+        name = "Test_execute"
+        self.assertStatus(self.save_program(name, py_code, py_description))
+
+        self.assertNotStatus(self.save_program(name, py_code, py_description, allow_overwrite=False))
+
+        self.assertStatus(self.save_program(name, py_code, py_description, allow_overwrite=True))
+
+        self.assertStatus(self.delete_program(name))
+
+    def abstract_execute_prog(self):
+        name = "Test_execute"
+        self.assertStatus(self.save_program(name, py_code, py_description))
+
+        self.assertStatus(self.execute_program_from_name(name))
+
+        self.assertStatus(self.delete_program(name))
+
+        self.assertStatus(self.execute_program_from_string(py_code))
+
+
+py_code = """
+import math
+print math.pi
+"""
+py_description = "Display PI"
+
+
+class TestPython2Manager(TestProgramManagerAbstract):
+    language = python_language_msg
+    code = py_code
+    description = py_description
+
+    def test_python2_no_prog(self):
+        self.abstract_no_prog()
+
+    def test_python2_creation_delete_prog(self):
+        self.abstract_creation_delete_prog()
+
+    def test_python2_overwrite(self):
+        self.abstract_overwrite()
+
+    def test_python2_execute_prog(self):
+        self.abstract_execute_prog()
+
+
+class TestBlocklyManager(TestProgramManagerAbstract):
+    language = blockly_language_msg
+    code = "<some_blockly_code>"
+    description = ""
+
+    def test_blockly_no_prog(self):
+        self.abstract_no_prog()
+
+    def test_blockly_creation_delete_prog(self):
+        self.abstract_creation_delete_prog()
+
+    def test_blockly_overwrite(self):
+        self.abstract_overwrite()
+
+
+class TestAllManager(TestProgramManagerAbstract):
+    language = ProgramLanguage(ProgramLanguage.ALL)
+
+    def test_all_no_prog(self):
+        self.abstract_no_prog()
+
+
+class TestAutorun(TestProgramManagerAbstract):
+    test_python2_code_name = "test_code_python2"
+
+    @staticmethod
+    def set_autorun_program_from_req(req):
+        return call_service('/niryo_robot_programs_manager/set_program_autorun', SetProgramAutorun, req)
+
+    @staticmethod
+    def get_program_autorun():
+        return call_service('/niryo_robot_programs_manager/get_program_autorun_infos', GetProgramAutorunInfos)
+
+    def test_set_autorun(self):
+        create_python2_code(self.test_python2_code_name)
+        req = SetProgramAutorunRequest()
+        req.language = blockly_language_msg
+        req.name = "unknown_name"
+        req.mode = SetProgramAutorunRequest.LOOP
+
+        self.assertNotStatus(self.set_autorun_program_from_req(req))
+        req.name = self.test_python2_code_name
+        self.assertNotStatus(self.set_autorun_program_from_req(req))
+
+        req.language = python_language_msg
+        self.assertStatus(self.set_autorun_program_from_req(req))
+
+    def test_get_autorun(self):
+        create_python2_code(self.test_python2_code_name)
+        req = SetProgramAutorunRequest()
+        req.name = self.test_python2_code_name
+        req.language = python_language_msg
+        req.mode = SetProgramAutorunRequest.ONE_SHOT
+        self.assertStatus(self.set_autorun_program_from_req(req))
+
+        infos = self.get_program_autorun()
+        self.assertStatus(infos)
+
+        self.assertEqual(infos.language, python_language_msg)
+        self.assertEqual(infos.name, self.test_python2_code_name)
+        self.assertEqual(infos.mode, SetProgramAutorunRequest.ONE_SHOT)
+
+
+if __name__ == '__main__':
+    while not rospy.has_param('/niryo_robot_programs_manager/initialized'):
+        rospy.sleep(0.10)
+
+    programs_dir = os.path.expanduser(rospy.get_param('/niryo_robot_programs_manager/programs_dir'))
+    python2_dir = os.path.join(programs_dir, "python2")
+    blockly_dir = os.path.join(programs_dir, "blockly")
+    # Going to execute all unittest.TestCase subclasses in the file -> Import are also concerned
+    rostest.rosrun("programs_manager", "test_programs_manager", __name__)
diff --git a/niryo_robot_python_ros_wrapper/CMakeLists.txt b/niryo_robot_python_ros_wrapper/CMakeLists.txt
new file mode 100644
index 000000000..0f53c8fd2
--- /dev/null
+++ b/niryo_robot_python_ros_wrapper/CMakeLists.txt
@@ -0,0 +1,20 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(niryo_robot_python_ros_wrapper)
+
+find_package(catkin REQUIRED COMPONENTS
+)
+catkin_python_setup()
+
+catkin_package()
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+#############
+## Testing ##
+#############
+find_package(rostest REQUIRED)
+
+add_rostest(launch/rpi_python_wrapper.test)
+add_rostest(launch/simulation_python_wrapper.test)
diff --git a/niryo_robot_python_ros_wrapper/examples/__init__.py b/niryo_robot_python_ros_wrapper/examples/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/niryo_robot_python_ros_wrapper/examples/create_ws_gazebo_world.py b/niryo_robot_python_ros_wrapper/examples/create_ws_gazebo_world.py
new file mode 100644
index 000000000..191065b50
--- /dev/null
+++ b/niryo_robot_python_ros_wrapper/examples/create_ws_gazebo_world.py
@@ -0,0 +1,35 @@
+#!/usr/bin/env python
+
+from niryo_robot_python_ros_wrapper.ros_wrapper import *
+import rospy
+
+
+def create_wks_gazebo(niryo):
+    workspace_name = "gazebo_1"
+    workspace_h = 0.001
+    point_1 = [0.3369, 0.087, workspace_h]
+    point_2 = [point_1[0], -point_1[1], workspace_h]
+    point_3 = [0.163, -point_1[1], workspace_h]
+    point_4 = [point_3[0], point_1[1], workspace_h]
+    niryo.save_workspace_from_points(workspace_name, [point_1, point_2, point_3, point_4])
+
+
+if __name__ == '__main__':
+    print "--- Start"
+    try:
+        rospy.init_node('niryo_robot_example_python_ros_wrapper')
+        n = NiryoRosWrapper()
+        # Calibrate robot first
+        # n.calibrate_auto()
+        # print "Calibration finished !"
+
+        print "creating workspace ..."
+        create_wks_gazebo(n)
+        # print "Looking down ..."
+        # n.move_joints([0, 0, 0, 0, -1.57, 0])
+
+        # n.vision_pick(workspace_name, 0.1, ObjectShape.ANY, ObjectColor.BLUE)
+    except NiryoRosWrapperException as e:
+        print e
+
+    print "--- End"
diff --git a/niryo_robot_python_ros_wrapper/examples/kinematics.py b/niryo_robot_python_ros_wrapper/examples/kinematics.py
new file mode 100644
index 000000000..fcab4184d
--- /dev/null
+++ b/niryo_robot_python_ros_wrapper/examples/kinematics.py
@@ -0,0 +1,22 @@
+#!/usr/bin/env python
+
+from niryo_robot_python_ros_wrapper.ros_wrapper import *
+import rospy
+
+rospy.init_node('niryo_robot_example_python_ros_wrapper')
+
+print "--- Start"
+n = NiryoRosWrapper()
+
+try:
+    start_pose = n.get_pose_as_list()
+    print "Starting Pose " + str(start_pose)
+    pose = n.forward_kinematics(0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+    n.move_pose(*pose)
+    joints_target = n.inverse_kinematics(*start_pose)
+    print "Joints targets " + str(joints_target)
+    n.move_joints(*joints_target)
+except NiryoRosWrapperException as e:
+    print e
+
+print "--- End"
diff --git a/niryo_robot_python_ros_wrapper/examples/move.py b/niryo_robot_python_ros_wrapper/examples/move.py
new file mode 100644
index 000000000..22f16ae8d
--- /dev/null
+++ b/niryo_robot_python_ros_wrapper/examples/move.py
@@ -0,0 +1,43 @@
+#!/usr/bin/env python
+
+# To use the API, copy these 4 lines on each Python file you create
+from niryo_robot_python_ros_wrapper.ros_wrapper import *
+import rospy
+import time
+import math
+
+rospy.init_node('niryo_robot_example_python_ros_wrapper')
+
+print "--- Start"
+
+n = NiryoRosWrapper()
+
+try:
+    # Calibrate robot first
+    n.calibrate_auto()
+    print "Calibration finished !"
+
+    time.sleep(1)
+
+    # Move
+    n.set_arm_max_velocity(30)
+
+    joint_target = [math.radians(45), 0.2, 0.3, 1.57/2, 0.0, 0.0]
+    n.move_joints(*joint_target)
+
+    n.move_pose(0.2, 0, 0.2, 0, math.radians(90), 0)
+    next_pose = [0.15, 0.1, 0.2, 0.0, math.radians(90), 0.0]
+    n.move_pose(*next_pose)
+
+    n.shift_pose(ShiftPose.AXIS_X, 0.1)
+    n.shift_pose(ShiftPose.ROT_PITCH, math.radians(25))
+
+    n.set_learning_mode(True)
+
+
+except NiryoRosWrapperException as e:
+    print e
+    # handle exception here
+    # you can also make a try/except for each command separately
+
+print "--- End"
diff --git a/niryo_robot_python_ros_wrapper/launch/rpi_python_wrapper.test b/niryo_robot_python_ros_wrapper/launch/rpi_python_wrapper.test
new file mode 100755
index 000000000..538caec61
--- /dev/null
+++ b/niryo_robot_python_ros_wrapper/launch/rpi_python_wrapper.test
@@ -0,0 +1,12 @@
+<launch>
+    <arg name="conveyor" default="false"/>
+    <arg name="gripper_n_camera" default="true"/>
+
+    <include file="$(find niryo_robot_bringup)/launch/niryo_ned_robot.launch"/>
+
+    <test test-name="python_ros_wrapper" pkg="niryo_robot_python_ros_wrapper" type="test_python_ros_wrapper.py" time-limit="360.0">
+        <param name="conveyor" value="$(arg conveyor)"/>
+        <param name="gripper_n_camera" value="$(arg gripper_n_camera)"/>
+        <param name="simulation_mode" type="bool" value="false"/>
+    </test>
+</launch>
diff --git a/niryo_robot_python_ros_wrapper/launch/simulation_python_wrapper.test b/niryo_robot_python_ros_wrapper/launch/simulation_python_wrapper.test
new file mode 100755
index 000000000..702a7c31b
--- /dev/null
+++ b/niryo_robot_python_ros_wrapper/launch/simulation_python_wrapper.test
@@ -0,0 +1,20 @@
+<launch>
+    <arg name="conveyor" default="false"/>
+    <arg name="gui" default="true"/>
+    <arg name="gripper_n_camera" default="true"/>
+
+    <include file="$(find niryo_robot_bringup)/launch/desktop_gazebo_simulation.launch" if="$(arg gripper_n_camera)">
+        <arg name="gui" value="$(arg gui)"/>
+        <arg name="gripper_n_camera" value="true"/>
+    </include>
+
+    <include file="$(find niryo_robot_bringup)/launch/desktop_rviz_simulation.launch" unless="$(arg gripper_n_camera)">
+        <arg name="gui" value="$(arg gui)"/>
+    </include>
+
+    <test test-name="python_ros_wrapper" pkg="niryo_robot_python_ros_wrapper" type="test_python_ros_wrapper.py" time-limit="180.0">
+        <param name="conveyor" value="$(arg conveyor)"/>
+        <param name="gripper_n_camera" value="$(arg gripper_n_camera)"/>
+        <param name="simulation_mode" type="bool" value="true"/>
+    </test>
+</launch>
diff --git a/niryo_robot_python_ros_wrapper/package.xml b/niryo_robot_python_ros_wrapper/package.xml
new file mode 100644
index 000000000..474e128aa
--- /dev/null
+++ b/niryo_robot_python_ros_wrapper/package.xml
@@ -0,0 +1,19 @@
+<package>
+  <name>niryo_robot_python_ros_wrapper</name>
+  <version>3.0.0</version>
+  <description>Python ROS Wrapper to get Niryo Robot ROS functionalities, without knowing ROS</description>
+  <author email="r.lux@niryo.com">Remi Lux</author>
+  <maintainer email="r.lux@niryo.com">Remi Lux</maintainer>
+  <maintainer email="c.ducatez@niryo.com">Corentin Ducatez</maintainer>
+  <license>GPLv3</license>
+  
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <run_depend>actionlib_msgs</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>niryo_robot_commander</run_depend>
+  <run_depend>niryo_robot_msgs</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>std_msgs</run_depend>
+
+</package>
diff --git a/niryo_robot_python_ros_wrapper/setup.py b/niryo_robot_python_ros_wrapper/setup.py
new file mode 100644
index 000000000..7cc21faee
--- /dev/null
+++ b/niryo_robot_python_ros_wrapper/setup.py
@@ -0,0 +1,10 @@
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    packages=['niryo_robot_python_ros_wrapper'],
+    # scripts=['bin/myscript'],
+    package_dir={'': 'src'}
+)
+
+setup(**d)
diff --git a/niryo_robot_python_ros_wrapper/src/niryo_robot_python_ros_wrapper/__init__.py b/niryo_robot_python_ros_wrapper/src/niryo_robot_python_ros_wrapper/__init__.py
new file mode 100644
index 000000000..f53e217d9
--- /dev/null
+++ b/niryo_robot_python_ros_wrapper/src/niryo_robot_python_ros_wrapper/__init__.py
@@ -0,0 +1,2 @@
+from .ros_wrapper_enums import *
+from .ros_wrapper import NiryoRosWrapper, NiryoRosWrapperException
diff --git a/niryo_robot_python_ros_wrapper/src/niryo_robot_python_ros_wrapper/ros_wrapper.py b/niryo_robot_python_ros_wrapper/src/niryo_robot_python_ros_wrapper/ros_wrapper.py
new file mode 100755
index 000000000..f9172bf80
--- /dev/null
+++ b/niryo_robot_python_ros_wrapper/src/niryo_robot_python_ros_wrapper/ros_wrapper.py
@@ -0,0 +1,1602 @@
+#!/usr/bin/env python
+
+# Lib
+import rospy
+import actionlib
+
+# Command Status
+from niryo_robot_msgs.msg import CommandStatus
+
+# Messages
+from actionlib_msgs.msg import GoalStatus
+
+from geometry_msgs.msg import Pose, Point, Quaternion
+
+from std_msgs.msg import Bool
+from std_msgs.msg import Int32
+from std_msgs.msg import String
+
+from sensor_msgs.msg import CameraInfo
+from sensor_msgs.msg import CompressedImage
+from sensor_msgs.msg import JointState
+
+from conveyor_interface.msg import ConveyorFeedbackArray
+from niryo_robot_commander.msg import RobotCommand
+from niryo_robot_msgs.msg import HardwareStatus
+from niryo_robot_msgs.msg import RobotState
+from niryo_robot_msgs.msg import RPY
+from niryo_robot_rpi.msg import DigitalIOState
+
+# Services
+from conveyor_interface.srv import ControlConveyor, SetConveyor, SetConveyorRequest
+from niryo_robot_commander.srv import GetFK, GetIK
+from niryo_robot_commander.srv import JogShift, JogShiftRequest
+from niryo_robot_msgs.srv import GetNameDescriptionList, SetBool, SetInt, Trigger
+
+from niryo_robot_rpi.srv import GetDigitalIO, SetDigitalIO
+
+# Actions
+from niryo_robot_commander.msg import RobotMoveAction, RobotMoveGoal
+
+# Enums
+from niryo_robot_commander.command_enums import MoveCommandType
+from niryo_robot_python_ros_wrapper.ros_wrapper_enums import *
+
+
+class NiryoRosWrapperException(Exception):
+    pass
+
+
+class NiryoRosWrapper:
+    def __init__(self):
+        # - Getting ROS parameters
+        self.__service_timeout = rospy.get_param("/niryo_robot/python_ros_wrapper/service_timeout")
+        self.__action_connection_timeout = rospy.get_param("/niryo_robot/python_ros_wrapper/action_connection_timeout")
+        self.__action_execute_timeout = rospy.get_param("/niryo_robot/python_ros_wrapper/action_execute_timeout")
+        self.__action_preempt_timeout = rospy.get_param("/niryo_robot/python_ros_wrapper/action_preempt_timeout")
+        self.__tool_command_list = rospy.get_param("/niryo_robot_tools/command_list")
+
+        # - Publishers
+        # Highlight publisher (to highlight blocks in Blockly interface)
+        self.__highlight_block_publisher = rospy.Publisher('/niryo_robot_blockly/highlight_block', String,
+                                                           queue_size=10)
+
+        # Break point publisher (for break point blocks in Blockly interface)
+        self.__break_point_publisher = rospy.Publisher('/niryo_robot_blockly/break_point', Int32, queue_size=10)
+
+        # -- Subscribers
+        # - Pose
+        self.__joints = None
+        rospy.Subscriber('/joint_states', JointState,
+                         self.__callback_sub_joint_states)
+
+        self.__pose = None
+        rospy.Subscriber('/niryo_robot/robot_state', RobotState,
+                         self.__callback_sub_robot_state)
+
+        # - Hardware
+        self.__learning_mode_on = None
+        rospy.Subscriber('/niryo_robot/learning_mode/state', Bool,
+                         self.__callback_sub_learning_mode)
+
+        self.__hw_status = None
+        rospy.Subscriber('/niryo_robot_hardware_interface/hardware_status', HardwareStatus,
+                         self.__callback_sub_hardware_status)
+
+        self.__digital_io_state = None
+        rospy.Subscriber('/niryo_robot_rpi/digital_io_state', DigitalIOState,
+                         self.__callback_sub_digital_io_state)
+
+        self.__current_tool_id = None
+        rospy.Subscriber('/niryo_robot_tools/current_id', Int32,
+                         self.__callback_sub_current_tool_id)
+
+        # - Vision
+        self.__compressed_image_message = None
+        rospy.Subscriber('/niryo_robot_vision/compressed_video_stream', CompressedImage,
+                         self.__callback_sub_stream_video, queue_size=1)
+
+        self.__camera_intrinsics_message = None
+        rospy.Subscriber('/niryo_robot_vision/camera_intrinsics', CameraInfo,
+                         self.__callback_camera_intrinsics, queue_size=1)
+
+        # - Conveyor
+
+        self.__conveyors_feedback = None
+        rospy.Subscriber('/niryo_robot/conveyor/feedback', ConveyorFeedbackArray,
+                         self.__callback_sub_conveyors_feedback)
+
+        # - Action server
+        # Robot action
+        self.__robot_action_server_name = '/niryo_robot_commander/robot_action'
+        self.__robot_action_server_client = actionlib.SimpleActionClient(self.__robot_action_server_name,
+                                                                         RobotMoveAction)
+
+    def __del__(self):
+        del self
+
+    @classmethod
+    def wait_for_nodes_initialization(cls, simulation_mode=False):
+        params_checked = [
+            '/niryo_robot_poses_handlers/initialized',
+            '/niryo_robot_commander/initialized',
+        ]
+        while not all([rospy.has_param(param) for param in params_checked]):
+            rospy.sleep(0.1)
+        if simulation_mode:
+            rospy.sleep(1)  # Waiting to be sure Gazebo is open
+
+    # -- Publishers
+    # Blockly
+    def highlight_block(self, block_id):
+        msg = String()
+        msg.data = block_id
+        self.__highlight_block_publisher.publish(msg)
+
+    def break_point(self):
+        import sys
+
+        msg = Int32()
+        msg.data = 1
+        self.__break_point_publisher.publish(msg)
+
+        # Close program
+        sys.exit()
+
+    # -- Subscribers callbacks
+
+    def __callback_sub_joint_states(self, joint_states):
+        self.__joints = list(joint_states.position[:6])
+
+    def __callback_sub_robot_state(self, pose):
+        self.__pose = pose
+
+    def __callback_sub_learning_mode(self, learning_mode):
+        self.__learning_mode_on = learning_mode.data
+
+    def __callback_sub_current_tool_id(self, msg):
+        self.__current_tool_id = msg.data
+
+    def __callback_sub_hardware_status(self, hw_status):
+        self.__hw_status = hw_status
+
+    def __callback_sub_digital_io_state(self, digital_io_state):
+        self.__digital_io_state = digital_io_state
+
+    def __callback_sub_stream_video(self, compressed_image_message):
+        self.__compressed_image_message = compressed_image_message
+
+    def __callback_camera_intrinsics(self, camera_info_message):
+        self.__camera_intrinsics_message = camera_info_message
+
+    def __callback_sub_conveyors_feedback(self, conveyors_feedback):
+        self.__conveyors_feedback = conveyors_feedback
+
+    # -- Service & Action executors
+    def __call_service(self, service_name, service_msg_type, *args):
+        """
+        Wait for the service called service_name
+        Then call the service with args
+
+        :param service_name:
+        :param service_msg_type:
+        :param args: Tuple of arguments
+        :raises NiryoRosWrapperException: Timeout during waiting of services
+        :return: Response
+        """
+        # Connect to service
+        try:
+            rospy.wait_for_service(service_name, self.__service_timeout)
+        except rospy.ROSException as e:
+            raise NiryoRosWrapperException(e)
+
+        # Call service
+        try:
+            service = rospy.ServiceProxy(service_name, service_msg_type)
+            response = service(*args)
+            return response
+        except rospy.ServiceException as e:
+            raise NiryoRosWrapperException(e)
+
+    def __execute_robot_move_action(self, goal):
+        # Connect to server
+        if not self.__robot_action_server_client.wait_for_server(rospy.Duration(self.__action_connection_timeout)):
+            rospy.logwarn("ROS Wrapper - Failed to connect to Robot action server")
+
+            raise NiryoRosWrapperException('Action Server is not up : {}'.format(self.__robot_action_server_name))
+
+        # Send goal and check response
+        goal_state, response = self.__send_goal_and_wait_for_completed(goal)
+
+        if response.status == CommandStatus.GOAL_STILL_ACTIVE:
+            rospy.loginfo("ROS Wrapper - Command still active: try to stop it")
+            self.__robot_action_server_client.cancel_goal()
+            self.__robot_action_server_client.stop_tracking_goal()
+            rospy.sleep(0.2)
+            rospy.loginfo("ROS Wrapper - Trying to resend command ...")
+            goal_state, response = self.__send_goal_and_wait_for_completed(goal)
+
+        if goal_state != GoalStatus.SUCCEEDED:
+            self.__robot_action_server_client.stop_tracking_goal()
+
+        if goal_state == GoalStatus.REJECTED:
+            raise NiryoRosWrapperException('Goal has been rejected : {}'.format(response.message))
+        elif goal_state == GoalStatus.ABORTED:
+            raise NiryoRosWrapperException('Goal has been aborted : {}'.format(response.message))
+        elif goal_state != GoalStatus.SUCCEEDED:
+            raise NiryoRosWrapperException('Error when processing goal : {}'.format(response.message))
+
+        return response.status, response.message
+
+    def __send_goal_and_wait_for_completed(self, goal):
+        self.__robot_action_server_client.send_goal(goal)
+
+        if not self.__robot_action_server_client.wait_for_result(timeout=rospy.Duration(self.__action_execute_timeout)):
+            self.__robot_action_server_client.cancel_goal()
+            self.__robot_action_server_client.stop_tracking_goal()
+            raise NiryoRosWrapperException('Action Server timeout : {}'.format(self.__robot_action_server_name))
+
+        goal_state = self.__robot_action_server_client.get_state()
+        response = self.__robot_action_server_client.get_result()
+
+        return goal_state, response
+
+    # --- Functions interface
+    def __classic_return_w_check(self, result):
+        self.__check_result_status(result)
+        return result.status, result.message
+
+    @staticmethod
+    def __check_result_status(result):
+        if result.status < 0:
+            raise NiryoRosWrapperException("Error Code : {}\nMessage : {}".format(result.status, result.message))
+
+    @staticmethod
+    def return_success(message=""):
+        return CommandStatus.SUCCESS, message
+
+    # -- Main Purpose
+    def request_new_calibration(self):
+        """
+        Call service to set the request calibration value. If failed, raise NiryoRosWrapperException.
+
+        :return: status, message
+        :rtype: (int, str)
+        """
+        try:
+            return self.__call_service('/niryo_robot/joints_interface/request_new_calibration', Trigger)
+        except rospy.ROSException as e:
+            raise NiryoRosWrapperException(str(e))
+
+    def calibrate_auto(self):
+        """
+        Call service to calibrate motors then wait for its end. If failed, raise NiryoRosWrapperException
+
+        :return: status, message
+        :rtype: (int, str)
+        """
+        return self.__calibrate(calib_type_int=1)
+
+    def calibrate_manual(self):
+        """
+        Call service to calibrate motors then wait for its end. If failed, raise NiryoRosWrapperException
+
+        :return: status, message
+        :rtype: (int, str)
+        """
+        return self.__calibrate(calib_type_int=2)
+
+    def __calibrate(self, calib_type_int):
+        """
+        Call service to calibrate motors then wait for its end. If failed, raise NiryoRosWrapperException
+
+        :param calib_type_int: 1 for auto-calibration & 2 for manual calibration
+        :return: status, message
+        :rtype: (int, str)
+        """
+        hw_status = rospy.wait_for_message('/niryo_robot_hardware_interface/hardware_status',
+                                           HardwareStatus, timeout=5)
+        if not hw_status.calibration_needed:
+            return self.return_success("Calibration not needed")
+
+        result = self.__call_service('/niryo_robot/joints_interface/calibrate_motors',
+                                     SetInt, calib_type_int)
+        self.__check_result_status(result)
+        # Wait until calibration start
+        rospy.sleep(0.2)
+        calibration_finished = False
+        while not calibration_finished:
+            try:
+                hw_status = rospy.wait_for_message('/niryo_robot_hardware_interface/hardware_status',
+                                                   HardwareStatus, timeout=5)
+                if not (hw_status.calibration_needed or hw_status.calibration_in_progress):
+                    calibration_finished = True
+                else:
+                    rospy.sleep(0.1)
+            except rospy.ROSException as e:
+                raise NiryoRosWrapperException(str(e))
+        # Little delay to be sure calibration is over
+        rospy.sleep(0.5)
+        return result.status, result.message
+
+    def get_learning_mode(self):
+        """
+        Use /niryo_robot/learning_mode/state topic subscriber to get learning mode status
+
+        :return: ``True`` if activate else ``False``
+        :rtype: bool
+        """
+        timeout = rospy.get_time() + 2.0
+        while self.__learning_mode_on is None:
+            rospy.sleep(0.05)
+            if rospy.get_time() > timeout:
+                raise NiryoRosWrapperException('Timeout: could not get learning mode '
+                                               '(/niryo_robot/learning_mode/state topic)')
+        return self.__learning_mode_on
+
+    def set_learning_mode(self, set_bool):
+        """
+        Call service to set_learning_mode according to set_bool. If failed, raise NiryoRosWrapperException
+
+        :param set_bool: ``True`` to activate, ``False`` to deactivate
+        :type set_bool: bool
+        :return: status, message
+        :rtype: (int, str)
+        """
+        result = self.__call_service('/niryo_robot/learning_mode/activate',
+                                     SetBool, set_bool)
+        rospy.sleep(0.1)
+        return self.__classic_return_w_check(result)
+
+    def set_arm_max_velocity(self, percentage):
+        """
+        Set relative max velocity (in %)
+
+        :param percentage: Percentage of max velocity
+        :type percentage: int
+        :return: status, message
+        :rtype: (int, str)
+        """
+        result = self.__call_service('/niryo_robot_commander/set_max_velocity_scaling_factor',
+                                     SetInt, percentage)
+        return self.__classic_return_w_check(result)
+
+    # - Useful functions
+    @staticmethod
+    def wait(time_sleep):
+        rospy.sleep(time_sleep)
+
+    # -- Move
+
+    # - Pose
+
+    def get_joints(self):
+        """
+        Use /joint_states topic to get joints status
+
+        :return: list of joints value
+        :rtype: list[float]
+        """
+        timeout = rospy.get_time() + 2.0
+        while self.__joints is None:
+            rospy.sleep(0.05)
+            if rospy.get_time() > timeout:
+                raise NiryoRosWrapperException('Timeout: could not get joints (/joint_states topic)')
+        return self.__joints
+
+    def get_pose(self):
+        """
+        Use /niryo_robot/robot_state topic to get pose status
+
+        :return: RobotState object (position.x/y/z && rpy.roll/pitch/yaw && orientation.x/y/z/w)
+        :rtype: RobotState
+        """
+        timeout = rospy.get_time() + 2.0
+        while self.__pose is None:
+            rospy.sleep(0.05)
+            if rospy.get_time() > timeout:
+                raise NiryoRosWrapperException('Timeout: could not get pose (/niryo_robot/robot_state topic)')
+        return self.__pose
+
+    def get_pose_as_list(self):
+        """
+        Use /niryo_robot/robot_state topic to get pose status
+
+        :return: list corresponding to [x, y, z, roll, pitch, yaw]
+        :rtype: list[float]
+        """
+        p = self.get_pose()
+        return [p.position.x, p.position.y, p.position.z, p.rpy.roll, p.rpy.pitch, p.rpy.yaw]
+
+    def move_joints(self, j1, j2, j3, j4, j5, j6):
+        """
+        Execute Move joints action
+
+        :param j1:
+        :type j1: float
+        :param j2: 
+        :type j2: float
+        :param j3: 
+        :type j3: float
+        :param j4: 
+        :type j4: float
+        :param j5: 
+        :type j5: float
+        :param j6: 
+        :type j6: float
+        :return: status, message
+        :rtype: (int, str)
+        """
+        goal = RobotMoveGoal()
+        goal.cmd.cmd_type = RobotCommand.MOVE_ONLY
+        goal.cmd.arm_cmd.cmd_type = MoveCommandType.JOINTS
+        goal.cmd.arm_cmd.joints = [j1, j2, j3, j4, j5, j6]
+        return self.__execute_robot_move_action(goal)
+
+    def move_to_sleep_pose(self):
+        """
+        Move to Sleep pose which allows the user to activate the learning mode without the risk
+        of the robot hitting something because of gravity
+
+        :return: status, message
+        :rtype: (int, str)
+        """
+        return self.move_joints(0.0, 0.50, -1.25, 0.0, 0.0, 0.0)
+
+    def move_pose(self, x, y, z, roll, pitch, yaw):
+        """
+        Move robot end effector pose to a (x, y, z, roll, pitch, yaw) pose.
+
+        :param x:
+        :type x: float
+        :param y:
+        :type y: float
+        :param z:
+        :type z: float
+        :param roll:
+        :type roll: float
+        :param pitch:
+        :type pitch: float
+        :param yaw:
+        :type yaw: float
+        :return: status, message
+        :rtype: (int, str)
+        """
+
+        return self.__move_pose_with_cmd(MoveCommandType.POSE, x, y, z, roll, pitch, yaw)
+
+    def move_pose_saved(self, pose_name):
+        """
+        Move robot end effector pose to a pose saved
+
+        :param pose_name:
+        :type pose_name: str
+        :return: status, message
+        :rtype: (int, str)
+        """
+        x, y, z, roll, pitch, yaw = self.get_pose_saved(pose_name)
+        return self.__move_pose_with_cmd(MoveCommandType.POSE, x, y, z, roll, pitch, yaw)
+
+    def __move_pose_with_cmd(self, cmd_type, *pose):
+        """
+        Execute Move pose action
+
+        :param cmd_type: Command Type
+        :type cmd_type: MoveCommandType -> POSE, LINEAR_POSE
+        :param pose: tuple corresponding to x, y, z, roll, pitch, yaw
+        :return: status, message
+        :rtype: (int, str)
+        """
+        x, y, z, roll, pitch, yaw = pose
+        goal = RobotMoveGoal()
+        goal.cmd.cmd_type = RobotCommand.MOVE_ONLY
+        goal.cmd.arm_cmd.cmd_type = cmd_type
+        goal.cmd.arm_cmd.position.x = x
+        goal.cmd.arm_cmd.position.y = y
+        goal.cmd.arm_cmd.position.z = z
+        goal.cmd.arm_cmd.rpy.roll = roll
+        goal.cmd.arm_cmd.rpy.pitch = pitch
+        goal.cmd.arm_cmd.rpy.yaw = yaw
+        return self.__execute_robot_move_action(goal)
+
+    def shift_pose(self, axis, value):
+        """
+        Execute Shift pose action
+
+        :param axis: Value of RobotAxis enum corresponding to where the shift happens
+        :type axis: ShiftPose
+        :param value: shift value
+        :type value: float
+        :return: status, message
+        :rtype: (int, str)
+        """
+        goal = RobotMoveGoal()
+        goal.cmd.cmd_type = RobotCommand.MOVE_ONLY
+        goal.cmd.arm_cmd.cmd_type = MoveCommandType.SHIFT_POSE
+        goal.cmd.arm_cmd.shift.axis_number = axis
+        goal.cmd.arm_cmd.shift.value = value
+        return self.__execute_robot_move_action(goal)
+
+    def move_linear_pose(self, x, y, z, roll, pitch, yaw):
+        return self.__move_pose_with_cmd(MoveCommandType.LINEAR_POSE, x, y, z, roll, pitch, yaw)
+
+    def set_jog_use_state(self, state):
+        """
+        Turn jog controller On or Off
+
+        :param state: ``True`` to turn on, else ``False``
+        :type state: bool
+        :return: status, message
+        :rtype: (int, str)
+        """
+        result = self.__call_service('/niryo_robot/jog_interface/enable', SetBool, state)
+        return self.__classic_return_w_check(result)
+
+    def jog_joints_shift(self, shift_values):
+        """
+        Make a Jog on joints position
+
+        :param shift_values: list corresponding to the shift to be applied to each joint
+        :type shift_values: list[float]
+        :return: status, message
+        :rtype: (int, str)
+        """
+        return self.__jog_shift(JogShiftRequest.JOINTS_SHIFT, shift_values)
+
+    def jog_pose_shift(self, shift_values):
+        """
+        Make a Jog on end-effector position
+
+        :param shift_values: list corresponding to the shift to be applied to each joint
+        :type shift_values: list[float]
+        :return: status, message
+        :rtype: (int, str)
+        """
+        return self.__jog_shift(JogShiftRequest.POSE_SHIFT, shift_values)
+
+    def __jog_shift(self, cmd, shift_values):
+        result = self.__call_service('/niryo_robot/jog_interface/jog_shift_commander', JogShift, cmd, shift_values)
+
+        return self.__classic_return_w_check(result)
+
+    def forward_kinematics(self, j1, j2, j3, j4, j5, j6):
+        """
+        Compute forward kinematics
+
+        :param j1:
+        :type j1: float
+        :param j2:
+        :type j2: float
+        :param j3:
+        :type j3: float
+        :param j4:
+        :type j4: float
+        :param j5:
+        :type j5: float
+        :param j6:
+        :type j6: float
+        :return: list corresponding to [x, y, z, roll, pitch, yaw]
+        :rtype: list[float]
+        """
+        joints = [j1, j2, j3, j4, j5, j6]
+        result = self.__call_service('/niryo_robot/kinematics/forward', GetFK, joints)
+        return self.robot_state_msg_to_list(result.pose)
+
+    def inverse_kinematics(self, x, y, z, roll, pitch, yaw):
+        """
+        Compute inverse kinematics
+
+        :param x:
+        :type x: float
+        :param y:
+        :type y: float
+        :param z:
+        :type z: float
+        :param roll:
+        :type roll: float
+        :param pitch:
+        :type pitch: float
+        :param yaw:
+        :type yaw: float
+        :return: list of joints value
+        :rtype: list[float]
+        """
+        state = RobotState()
+        state.position = Point(x, y, z)
+        state.rpy = RPY(roll, pitch, yaw)
+        result = self.__call_service('/niryo_robot/kinematics/inverse', GetIK, state)
+        if not result.success:
+            raise NiryoRosWrapperException("Failed to perform invert kinematic")
+
+        return result.joints
+
+    # - Saved Pose
+
+    def get_pose_saved(self, pose_name):
+        """
+        Get saved pose from robot intern storage
+        Will raise error if position does not exist
+
+        :param pose_name: Pose Name
+        :type pose_name: str
+        :return: x, y, z, roll, pitch, yaw
+        :rtype: tuple[float]
+        """
+        from niryo_robot_poses_handlers.srv import GetPose
+
+        result = self.__call_service('/niryo_robot_poses_handlers/get_pose', GetPose, pose_name)
+        self.__check_result_status(result)
+        pose = result.pose
+        x, y, z = pose.position.x, pose.position.y, pose.position.z
+        roll, pitch, yaw = pose.rpy.roll, pose.rpy.pitch, pose.rpy.yaw
+        return x, y, z, roll, pitch, yaw
+
+    def save_pose(self, name, x, y, z, roll, pitch, yaw):
+        """
+        Save pose in robot's memory
+
+        :param name:
+        :type name: str
+        :param x:
+        :type x: float
+        :param y:
+        :type y: float
+        :param z:
+        :type z: float
+        :param roll:
+        :type roll: float
+        :param pitch:
+        :type pitch: float
+        :param yaw:
+        :type yaw: float
+        :return: status, message
+        :rtype: (int, str)
+        """
+        from niryo_robot_poses_handlers.srv import ManagePose, ManagePoseRequest
+
+        req = ManagePoseRequest()
+        req.cmd = ManagePoseRequest.SAVE
+        req.pose.name = name
+        req.pose.position = Point(x, y, z)
+        req.pose.rpy = RPY(roll, pitch, yaw)
+
+        result = self.__call_service('/niryo_robot_poses_handlers/manage_pose',
+                                     ManagePose, req)
+        return self.__classic_return_w_check(result)
+
+    def delete_pose(self, name):
+        """
+        Send delete command to the pose manager service
+
+        :param name:
+        :type name: str
+        :return: status, message
+        :rtype: (int, str)
+        """
+        from niryo_robot_poses_handlers.srv import ManagePose, ManagePoseRequest
+
+        req = ManagePoseRequest()
+        req.cmd = ManagePoseRequest.DELETE
+        req.pose.name = name
+        result = self.__call_service('/niryo_robot_poses_handlers/manage_pose',
+                                     ManagePose, req)
+        return self.__classic_return_w_check(result)
+
+    def get_saved_pose_list(self):
+        """
+        Ask the pose manager service which positions are available
+
+        :return: list of positions name
+        :rtype: list[str]
+        """
+        result = self.__call_service('/niryo_robot_poses_handlers/get_pose_list',
+                                     GetNameDescriptionList)
+        return result.name_list
+
+    # - Pick/Place
+
+    def pick_from_pose(self, x, y, z, roll, pitch, yaw):
+        """
+        Execute a picking from a position. If an error happens during the movement, error will be raised.
+        A picking is described as :
+        - going over the object
+        - going down until height = z
+        - grasping with tool
+        - going back over the object
+
+        :param x:
+        :type x: float
+        :param y:
+        :type y: float
+        :param z:
+        :type z: float
+        :param roll:
+        :type roll: float
+        :param pitch:
+        :type pitch: float
+        :param yaw:
+        :type yaw: float
+        :return: status, message
+        :rtype: (int, str)
+       """
+        self.release_with_tool()
+
+        self.move_pose(x, y, z + 0.05, roll, pitch, yaw)
+        self.move_pose(x, y, z, roll, pitch, yaw)
+
+        self.grasp_with_tool()
+
+        return self.move_pose(x, y, z + 0.05, roll, pitch, yaw)
+
+    def place_from_pose(self, x, y, z, roll, pitch, yaw):
+        """
+        Execute a placing from a position. If an error happens during the movement, error will be raised.
+        A placing is described as :
+        - going over the place
+        - going down until height = z
+        - releasing the object with tool
+        - going back over the place
+        
+        :param x:
+        :type x: float
+        :param y:
+        :type y: float
+        :param z:
+        :type z: float
+        :param roll:
+        :type roll: float
+        :param pitch:
+        :type pitch: float
+        :param yaw:
+        :type yaw: float
+        :return: status, message
+        :rtype: (int, str)
+        """
+        self.move_pose(x, y, z + 0.05, roll, pitch, yaw)
+        self.move_pose(x, y, z, roll, pitch, yaw)
+
+        self.release_with_tool()
+
+        return self.move_pose(x, y, z + 0.05, roll, pitch, yaw)
+
+    def pick_and_place(self, pick_pose, place_pose, dist_smoothing=0.0):
+        """
+        Execute a pick and place. If an error happens during the movement, error will be raised.
+        -> Args param is for development purposes
+
+        :param pick_pose: 
+        :type pick_pose: list[float] 
+        :param place_pose: 
+        :type place_pose: list[float] 
+        :param dist_smoothing: Distance from waypoints before smoothing trajectory
+        :type dist_smoothing: float
+        :return: status, message
+        :rtype: (int, str)
+        """
+        self.release_with_tool()
+
+        pick_pose_high = self.copy_position_with_offsets(pick_pose, z_offset=0.05)
+        place_pose_high = self.copy_position_with_offsets(place_pose, z_offset=0.05)
+
+        self.execute_trajectory_from_poses([pick_pose_high, pick_pose], dist_smoothing)
+        self.grasp_with_tool()
+
+        self.execute_trajectory_from_poses([pick_pose_high, place_pose_high, place_pose], dist_smoothing)
+
+        self.release_with_tool()
+
+        return self.move_pose(*place_pose_high)
+
+    # - Trajectories
+
+    def get_trajectory_saved(self, trajectory_name):
+        """
+        Get saved trajectory from robot intern storage
+        Will raise error if position does not exist
+
+        :param trajectory_name:
+        :type trajectory_name: str
+        :raises NiryoRosWrapperException: If trajectory file doesn't exist
+        :return: list of [x, y, z, qx, qy, qz, qw]
+        :rtype: list[list[float]]
+        """
+        from niryo_robot_poses_handlers.srv import GetTrajectory
+
+        result = self.__call_service('/niryo_robot_poses_handlers/get_trajectory',
+                                     GetTrajectory, trajectory_name)
+        self.__check_result_status(result)
+        list_poses = result.list_poses
+        list_poses_raw = []
+        for p in list_poses:
+            pose_raw = [p.position.x, p.position.y, p.position.z,
+                        p.orientation.x, p.orientation.y, p.orientation.z, p.orientation.w]
+            list_poses_raw.append(pose_raw)
+        return list_poses_raw
+
+    def execute_trajectory_saved(self, trajectory_name):
+        """
+        Execute trajectory saved in Robot internal storage
+
+        :param trajectory_name:
+        :type trajectory_name: str
+        :return: status, message
+        :rtype: (int, str)
+        """
+        from niryo_robot_poses_handlers.srv import GetTrajectory
+
+        result = self.__call_service('/niryo_robot_poses_handlers/get_trajectory',
+                                     GetTrajectory, trajectory_name)
+        list_poses = result.list_poses
+        return self.__execute_trajectory_from_formatted_poses(list_poses)
+
+    def execute_trajectory_from_poses(self, list_poses_raw, dist_smoothing=0.0):
+        """
+        Execute trajectory from a list of pose
+
+        :param list_poses_raw: list of [x, y, z, qx, qy, qz, qw]
+        :type list_poses_raw: list[list[float]]
+        :param dist_smoothing: Distance from waypoints before smoothing trajectory
+        :type dist_smoothing: float
+        :return: status, message
+        :rtype: (int, str)
+        """
+        from niryo_robot_poses_handlers.transform_functions import quaternion_from_euler
+
+        if len(list_poses_raw) < 2:
+            return "Give me at least 2 points"
+        list_poses = []
+        for pose in list_poses_raw:
+            point = Point(*pose[:3])
+            angle = pose[3:]
+            if len(angle) == 3:
+                quaternion = quaternion_from_euler(*angle)
+            else:
+                quaternion = angle
+            orientation = Quaternion(*quaternion)
+            list_poses.append(Pose(point, orientation))
+        return self.__execute_trajectory_from_formatted_poses(list_poses, dist_smoothing)
+
+    def save_trajectory(self, trajectory_name, list_poses_raw):
+        """
+        Save trajectory object and send it to the trajectory manager service
+
+        :param trajectory_name: name which will have the trajectory
+        :type trajectory_name: str
+        :param list_poses_raw: list of [x, y, z, qx, qy, qz, qw]
+        :type list_poses_raw: list[list[float]]
+        :return: status, message
+        :rtype: (int, str)
+        """
+        from niryo_robot_poses_handlers.srv import ManageTrajectory, ManageTrajectoryRequest
+
+        req = ManageTrajectoryRequest()
+        req.cmd = ManageTrajectoryRequest.SAVE
+        req.name = trajectory_name
+        list_poses = []
+        for pose in list_poses_raw:
+            list_poses.append(Pose(Point(*pose[:3]), Quaternion(*pose[3:])))
+        req.poses = list_poses
+
+        result = self.__call_service('/niryo_robot_poses_handlers/manage_trajectory',
+                                     ManageTrajectory, req)
+        return self.__classic_return_w_check(result)
+
+    def draw_spiral(self, radius, angle_step, total_steps):
+        """
+        Call robot action service to draw a spiral trajectory
+
+        :param radius: maximum distance between the spiral and the starting point
+        :param angle_step: rotation between each waypoint creation
+        :param total_steps: number of waypoints from the beginning to the end of the spiral
+        :return: status, message
+        :rtype: (int, str)
+        """
+        goal = RobotMoveGoal()
+        goal.cmd.cmd_type = RobotCommand.MOVE_ONLY
+        goal.cmd.arm_cmd.cmd_type = MoveCommandType.DRAW_SPIRAL
+        goal.cmd.arm_cmd.args = [str(radius), str(angle_step), str(total_steps)]
+        return self.__execute_robot_move_action(goal)
+
+    def __execute_trajectory_from_formatted_poses(self, list_poses, dist_smoothing=0.0):
+
+        goal = RobotMoveGoal()
+        goal.cmd.cmd_type = RobotCommand.MOVE_ONLY
+        goal.cmd.arm_cmd.cmd_type = MoveCommandType.EXECUTE_TRAJ
+        goal.cmd.arm_cmd.list_poses = list_poses
+        goal.cmd.arm_cmd.dist_smoothing = dist_smoothing
+        return self.__execute_robot_move_action(goal)
+
+    def delete_trajectory(self, trajectory_name):
+        """
+        Send delete command to the trajectory manager service
+
+        :param trajectory_name: name
+        :type trajectory_name: str
+        :return: status, message
+        :rtype: (int, str)
+        """
+        from niryo_robot_poses_handlers.srv import ManageTrajectory, ManageTrajectoryRequest
+        req = ManageTrajectoryRequest()
+        req.cmd = ManageTrajectoryRequest.DELETE
+        req.name = trajectory_name
+        result = self.__call_service('/niryo_robot_poses_handlers/manage_trajectory',
+                                     ManageTrajectory, req)
+        return self.__classic_return_w_check(result)
+
+    def get_saved_trajectory_list(self):
+        """
+        Ask the pose trajectory service which trajectories are available
+
+        :return: list of trajectory name
+        :rtype: list[str]
+        """
+        result = self.__call_service('/niryo_robot_poses_handlers/get_trajectory_list',
+                                     GetNameDescriptionList)
+        return result.name_list
+
+    # - Useful Pose functions
+
+    @staticmethod
+    def copy_position_with_offsets(copied_pose, x_offset=0.0, y_offset=0.0, z_offset=0.0):
+        """
+        Copy a position and add offset to some coordinates
+        """
+        new_pose = [v for v in copied_pose]  # Copying all values
+        new_pose[0] += x_offset  # adjust x
+        new_pose[1] += y_offset  # adjust y
+        new_pose[2] += z_offset  # adjust z
+        return new_pose
+
+    @staticmethod
+    def list_to_robot_state_msg(x, y, z, roll, pitch, yaw):
+        """
+        Translate (x, y, z, roll, pitch, yaw) to a RobotState Object
+        """
+        r = RobotState()
+        r.position.x = x
+        r.position.y = y
+        r.position.z = z
+        r.rpy.roll = roll
+        r.rpy.pitch = pitch
+        r.rpy.yaw = yaw
+        return r
+
+    @staticmethod
+    def robot_state_msg_to_list(robot_state):
+        """
+        Translate a RobotState Object to (x, y, z, roll, pitch, yaw)
+        """
+        return (robot_state.position.x, robot_state.position.y, robot_state.position.z,
+                robot_state.rpy.roll, robot_state.rpy.pitch, robot_state.rpy.yaw)
+
+    # -- Tools
+
+    def get_current_tool_id(self):
+        """
+        Use /niryo_robot_hardware/tools/current_id  topic to get current tool id
+
+        :return: Tool Id
+        :rtype: ToolID
+        """
+        timeout = rospy.get_time() + 2.0
+        while self.__current_tool_id is None:
+            rospy.sleep(0.05)
+            if rospy.get_time() > timeout:
+                raise NiryoRosWrapperException(
+                    'Timeout: could not get current tool id (/niryo_robot_tools/current_id topic)')
+        return self.__current_tool_id
+
+    def update_tool(self):
+        """
+        Call service niryo_robot_tools/update_tool to update tool
+
+        :return: status, message
+        :rtype: (int, str)
+        """
+        result = self.__call_service('/niryo_robot_tools/update_tool', Trigger)
+        return self.__classic_return_w_check(result)
+
+    def grasp_with_tool(self, pin_id=-1):
+        """
+        Grasp with the tool linked to tool_id.
+        This action correspond to
+        - Close gripper for Grippers
+        - Pull Air for Vacuum pump
+        - Activate for Electromagnet
+
+        :param pin_id: [Only required for electromagnet] Pin ID of the electromagnet
+        :type pin_id: PinID
+        :return: status, message
+        :rtype: (int, str)
+        """
+        tool_id = self.get_current_tool_id()
+
+        if tool_id in (ToolID.GRIPPER_1, ToolID.GRIPPER_2, ToolID.GRIPPER_3, ToolID.GRIPPER_4):
+            return self.close_gripper()
+        elif tool_id == ToolID.VACUUM_PUMP_1:
+            return self.pull_air_vacuum_pump()
+        elif tool_id == ToolID.ELECTROMAGNET_1:
+            return self.activate_electromagnet(pin_id)
+
+    def release_with_tool(self, pin_id=-1):
+        """
+        Release with the tool associated to tool_id.
+        This action correspond to
+        - Open gripper for Grippers
+        - Push Air for Vacuum pump
+        - Deactivate for Electromagnet
+
+        :param pin_id: [Only required for electromagnet] Pin ID of the electromagnet
+        :type pin_id: PinID
+        :return: status, message
+        :rtype: (int, str)
+        """
+        tool_id = self.get_current_tool_id()
+
+        if tool_id in (ToolID.GRIPPER_1, ToolID.GRIPPER_2, ToolID.GRIPPER_3, ToolID.GRIPPER_4):
+            return self.open_gripper()
+        elif tool_id == ToolID.VACUUM_PUMP_1:
+            return self.push_air_vacuum_pump()
+        elif tool_id == ToolID.ELECTROMAGNET_1:
+            return self.deactivate_electromagnet(pin_id)
+
+    # - Gripper
+    def open_gripper(self, speed=500):
+        """
+        Open gripper with a speed 'speed'
+
+        :param speed: Default -> 500
+        :type speed: int
+        :return: status, message
+        :rtype: (int, str)
+        """
+        return self.__deal_with_gripper(speed, "open_gripper")
+
+    def close_gripper(self, speed=500):
+        """
+        Close gripper with a speed 'speed'
+
+        :param speed: Default -> 500
+        :type speed: int
+        :return: status, message
+        :rtype: (int, str)
+        """
+        return self.__deal_with_gripper(speed, "close_gripper")
+
+    def __deal_with_gripper(self, speed, command_str):
+        goal = RobotMoveGoal()
+        goal.cmd.cmd_type = RobotCommand.TOOL_ONLY
+        goal.cmd.tool_cmd.tool_id = self.get_current_tool_id()
+        goal.cmd.tool_cmd.cmd_type = self.__tool_command_list[command_str]
+        if "open" in command_str:
+            goal.cmd.tool_cmd.gripper_open_speed = speed
+        else:
+            goal.cmd.tool_cmd.gripper_close_speed = speed
+        return self.__execute_robot_move_action(goal)
+
+    # - Vacuum
+    def pull_air_vacuum_pump(self):
+        """
+        Pull air
+
+        :return: status, message
+        :rtype: (int, str)
+        """
+        return self.__deal_with_vacuum_pump("pull_air_vacuum_pump")
+
+    def push_air_vacuum_pump(self):
+        """
+        Pull air
+
+        :return: status, message
+        :rtype: (int, str)
+        """
+        return self.__deal_with_vacuum_pump("push_air_vacuum_pump")
+
+    def __deal_with_vacuum_pump(self, command_str):
+        goal = RobotMoveGoal()
+        goal.cmd.cmd_type = RobotCommand.TOOL_ONLY
+        goal.cmd.tool_cmd.cmd_type = MoveCommandType.TOOL
+        goal.cmd.tool_cmd.tool_id = ToolID.VACUUM_PUMP_1
+        goal.cmd.tool_cmd.cmd_type = self.__tool_command_list[command_str]
+        return self.__execute_robot_move_action(goal)
+
+    # - Electromagnet
+    def setup_electromagnet(self, pin_id):
+        """
+        Setup electromagnet on pin
+
+        :param pin_id: Pin ID
+        :type pin_id:  PinID
+        :return: status, message
+        :rtype: (int, str)
+        """
+        result = self.__call_service('/niryo_robot_tools/equip_electromagnet',
+                                     SetInt, ToolID.ELECTROMAGNET_1)
+
+        if result.status != CommandStatus.SUCCESS:
+            return result.status, result.message
+
+        return self.__deal_with_electromagnet(pin_id, 'setup_digital_io')
+
+    def activate_electromagnet(self, pin_id):
+        """
+        Activate electromagnet associated to electromagnet_id on pin_id
+
+        :param pin_id: Pin ID
+        :type pin_id:  PinID
+        :return: status, message
+        :rtype: (int, str)
+        """
+        return self.__deal_with_electromagnet(pin_id, 'activate_digital_io')
+
+    def deactivate_electromagnet(self, pin_id):
+        """
+        Deactivate electromagnet associated to electromagnet_id on pin_id
+
+        :param pin_id: Pin ID
+        :type pin_id:  PinID
+        :return: status, message
+        :rtype: (int, str)
+        """
+        return self.__deal_with_electromagnet(pin_id, 'deactivate_digital_io')
+
+    def __deal_with_electromagnet(self, pin, command_str):
+        goal = RobotMoveGoal()
+        goal.cmd.cmd_type = RobotCommand.TOOL_ONLY
+        goal.cmd.tool_cmd.cmd_type = MoveCommandType.TOOL
+        goal.cmd.tool_cmd.tool_id = ToolID.ELECTROMAGNET_1
+        goal.cmd.tool_cmd.cmd_type = self.__tool_command_list[command_str]
+        goal.cmd.tool_cmd.gpio = pin
+        return self.__execute_robot_move_action(goal)
+
+    # - Hardware
+
+    def set_pin_mode(self, pin_id, pin_mode):
+        """
+        Set pin number pin_id to mode pin_mode
+
+        :param pin_id:
+        :type pin_id: PinID
+        :param pin_mode:
+        :type pin_mode: PinMode
+        :return: status, message
+        :rtype: (int, str)
+        """
+        result = self.__call_service('/niryo_robot_rpi/set_digital_io_mode',
+                                     SetDigitalIO, pin_id, pin_mode)
+        return self.__classic_return_w_check(result)
+
+    def digital_write(self, pin_id, digital_state):
+        """
+        Set pin_id state to pin_state
+
+        :param pin_id:
+        :type pin_id: PinID
+        :param digital_state:
+        :type digital_state: PinState
+        :return: status, message
+        :rtype: (int, str)
+        """
+        result = self.__call_service('/niryo_robot_rpi/set_digital_io_state',
+                                     SetDigitalIO, pin_id, digital_state)
+        return self.__classic_return_w_check(result)
+
+    def digital_read(self, pin_id):
+        """
+        Read pin number pin_id and return its state
+
+        :param pin_id:
+        :type pin_id: PinID
+        :return: state
+        :rtype: PinState
+        """
+        result = self.__call_service('/niryo_robot_rpi/get_digital_io',
+                                     GetDigitalIO, pin_id)
+        self.__check_result_status(result)
+
+        if result.state == 0:
+            return PinState.LOW
+        else:
+            return PinState.HIGH
+
+    def get_hardware_status(self):
+        """
+        Get hardware status : Temperature, Hardware version, motors names & types ...
+
+        :return: Infos contains in a HardwareStatus object (see niryo_robot_msgs)
+        :rtype: HardwareStatus
+        """
+        timeout = rospy.get_time() + 2.0
+        while self.__hw_status is None:
+            rospy.sleep(0.05)
+            if rospy.get_time() > timeout:
+                raise NiryoRosWrapperException(
+                    'Timeout: could not get hardware status (/niryo_robot_hardware_interface/hardware_status topic)')
+        return self.__hw_status
+
+    def get_digital_io_state(self):
+        """
+        Get Digital IO state : Names, modes, states
+
+        :return: Infos contains in a DigitalIOState object (see niryo_robot_msgs)
+        :rtype: DigitalIOState
+        """
+        timeout = rospy.get_time() + 2.0
+        while self.__digital_io_state is None:
+            rospy.sleep(0.05)
+            if rospy.get_time() > timeout:
+                raise NiryoRosWrapperException(
+                    'Timeout: could not get digital io state (/niryo_robot_rpi/digital_io_state topic)')
+        return self.__digital_io_state
+
+    # - Conveyor
+
+    def set_conveyor(self):
+        """
+        Scan for conveyor on can bus. If conveyor detected, return the conveyor ID
+
+        :raises NiryoRosWrapperException:
+        :return: ID
+        :rtype: ConveyorID
+        """
+        req = SetConveyorRequest()
+        req.cmd = SetConveyorRequest.ADD
+        result = self.__call_service('/niryo_robot/conveyor/ping_and_set_conveyor',
+                                     SetConveyor, req)
+
+        # If no new conveyor is detected, it should not crash
+        if result.status in [CommandStatus.NO_CONVEYOR_LEFT, CommandStatus.NO_CONVEYOR_FOUND]:
+            rospy.logwarn_throttle(1, 'ROS Wrapper - No new conveyor found')
+        else:
+            self.__check_result_status(result)
+        return result.id
+
+    def unset_conveyor(self, conveyor_id):
+        """
+        Remove specific conveyor.
+
+        :param conveyor_id: Basically, ConveyorID.ONE or ConveyorID.TWO
+        :type conveyor_id: ConveyorID
+        :raises NiryoRosWrapperException:
+        :return: status, message
+        :rtype: (int, str)
+        """
+        req = SetConveyorRequest()
+        req.cmd = SetConveyorRequest.REMOVE
+        req.id = conveyor_id
+        result = self.__call_service('/niryo_robot/conveyor/ping_and_set_conveyor',
+                                     SetConveyor, req)
+        return self.__classic_return_w_check(result)
+
+    def control_conveyor(self, conveyor_id, bool_control_on, speed, direction):
+        """
+        Control conveyor associated to conveyor_id.
+        Then stops it if bool_control_on is False, else refreshes it speed and direction
+
+        :param conveyor_id: ConveyorID.ID_1 or ConveyorID.ID_2
+        :type conveyor_id: ConveyorID
+        :param bool_control_on: True for activate, False for deactivate
+        :type bool_control_on: bool
+        :param speed: target speed
+        :type speed: int
+        :param direction: Target direction
+        :type direction: ConveyorDirection
+        :return: status, message
+        :rtype: (int, str)
+        """
+        result = self.__call_service('/niryo_robot/conveyor/control_conveyor',
+                                     ControlConveyor, conveyor_id, bool_control_on, speed, direction)
+        return self.__classic_return_w_check(result)
+
+    def get_conveyors_feedback(self):
+        """
+        Give conveyors feedback
+
+        :return: List[ID, connection_state, running, speed, direction]
+        :rtype: List(int, bool, bool, int, int)
+        """
+        timeout = rospy.get_time() + 2.0
+        while self.__conveyors_feedback is None:
+            rospy.sleep(0.05)
+            if rospy.get_time() > timeout:
+                raise NiryoRosWrapperException(
+                    'Timeout: could not get conveyor 1 feedback (/niryo_robot/conveyor/feedback topic)')
+        fb = self.__conveyors_feedback
+        return fb.conveyors
+
+    # - Vision
+
+    def get_compressed_image(self):
+        """
+        Get last stream image in a compressed format
+
+        :return: string containing a JPEG compressed image
+        :rtype: str
+        """
+        timeout = rospy.get_time() + 2.0
+        while self.__compressed_image_message is None:
+            rospy.sleep(0.05)
+            if rospy.get_time() > timeout:
+                raise NiryoRosWrapperException(
+                    'Timeout: could not video stream message (/niryo_robot_vision/compressed_video_stream topic)')
+        return self.__compressed_image_message.data
+
+    def get_target_pose_from_rel(self, workspace_name, height_offset, x_rel, y_rel, yaw_rel):
+        """
+        Given a pose (x_rel, y_rel, yaw_rel) relative to a workspace, this function
+        returns the robot pose in which the current tool will be able to pick an object at this pose.
+        The height_offset argument (in m) defines how high the tool will hover over the workspace. If height_offset = 0,
+        the tool will nearly touch the workspace.
+
+        :param workspace_name: name of the workspace
+        :type workspace_name: str
+        :param height_offset: offset between the workspace and the target height
+        :type height_offset: float
+        :param x_rel:
+        :type x_rel: float
+        :param y_rel:
+        :type y_rel: float
+        :param yaw_rel:
+        :type yaw_rel: float
+        :return: target_pose
+        :rtype: RobotState
+        """
+        from niryo_robot_poses_handlers.srv import GetTargetPose, GetTargetPoseRequest
+
+        result = self.__call_service('/niryo_robot_poses_handlers/get_target_pose', GetTargetPose,
+                                     workspace_name, GetTargetPoseRequest.GRIP_AUTO, self.get_current_tool_id(),
+                                     height_offset, x_rel, y_rel, yaw_rel)
+        self.__check_result_status(result)
+        return result.target_pose
+
+    def get_target_pose_from_cam(self, workspace_name, height_offset, shape, color):
+        """
+        First detects the specified object using the camera and then returns the robot pose in which the object can
+        be picked with the current tool
+
+        :param workspace_name: name of the workspace
+        :type workspace_name: str
+        :param height_offset: offset between the workspace and the target height
+        :type height_offset: float
+        :param shape: shape of the target
+        :type shape: ObjectShape
+        :param color: color of the target
+        :type color: ObjectColor
+        :return: object_found, object_pose, object_shape, object_color
+        :rtype: (bool, RobotState, str, str)
+        """
+        object_found, rel_pose, obj_shape, obj_color = self.detect_object(workspace_name, shape, color)
+        if not object_found:
+            return False, None, "", ""
+        obj_pose = self.get_target_pose_from_rel(
+            workspace_name, height_offset, rel_pose.x, rel_pose.y, rel_pose.yaw)
+        return True, obj_pose, obj_shape, obj_color
+
+    def vision_pick_w_obs_joints(self, workspace_name, height_offset, shape, color, observation_joints):
+        """
+        Move Joints to observation_joints, then execute a vision pick
+        """
+        self.move_joints(*observation_joints)
+        return self.vision_pick(workspace_name, height_offset, shape, color)
+
+    def vision_pick_w_obs_pose(self, workspace_name, height_offset, shape, color, observation_pose_list):
+        """
+        Move Pose to observation_pose, then execute a vision pick
+        """
+        self.move_pose(*observation_pose_list)
+        return self.vision_pick(workspace_name, height_offset, shape, color)
+
+    def vision_pick(self, workspace_name, height_offset, shape, color):
+        """
+        Picks the specified object from the workspace. This function has multiple phases:
+        1. detect object using the camera
+        2. prepare the current tool for picking
+        3. approach the object
+        4. move down to the correct picking pose
+        5. actuate the current tool
+        6. lift the object
+
+        :param workspace_name: name of the workspace
+        :type workspace_name: str
+        :param height_offset: offset between the workspace and the target height
+        :type height_offset: float
+        :param shape: shape of the target
+        :type shape: ObjectShape
+        :param color: color of the target
+        :type color: ObjectColor
+        :return: object_found, object_shape, object_color
+        :rtype: (bool, ObjectShape, ObjectColor)
+        """
+        object_found, rel_pose, obj_shape, obj_color = self.detect_object(workspace_name, shape, color)
+        if not object_found:
+            return False, "", ""
+
+        pick_pose = self.get_target_pose_from_rel(
+            workspace_name, height_offset, rel_pose.x, rel_pose.y, rel_pose.yaw)
+        approach_pose = self.get_target_pose_from_rel(
+            workspace_name, height_offset + 0.05, rel_pose.x, rel_pose.y, rel_pose.yaw)
+
+        self.release_with_tool()
+
+        self.move_pose(*self.robot_state_msg_to_list(approach_pose))
+        self.move_pose(*self.robot_state_msg_to_list(pick_pose))
+
+        self.grasp_with_tool()
+
+        self.move_pose(*self.robot_state_msg_to_list(approach_pose))
+        return True, obj_shape, obj_color
+
+    def move_to_object(self, workspace, height_offset, shape, color):
+        """
+        Same as `get_target_pose_from_cam` but directly moves to this position
+
+        :param workspace: name of the workspace
+        :type workspace: str
+        :param height_offset: offset between the workspace and the target height
+        :type height_offset: float
+        :param shape: shape of the target
+        :type shape: ObjectShape
+        :param color: color of the target
+        :type color: ObjectColor
+        :return: object_found, object_shape, object_color
+        :rtype: (bool, ObjectShape, ObjectColor)
+        """
+        obj_found, obj_pose, obj_shape, obj_color = self.get_target_pose_from_cam(
+            workspace, height_offset, shape, color)
+        if not obj_found:
+            return False, "", ""
+        self.move_pose(*self.robot_state_msg_to_list(obj_pose))
+        return True, obj_shape, obj_color
+
+    def detect_object(self, workspace_name, shape, color):
+        """
+
+        :param workspace_name: name of the workspace
+        :type workspace_name: str
+        :param shape: shape of the target
+        :type shape: ObjectShape
+        :param color: color of the target
+        :type color: ObjectColor
+        :return: object_found, object_pose, object_shape, object_color
+        :rtype: (bool, RobotState, str, str)
+        """
+        from niryo_robot_vision.srv import ObjDetection
+
+        ratio = self.get_workspace_ratio(workspace_name)
+        response = self.__call_service("/niryo_robot_vision/obj_detection_rel", ObjDetection,
+                                       shape, color, ratio, False)
+        if response.status == CommandStatus.SUCCESS:
+            return True, response.obj_pose, response.obj_type, response.obj_color
+        elif response.status == CommandStatus.MARKERS_NOT_FOUND:
+            rospy.logwarn_throttle(1, 'ROS Wrapper - Markers Not Found')
+        elif response.status == CommandStatus.VIDEO_STREAM_NOT_RUNNING:
+            rospy.logwarn_throttle(1, 'Video Stream not running')
+        return False, None, "", ""
+
+    def get_camera_intrinsics(self):
+        """
+        Get calibration object: camera intrinsics, distortions coefficients
+
+        :return: raw camera intrinsics, distortions coefficients
+        :rtype: (list, list)
+        """
+        timeout = rospy.get_time() + 2.0
+        while self.__camera_intrinsics_message is None:
+            rospy.sleep(0.05)
+            if rospy.get_time() > timeout:
+                raise NiryoRosWrapperException(
+                    'Timeout: could not video stream message (/niryo_robot_vision/camera_intrinsics topic)')
+        return self.__camera_intrinsics_message.K, self.__camera_intrinsics_message.D
+
+    # - Workspace
+    def save_workspace_from_poses(self, name, list_poses_raw):
+        """
+        Save workspace by giving the poses of the robot to point its 4 corners
+        with the calibration Tip. Corners should be in the good order
+
+        :param name: workspace name
+        :type name: str
+        :param list_poses_raw: list of 4 corners pose
+        :type list_poses_raw: list[list]
+        :return: status, message
+        :rtype: (int, str)
+        """
+        from niryo_robot_poses_handlers.srv import ManageWorkspace, ManageWorkspaceRequest
+
+        list_poses = [self.list_to_robot_state_msg(*pose) for pose in list_poses_raw]
+        req = ManageWorkspaceRequest()
+        req.cmd = ManageWorkspaceRequest.SAVE
+        req.workspace.name = name
+        req.workspace.poses = list_poses
+        result = self.__call_service('/niryo_robot_poses_handlers/manage_workspace',
+                                     ManageWorkspace, req)
+        return self.__classic_return_w_check(result)
+
+    def save_workspace_from_points(self, name, list_points_raw):
+        """
+        Save workspace by giving the poses of its 4 corners in the good order
+
+        :param name: workspace name
+        :type name: str
+        :param list_points_raw: list of 4 corners [x, y, z]
+        :type list_points_raw: list[list[float]]
+        :return: status, message
+        :rtype: (int, str)
+        """
+        from niryo_robot_poses_handlers.srv import ManageWorkspace, ManageWorkspaceRequest
+
+        list_points = [Point(*point) for point in list_points_raw]
+        req = ManageWorkspaceRequest()
+        req.cmd = ManageWorkspaceRequest.SAVE_WITH_POINTS
+        req.workspace.name = name
+        req.workspace.points = list_points
+        result = self.__call_service('/niryo_robot_poses_handlers/manage_workspace',
+                                     ManageWorkspace, req)
+        return self.__classic_return_w_check(result)
+
+    def delete_workspace(self, name):
+        """
+        Call workspace manager to delete a certain workspace
+
+        :param name: workspace name
+        :type name: str
+        :return: status, message
+        :rtype: (int, str)
+        """
+        from niryo_robot_poses_handlers.srv import ManageWorkspace, ManageWorkspaceRequest
+
+        req = ManageWorkspaceRequest()
+        req.cmd = ManageWorkspaceRequest.DELETE
+        req.workspace.name = name
+        result = self.__call_service('/niryo_robot_poses_handlers/manage_workspace',
+                                     ManageWorkspace, req)
+        return self.__classic_return_w_check(result)
+
+    def get_workspace_poses(self, name):
+        """
+        Get the 4 workspace poses of the workspace called 'name'
+
+        :param name: workspace name
+        :type name: str
+        :return: List of the 4 workspace poses
+        :rtype: list[list]
+        """
+        from niryo_robot_poses_handlers.srv import GetWorkspaceRobotPoses
+
+        result = self.__call_service('/niryo_robot_poses_handlers/get_workspace_poses', GetWorkspaceRobotPoses, name)
+        self.__check_result_status(result)
+
+        poses = result.poses
+        list_p_raw = []
+        for p in poses:
+            pose = [p.position.x, p.position.y, p.position.z, p.rpy.roll, p.rpy.pitch, p.rpy.yaw]
+            list_p_raw.append(pose)
+        return list_p_raw
+
+    def get_workspace_ratio(self, name):
+        """
+        Give the length over width ratio of a certain workspace
+
+        :param name: workspace name
+        :type name: str
+        :return: ratio
+        :rtype: float
+        """
+        from niryo_robot_poses_handlers.srv import GetWorkspaceRatio
+
+        result = self.__call_service('/niryo_robot_poses_handlers/get_workspace_ratio',
+                                     GetWorkspaceRatio, name)
+        self.__check_result_status(result)
+        return result.ratio
+
+    def get_workspace_list(self):
+        """
+        Ask the workspace manager service names of the available workspace
+
+        :return: list of workspaces name
+        :rtype: list[str]
+        """
+        result = self.__call_service('/niryo_robot_poses_handlers/get_workspace_list',
+                                     GetNameDescriptionList)
+        return result.name_list
diff --git a/niryo_robot_python_ros_wrapper/src/niryo_robot_python_ros_wrapper/ros_wrapper_enums.py b/niryo_robot_python_ros_wrapper/src/niryo_robot_python_ros_wrapper/ros_wrapper_enums.py
new file mode 100644
index 000000000..e7c734311
--- /dev/null
+++ b/niryo_robot_python_ros_wrapper/src/niryo_robot_python_ros_wrapper/ros_wrapper_enums.py
@@ -0,0 +1,209 @@
+from enum import Enum, unique
+
+
+class ShiftPose:
+    def __init__(self):
+        pass
+
+    AXIS_X = 0
+    AXIS_Y = 1
+    AXIS_Z = 2
+    ROT_ROLL = 3
+    ROT_PITCH = 4
+    ROT_YAW = 5
+
+
+class ToolID:
+    """
+    Tools IDs (need to match tools ids in niryo_robot_tools package)
+    """
+
+    def __init__(self):
+        pass
+
+    NONE = 0
+    # CALIBRATION_TIP = 1
+    GRIPPER_1 = 11
+    GRIPPER_2 = 12
+    GRIPPER_3 = 13
+    GRIPPER_4 = 14
+    ELECTROMAGNET_1 = 30
+    VACUUM_PUMP_1 = 31
+
+
+class PinMode:
+    """
+    Pin Mode is either OUTPUT or INPUT
+    """
+
+    def __init__(self):
+        pass
+
+    OUTPUT = 0
+    INPUT = 1
+
+
+class PinState:
+    """
+    Pin State is either LOW or HIGH
+    """
+
+    def __init__(self):
+        pass
+
+    LOW = 0
+    HIGH = 1
+
+
+class PinID:
+    """
+    Pins ID
+    """
+
+    def __init__(self):
+        pass
+
+    GPIO_1A = 2
+    GPIO_1B = 3
+    GPIO_1C = 16
+    GPIO_2A = 26
+    GPIO_2B = 19
+    GPIO_2C = 6
+
+    SW_1 = 12
+    SW_2 = 13
+
+
+# - Conveyor
+
+class ConveyorID:
+    def __init__(self):
+        pass
+
+    NONE = 0
+    ID_1 = 12
+    ID_2 = 13
+
+
+class ConveyorDirection:
+    def __init__(self):
+        pass
+
+    FORWARD = 1
+    BACKWARD = -1
+
+
+# - Vision
+
+class ObjectColor:
+    def __init__(self):
+        pass
+
+    RED = "RED"
+    GREEN = "GREEN"
+    BLUE = "BLUE"
+    ANY = "ANY"
+
+
+class ObjectShape:
+    def __init__(self):
+        pass
+
+    CIRCLE = "CIRCLE"
+    SQUARE = "SQUARE"
+    ANY = "ANY"
+
+
+@unique
+class CommandEnum(Enum):
+    """
+    Enumeration of all commands used
+    """
+    # Main purpose
+    CALIBRATE = 0
+    SET_LEARNING_MODE = 1
+    GET_LEARNING_MODE = 2
+    SET_ARM_MAX_VELOCITY = 3
+    SET_JOG_CONTROL = 4
+
+    # - Move
+    # Pose
+
+    GET_JOINTS = 10
+    GET_POSE = 11
+    GET_POSE_QUAT = 12
+
+    MOVE_JOINTS = 20
+    MOVE_POSE = 21
+    SHIFT_POSE = 22
+
+    MOVE_LINEAR_POSE = 23
+
+    JOG_JOINTS = 25
+    JOG_POSE = 26
+
+    FORWARD_KINEMATICS = 27
+    INVERSE_KINEMATICS = 28
+
+    # Saved Pose
+    GET_POSE_SAVED = 50
+    SAVE_POSE = 51
+    DELETE_POSE = 52
+    GET_SAVED_POSE_LIST = 53
+
+    # Pick & Place
+
+    PICK_FROM_POSE = 60
+    PLACE_FROM_POSE = 61
+    PICK_AND_PLACE = 62
+
+    # Trajectories
+    GET_TRAJECTORY_SAVED = 80
+    EXECUTE_TRAJECTORY_FROM_POSES = 81
+    EXECUTE_TRAJECTORY_SAVED = 82
+    SAVE_TRAJECTORY = 83
+    DELETE_TRAJECTORY = 84
+    GET_SAVED_TRAJECTORY_LIST = 85
+
+    # - Tools
+    UPDATE_TOOL = 120
+    OPEN_GRIPPER = 121
+    CLOSE_GRIPPER = 122
+    PULL_AIR_VACUUM_PUMP = 123
+    PUSH_AIR_VACUUM_PUMP = 124
+    SETUP_ELECTROMAGNET = 125
+    ACTIVATE_ELECTROMAGNET = 126
+    DEACTIVATE_ELECTROMAGNET = 127
+    GET_CURRENT_TOOL_ID = 128
+    GRASP_WITH_TOOL = 129
+    RELEASE_WITH_TOOL = 130
+
+    # - Hardware
+    SET_PIN_MODE = 150
+    DIGITAL_WRITE = 151
+    DIGITAL_READ = 152
+    GET_DIGITAL_IO_STATE = 153
+    GET_HARDWARE_STATUS = 154
+
+    # - Conveyor
+    SET_CONVEYOR = 180
+    UNSET_CONVEYOR = 181
+    CONTROL_CONVEYOR = 182
+    GET_CONNECTED_CONVEYORS_ID = 183
+
+    # - Vision
+    GET_IMAGE_COMPRESSED = 200
+    GET_TARGET_POSE_FROM_REL = 201
+    GET_TARGET_POSE_FROM_CAM = 202
+
+    VISION_PICK = 203
+    MOVE_TO_OBJECT = 205
+    DETECT_OBJECT = 204
+
+    GET_CAMERA_INTRINSICS = 210
+
+    SAVE_WORKSPACE_FROM_POSES = 220
+    SAVE_WORKSPACE_FROM_POINTS = 221
+    DELETE_WORKSPACE = 222
+    GET_WORKSPACE_RATIO = 223
+    GET_WORKSPACE_LIST = 224
diff --git a/niryo_robot_python_ros_wrapper/test/test_python_ros_wrapper.py b/niryo_robot_python_ros_wrapper/test/test_python_ros_wrapper.py
new file mode 100755
index 000000000..e7b6f04d4
--- /dev/null
+++ b/niryo_robot_python_ros_wrapper/test/test_python_ros_wrapper.py
@@ -0,0 +1,327 @@
+#!/usr/bin/env python
+
+import rospy
+
+import rostest
+import unittest
+
+from niryo_robot_python_ros_wrapper import *
+
+import os
+import shutil
+import numpy as np
+import math
+
+# Pins
+list_pins = [PinID.GPIO_1A, PinID.GPIO_1B, PinID.GPIO_1C, PinID.GPIO_2A, PinID.GPIO_2B, PinID.GPIO_2C]
+
+# Some Poses
+pose_1 = [0.25, -0.05, 0.2, 0.0, 0.7, 0.0]
+pose_2 = [0.17, 0.15, 0.25, 0.0, 0.7, 0.0]
+pose_3 = [0.15, 0.10, 0.2, 0.0, 0.7, 0.0]
+
+pose_q_1 = [0.25, 0.0, 0.2, 0, math.sqrt(2) / 2, 0, math.sqrt(2) / 2]
+pose_q_2 = [0.17, 0.15, 0.2, 0, math.sqrt(2) / 2, 0, math.sqrt(2) / 2]
+pose_q_3 = [0.15, 0.10, 0.2, 0, math.sqrt(2) / 2, 0, math.sqrt(2) / 2]
+
+position_dir = trajectory_dir = workspace_dir = None
+simulation_mode = use_gripper_n_camera = None
+
+
+def clean_folders():
+    folders_list_raw = [position_dir, trajectory_dir, workspace_dir]
+    folders_list = [os.path.expanduser(folder) for folder in folders_list_raw]
+    for folder in folders_list:
+        if os.path.isdir(folder):
+            shutil.rmtree(folder)
+        os.makedirs(folder)
+
+
+class TestPythonWrapper(unittest.TestCase):
+    """
+    This class contains functions that are available whether you are on simulation
+    or on reality, with or without camera/gripper
+    """
+
+    @staticmethod
+    def assertAlmostEqualVector(a, b, decimal=1):
+        np.testing.assert_almost_equal(a, b, decimal)
+
+    def assertStatus(self, ret):
+        self.assertIsNotNone(ret, msg="Assert Status cannot operate on None ret")
+        self.assertTrue(ret[0] > 0, msg="status : {} - message : {}".format(ret[0], ret[1]))
+
+    def assertNotStatus(self, ret):
+        self.assertIsNotNone(ret, msg="AssertNotStatus cannot operate on None ret")
+        self.assertTrue(ret[0] < 0, msg="status : {} - message : {}".format(ret[0], ret[1]))
+
+    def setUp(self):
+        clean_folders()
+        self.niryo_robot = NiryoRosWrapper()
+
+    def tearDown(self):
+        del self.niryo_robot
+        clean_folders()
+
+    # -- Move
+
+    # - Main Purpose
+    def test_calibrate(self):
+        if simulation_mode:
+            self.assertStatus(self.niryo_robot.calibrate_manual())
+        self.assertStatus(self.niryo_robot.calibrate_auto())
+
+    def test_learning_mode(self):
+        self.assertStatus(self.niryo_robot.set_learning_mode(True))
+        self.assertTrue(self.niryo_robot.get_learning_mode())
+        self.assertStatus(self.niryo_robot.set_learning_mode(False))
+        self.assertFalse(self.niryo_robot.get_learning_mode())
+
+    def test_set_arm_max_velocity(self):
+        self.assertStatus(self.niryo_robot.set_arm_max_velocity(58))
+        with self.assertRaises(NiryoRosWrapperException):
+            self.niryo_robot.set_arm_max_velocity(200)
+
+    # - Pose
+
+    def test_joints(self):
+        self.assertStatus(self.niryo_robot.move_joints(0.0, 0.0, 0.0, 0.0, 0.0, 0.0))
+        self.assertAlmostEqualVector(self.niryo_robot.get_joints(), (0.0, 0.0, 0.0, 0.0, 0.0, 0.0))
+        self.assertStatus(self.niryo_robot.move_to_sleep_pose())
+
+    def test_pose(self):
+        target_pose = [0.15, 0.0, 0.15, 0.0, 1.0, 0.0]
+        self.assertStatus(self.niryo_robot.move_pose(*target_pose))
+        new_pose = self.niryo_robot.get_pose_as_list()
+        self.assertAlmostEqualVector(new_pose[:3], target_pose[:3], decimal=1)
+        self.assertAlmostEqualVector(new_pose[3:], target_pose[3:], decimal=1)
+        self.assertStatus(self.niryo_robot.move_to_sleep_pose())
+
+    def test_kinematics(self):
+        self.assertStatus(self.niryo_robot.move_joints(0.0, 0.0, 0.0, 0.0, 0.0, 0.0))
+        initial_pose = self.niryo_robot.get_pose_as_list()
+        # Forward Kinematics
+        joints_target = [0.2, 0.0, -0.4, 0.0, 0.0, 0.0]
+        pose_target = self.niryo_robot.forward_kinematics(*joints_target)
+        self.assertStatus(self.niryo_robot.move_pose(*pose_target))
+        joints_reached = self.niryo_robot.get_joints()
+        self.assertAlmostEqualVector(joints_target, joints_reached)
+        # Inverse Kinematics
+        joints_target_to_initial_pose = self.niryo_robot.inverse_kinematics(*initial_pose)
+        self.assertStatus(self.niryo_robot.move_joints(*joints_target_to_initial_pose))
+        pose_reached = self.niryo_robot.get_pose_as_list()
+        self.assertAlmostEqualVector(initial_pose, pose_reached)
+
+    def test_pose_saved(self):
+        self.assertEqual(self.niryo_robot.get_saved_pose_list(), [])
+        with self.assertRaises(NiryoRosWrapperException):
+            self.niryo_robot.delete_pose("NotExistent")  # Do not exist
+        with self.assertRaises(NiryoRosWrapperException):
+            self.niryo_robot.get_pose_saved("NotExistent")  # Do not exist
+        list_names = []
+        for i in range(3):
+            name = "Test{}".format(i)
+            self.assertStatus(self.niryo_robot.save_pose(name, *pose_1))
+            self.assertEqual(self.niryo_robot.get_pose_saved(name), tuple(pose_1))
+            list_names.append(name)
+            self.assertEqual(self.niryo_robot.get_saved_pose_list(), list_names)
+        self.assertStatus(self.niryo_robot.move_pose_saved("Test0"))
+        for name in list_names:
+            self.assertStatus(self.niryo_robot.delete_pose(name))
+        self.assertEqual(self.niryo_robot.get_saved_pose_list(), [])
+
+    def test_trajectory(self):
+        self.assertStatus(self.niryo_robot.move_joints(0.0, 0.0, 0.0, 0.0, 0.0, 0.0))
+        self.assertStatus(self.niryo_robot.shift_pose(ShiftPose.AXIS_Z, -0.04))
+        self.assertStatus(self.niryo_robot.move_pose(*pose_1))
+        self.assertStatus(self.niryo_robot.move_linear_pose(*pose_2))
+        new_pose = self.niryo_robot.get_pose_as_list()
+        self.assertAlmostEqualVector(new_pose[:3], pose_2[:3])
+        new_pose = self.niryo_robot.get_pose_as_list()
+        self.assertAlmostEqualVector(new_pose[:3], pose_3[:3])
+        self.assertStatus(self.niryo_robot.execute_trajectory_from_poses([pose_1, pose_2, pose_3]))
+        self.assertAlmostEqualVector(new_pose[:3], pose_3[:3])
+
+    def test_trajectory_saved(self):
+        self.assertEqual(self.niryo_robot.get_saved_trajectory_list(), [])
+        with self.assertRaises(NiryoRosWrapperException):
+            self.niryo_robot.delete_trajectory("NotExistent")  # Do not exist
+        with self.assertRaises(NiryoRosWrapperException):
+            self.niryo_robot.get_trajectory_saved("NotExistent")  # Do not exist
+        list_names = []
+        for i in range(3):
+            name = "Test{}".format(i)
+            self.assertStatus(self.niryo_robot.save_trajectory(name, [pose_q_1, pose_q_2, pose_q_3]))
+            self.assertEqual(self.niryo_robot.get_trajectory_saved(name), [pose_q_1, pose_q_2, pose_q_3])
+            list_names.append(name)
+            self.assertEqual(self.niryo_robot.get_saved_trajectory_list(), list_names)
+        for name in list_names:
+            self.assertStatus(self.niryo_robot.delete_trajectory(name))
+        self.assertEqual(self.niryo_robot.get_saved_trajectory_list(), [])
+
+    def test_jog_controller(self):
+        self.assertStatus(self.niryo_robot.move_joints(0.0, 0.0, 0.0, 0.0, 0.0, 0.0))
+        rospy.sleep(.4)  # Making sure the previous command stopped
+        self.assertStatus(self.niryo_robot.set_jog_use_state(True))
+        self.assertStatus(self.niryo_robot.set_jog_use_state(False))
+        self.assertStatus(self.niryo_robot.set_jog_use_state(True))
+
+        with self.assertRaises(NiryoRosWrapperException):
+            self.niryo_robot.move_joints(0.01, 0.0, 0.0, 0.0, 0.0, 0.0)  # Should not be allowed
+
+        self.assertStatus(self.niryo_robot.jog_pose_shift([0.02, 0.0, 0.0, 0.0, 0.0, 0.0]))
+        rospy.sleep(1)
+        self.assertStatus(self.niryo_robot.jog_pose_shift([0.00, -0.02, -0.01, 0.0, 0.0, 0.0]))
+        rospy.sleep(1)
+        self.assertStatus(self.niryo_robot.jog_joints_shift([-0.01, -0.02, 0.0, 0.0, 0.0, 0.0]))
+        rospy.sleep(1)
+        self.assertStatus(self.niryo_robot.set_jog_use_state(False))
+
+    # - Workspace
+    def test_workspace(self):
+        self.assertEqual(self.niryo_robot.get_workspace_list(), [])
+        with self.assertRaises(NiryoRosWrapperException):
+            self.niryo_robot.delete_workspace("NotExistent")  # Do not exist
+        with self.assertRaises(NiryoRosWrapperException):
+            self.niryo_robot.get_workspace_poses("NotExistent")  # Do not exist
+        points = [[0.278, 0.104, 0.058], [0.275, -0.036, 0.058],
+                  [0.125, -0.040, 0.059], [0.127, 0.109, 0.059]]
+        robot_poses = [[0.281, 0.102, 0.083, 2.200, 1.439, 2.367],
+                       [0.276, -0.03, 0.083, 2.058, 1.473, 1.704],
+                       [0.123, -0.04, 0.084, 0.132, 1.499, -0.12],
+                       [0.121, 0.110, 0.083, -0.19, 1.339, -0.19]]
+        list_names = []
+        for i in range(3):
+            name = "Test{}".format(2 * i)
+            self.assertStatus(self.niryo_robot.save_workspace_from_poses(name, robot_poses))
+            self.assertEqual(self.niryo_robot.get_workspace_poses(name), robot_poses)
+            name2 = "Test{}".format(2 * i + 1)
+            self.assertStatus(self.niryo_robot.save_workspace_from_points(name2, points))
+
+            list_names.append(name)
+            list_names.append(name2)
+            self.assertEqual(self.niryo_robot.get_workspace_list(), list_names)
+
+        for name in list_names:
+            self.assertStatus(self.niryo_robot.delete_workspace(name))
+        self.assertEqual(self.niryo_robot.get_workspace_list(), [])
+
+
+class TestPythonWrapperSimulation(TestPythonWrapper):
+    """
+    Simulation test -> used on Rviz
+    """
+    pass
+
+
+# noinspection PyTypeChecker
+class TestPythonWrapperSimulationWithGripperAndCamera(TestPythonWrapperSimulation):
+    """
+    Simulation test with gripper and tool -> Used on Gazebo
+    """
+
+    def test_tool(self):
+        self.assertStatus(self.niryo_robot.update_tool())
+        self.assertStatus(self.niryo_robot.grasp_with_tool())
+        self.assertStatus(self.niryo_robot.release_with_tool())
+
+    # - Vision
+    def test_vision(self):
+        self.assertIsNotNone(self.niryo_robot.get_camera_intrinsics())
+        workspace_name = "gazebo_1"
+        workspace_h = 0.001
+        point_1 = [0.3369, 0.087, workspace_h]
+        point_2 = [point_1[0], -point_1[1], workspace_h]
+        point_3 = [0.163, -point_1[1], workspace_h]
+        point_4 = [point_3[0], point_1[1], workspace_h]
+        self.assertStatus(self.niryo_robot.save_workspace_from_points(
+            workspace_name, [point_1, point_2, point_3, point_4]))
+
+        self.assertStatus(self.niryo_robot.move_joints(0.0, 0.0, 0.0, 0.0, -1.57, 0.0))
+        self.assertStatus(self.niryo_robot.update_tool())
+        self.assertIsNotNone(self.niryo_robot.get_target_pose_from_rel(workspace_name, 0.1, 0.5, 0.5, 0.0))
+        self.assertIsNotNone(self.niryo_robot.get_target_pose_from_cam(
+            workspace_name, 0.1, ObjectShape.ANY, ObjectColor.ANY))
+        self.assertIsNotNone(self.niryo_robot.detect_object(workspace_name, ObjectShape.ANY, ObjectColor.RED))
+
+        self.assertIsNotNone(self.niryo_robot.move_to_object(workspace_name, 0.03, ObjectShape.ANY, ObjectColor.GREEN))
+
+        self.assertStatus(self.niryo_robot.move_joints(0.0, 0.0, 0.0, 0.0, -1.57, 0.0))
+        self.assertIsNotNone(self.niryo_robot.vision_pick(workspace_name, 0.002, ObjectShape.ANY, ObjectColor.BLUE))
+
+
+class TestPythonWrapperRasp(TestPythonWrapper):
+    """
+    Test on Raspberry
+    """
+
+    def setUp(self):
+        super(TestPythonWrapperRasp, self).setUp()
+        self.assertStatus(self.niryo_robot.calibrate_auto())
+        rospy.sleep(0.5)
+
+    def tearDown(self):
+        self.assertStatus(self.niryo_robot.set_learning_mode(True))
+        super(TestPythonWrapperRasp, self).tearDown()
+
+    # - Hardware
+    def test_hardware(self):
+        for pin in list_pins:
+            self.assertStatus(self.niryo_robot.set_pin_mode(pin, PinMode.OUTPUT))
+            self.assertStatus(self.niryo_robot.digital_write(pin, PinState.LOW))
+            self.assertEqual(self.niryo_robot.digital_read(pin), PinState.LOW)
+            self.assertStatus(self.niryo_robot.digital_write(pin, PinState.HIGH))
+            self.assertEqual(self.niryo_robot.digital_read(pin), PinState.HIGH)
+
+            self.assertStatus(self.niryo_robot.set_pin_mode(pin, PinMode.INPUT))
+            with self.assertRaises(NiryoRosWrapperException):
+                self.niryo_robot.digital_write(pin, PinState.LOW)
+
+
+# noinspection PyTypeChecker
+class TestPythonWrapperRaspWithConveyor(TestPythonWrapperRasp):
+    """
+    Test on Raspberry with conveyor
+    """
+
+    def test_conveyor(self):
+        with self.assertRaises(NiryoRosWrapperException):
+            self.niryo_robot.unset_conveyor(ConveyorID.ID_1)
+        with self.assertRaises(NiryoRosWrapperException):
+            self.niryo_robot.unset_conveyor(-1)
+        with self.assertRaises(NiryoRosWrapperException):
+            self.niryo_robot.control_conveyor(ConveyorID.ID_1, True, speed=50,
+                                              direction=ConveyorDirection.FORWARD)
+
+        conveyor_id = self.niryo_robot.set_conveyor()
+        assert conveyor_id in [ConveyorID.ID_1, ConveyorID.ID_2]
+        self.assertStatus(self.niryo_robot.control_conveyor(conveyor_id, bool_control_on=True, speed=50,
+                                                            direction=ConveyorDirection.FORWARD))
+        self.assertStatus(self.niryo_robot.control_conveyor(conveyor_id, bool_control_on=False, speed=50,
+                                                            direction=ConveyorDirection.BACKWARD))
+        self.assertStatus(self.niryo_robot.unset_conveyor(conveyor_id))
+
+
+if __name__ == '__main__':
+    rospy.init_node('niryo_robot_test_python_ros_wrapper')
+    simulation_mode = rospy.get_param('~simulation_mode')
+    use_gripper_n_camera = rospy.get_param('~gripper_n_camera')
+    use_conveyor = rospy.get_param('~conveyor')
+
+    NiryoRosWrapper.wait_for_nodes_initialization(simulation_mode)
+
+    position_dir = rospy.get_param('/niryo_robot_poses_handlers/poses_dir')
+    trajectory_dir = rospy.get_param('/niryo_robot_poses_handlers/trajectories_dir')
+    workspace_dir = rospy.get_param('/niryo_robot_poses_handlers/workspace_dir')
+
+    if simulation_mode:
+        if use_gripper_n_camera:
+            rostest.rosrun("python_ros_wrapper", "test_python_ros_wrapper_simulation",
+                           TestPythonWrapperSimulationWithGripperAndCamera)
+        else:
+            rostest.rosrun("python_ros_wrapper", "test_python_ros_wrapper_simulation", TestPythonWrapperSimulation)
+    else:
+        if use_conveyor:
+            rostest.rosrun("python_ros_wrapper", "test_python_ros_wrapper_Rasp", TestPythonWrapperRaspWithConveyor)
+        else:
+            rostest.rosrun("python_ros_wrapper", "test_python_ros_wrapper_Rasp", TestPythonWrapperRasp)
diff --git a/niryo_robot_rpi/CMakeLists.txt b/niryo_robot_rpi/CMakeLists.txt
new file mode 100644
index 000000000..a3bebf51d
--- /dev/null
+++ b/niryo_robot_rpi/CMakeLists.txt
@@ -0,0 +1,42 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(niryo_robot_rpi)
+
+find_package(catkin REQUIRED COMPONENTS
+  actionlib_msgs
+  sensor_msgs
+  niryo_robot_msgs
+  rospy
+  roscpp
+  std_msgs
+)
+
+add_message_files(
+  FILES
+  DigitalIOState.msg
+  LogStatus.msg
+)
+
+add_service_files(
+  DIRECTORY srv
+  FILES
+  ChangeMotorConfig.srv
+  GetDigitalIO.srv
+  LedBlinker.srv
+  SetDigitalIO.srv
+)
+
+catkin_python_setup()
+
+generate_messages(
+  DEPENDENCIES
+  niryo_robot_msgs
+  std_msgs
+  actionlib_msgs
+  sensor_msgs
+)
+
+catkin_package()
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
diff --git a/niryo_robot_rpi/config/rpi_config.yaml b/niryo_robot_rpi/config/rpi_config.yaml
new file mode 100644
index 000000000..fe48173ed
--- /dev/null
+++ b/niryo_robot_rpi/config/rpi_config.yaml
@@ -0,0 +1,16 @@
+fans:
+  - gpio: 27
+    temperature_on_threshold: 45
+    temperature_off_threshold: 40
+  - gpio: 23
+    temperature_on_threshold: 50
+    temperature_off_threshold: 45
+
+led:
+  gpio_r: 18
+  gpio_g: 24
+  gpio_b: 22
+
+button:
+  gpio: 4
+
diff --git a/niryo_robot_rpi/launch/base_rpi.launch.xml b/niryo_robot_rpi/launch/base_rpi.launch.xml
new file mode 100644
index 000000000..183f01a3b
--- /dev/null
+++ b/niryo_robot_rpi/launch/base_rpi.launch.xml
@@ -0,0 +1,28 @@
+<launch>
+    <arg name="rpi_model" default="4"/>
+    <arg name="simulation_mode" default="false"/>
+
+    <node if="$(arg simulation_mode)" name="niryo_robot_rpi" pkg="niryo_robot_rpi" type="fake_rpi_node.py" output="screen">
+        <param name="publish_io_state_frequency" type="double" value="10.0"/>
+
+        <param name="ros_log_size_threshold" type="int" value="1024"/> <!-- 1024 MB -->
+        <param name="should_purge_ros_log_on_startup_file" type="string"
+               value="/home/niryo/niryo_robot_saved_files/purge_ros_log_at_startup.txt"/>
+
+        <!-- don't change that unless you manually change ros log location -->
+        <param name="ros_log_location" type="string" value="/home/niryo/.ros/log"/>
+    </node>
+    <node unless="$(arg simulation_mode)" name="niryo_robot_rpi" pkg="niryo_robot_rpi" type="rpi_node.py" output="screen">
+        <rosparam file="$(find niryo_robot_rpi)/config/rpi_config.yaml"/>
+        <param name="rpi_model" type="string" value="$(arg rpi_model)"/>
+
+        <param name="publish_io_state_frequency" type="double" value="10.0"/>
+
+        <param name="ros_log_size_threshold" type="int" value="1024"/> <!-- 1024 MB -->
+        <param name="should_purge_ros_log_on_startup_file" type="string"
+               value="/home/niryo/niryo_robot_saved_files/purge_ros_log_at_startup.txt"/>
+
+        <!-- don't change that unless you manually change ros log location -->
+        <param name="ros_log_location" type="string" value="/home/niryo/.ros/log"/>
+    </node>
+</launch>
\ No newline at end of file
diff --git a/niryo_robot_rpi/launch/rpi_4.launch b/niryo_robot_rpi/launch/rpi_4.launch
new file mode 100644
index 000000000..6e73fbf31
--- /dev/null
+++ b/niryo_robot_rpi/launch/rpi_4.launch
@@ -0,0 +1,7 @@
+<launch>
+    <arg name="rpi_model" value="4"/>
+    <include file="$(find niryo_robot_rpi)/launch/base_rpi.launch.xml">
+        <arg name="simulation_mode" value="false"/>
+        <arg name="rpi_model" value="$(arg rpi_model)"/>
+    </include>
+</launch>
diff --git a/niryo_robot_rpi/launch/rpi_simulation.launch b/niryo_robot_rpi/launch/rpi_simulation.launch
new file mode 100644
index 000000000..0884bc7f2
--- /dev/null
+++ b/niryo_robot_rpi/launch/rpi_simulation.launch
@@ -0,0 +1,5 @@
+<launch>
+    <include file="$(find niryo_robot_rpi)/launch/base_rpi.launch.xml">
+        <arg name="simulation_mode" default="true"/>
+    </include>
+</launch>
diff --git a/niryo_robot_rpi/msg/DigitalIOState.msg b/niryo_robot_rpi/msg/DigitalIOState.msg
new file mode 100644
index 000000000..229685d47
--- /dev/null
+++ b/niryo_robot_rpi/msg/DigitalIOState.msg
@@ -0,0 +1,8 @@
+# GPIO pin
+int32[] pins
+# PIN names seen by user to make it simpler
+string[] names
+# IN/OUT
+int32[] modes
+# HIGH/LOW
+int32[] states
diff --git a/niryo_robot_rpi/msg/LogStatus.msg b/niryo_robot_rpi/msg/LogStatus.msg
new file mode 100644
index 000000000..e86b71464
--- /dev/null
+++ b/niryo_robot_rpi/msg/LogStatus.msg
@@ -0,0 +1,6 @@
+std_msgs/Header header
+
+# in MB
+int32 log_size 
+int32 available_disk_size
+bool purge_log_on_startup
diff --git a/niryo_robot_rpi/package.xml b/niryo_robot_rpi/package.xml
new file mode 100644
index 000000000..96cafa2cc
--- /dev/null
+++ b/niryo_robot_rpi/package.xml
@@ -0,0 +1,24 @@
+<package>
+  <name>niryo_robot_rpi</name>
+  <version>3.0.0</version>
+  <description>Specific utilities for Ned RPI + custom Ned shield</description>
+  <author>Edouard Renard</author>
+  <author email="v.pitre@niryo.com">Valentin Pitre</author>
+  <maintainer email="v.pitre@niryo.com">Valentin Pitre</maintainer>
+  <license>GPLv3</license>
+  
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>niryo_robot_msgs</build_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>niryo_robot_msgs</run_depend>
+
+  <!-- Python Dependencies -->
+  <run_depend>python-flask</run_depend>
+  <run_depend>python-rpi.gpio</run_depend>
+  
+  <export>
+  </export>
+</package>
diff --git a/niryo_robot_rpi/scripts/button_manager.py b/niryo_robot_rpi/scripts/button_manager.py
new file mode 100755
index 000000000..c5efda4ac
--- /dev/null
+++ b/niryo_robot_rpi/scripts/button_manager.py
@@ -0,0 +1,279 @@
+#!/usr/bin/env python
+
+import rospy
+import RPi.GPIO as GPIO
+from threading import Thread, Timer
+import rosnode
+
+from niryo_robot_rpi.rpi_ros_utils import *
+
+# Command Status
+from niryo_robot_msgs.msg import CommandStatus
+
+# Messages
+from std_msgs.msg import Int32, Bool, Int8
+from niryo_robot_commander.msg import PausePlanExecution
+
+# Services
+from std_srvs.srv import Empty
+from niryo_robot_msgs.srv import Trigger, SetInt
+from niryo_robot_rpi.srv import LedBlinker, LedBlinkerRequest
+
+
+class ButtonMode:
+    def __init__(self):
+        pass
+
+    DO_NOTHING = 0
+    TRIGGER_SEQUENCE_AUTORUN = 1
+    BLOCKLY_SAVE_POINT = 2
+
+
+class NiryoButton:
+    def __init__(self):
+        self.pin = rospy.get_param("~button/gpio")
+        GPIO.setmode(GPIO.BCM)
+        GPIO.setup(self.pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
+        rospy.loginfo("GPIO setup : " + str(self.pin) + " as input")
+        rospy.sleep(0.1)
+
+        self.debug_loop_repetition = 5
+
+        self.activated = True
+
+        self.last_time_button_pressed = rospy.Time.from_sec(0)
+        self.last_time_button_released = rospy.Time.from_sec(0)
+        self.pause = None
+        self.resume = None
+
+        self.__program_manager_is_running = False
+        rospy.Subscriber('/niryo_robot_programs_manager/program_is_running',
+                         Bool, self.__callback_program_is_running)
+
+        rospy.Subscriber('/niryo_robot/rpi/led_state',
+                         Int8, self.__callback_led_state)
+
+        self.__motor_debug_server_start = rospy.ServiceProxy('/niryo_robot_commander/motor_debug_start', SetInt)
+        self.__motor_debug_server_stop = rospy.ServiceProxy('/niryo_robot_commander/motor_debug_stop', Empty)
+        self.__motor_debug_thread = Thread(target=self.__motor_debug_server_start, name="motor_debug_button_thread",
+                                           args=(self.debug_loop_repetition,))
+
+        self.button_mode = ButtonMode.TRIGGER_SEQUENCE_AUTORUN
+        rospy.Service("/niryo_robot/rpi/change_button_mode",
+                      SetInt, self.callback_change_button_mode)
+
+        self.__set_led_state_service = rospy.ServiceProxy('/niryo_robot_rpi/set_led_custom_blinker',
+                                                          LedBlinker)
+
+        self.last_time_button_mode_changed = rospy.Time.now()
+
+        # - Publishers
+        self.__pause_movement_publisher = rospy.Publisher('~pause_state',
+                                                          PausePlanExecution, latch=True, queue_size=1)
+
+        self._pause_state = None
+        self.send_pause_state(PausePlanExecution.STANDBY)
+
+        # Publisher used to send info to Niryo Studio, so the user can add a move block
+        # by pressing the button
+        self.save_point_publisher = rospy.Publisher(
+            "/niryo_robot/blockly/save_current_point", Int32, queue_size=10)
+
+        self.__button_state_publisher = rospy.Publisher(
+            "/niryo_robot/rpi/is_button_pressed", Bool, latch=True, queue_size=1)
+
+        # Seems to be overkill over that value due to reading IO time
+        self.timer_frequency = 10
+        self.__button_state = None
+        rospy.Timer(rospy.Duration.from_sec(1.0 / self.timer_frequency), self.check_button)
+        self.__button_state = self.read_value()
+
+        rospy.on_shutdown(self.shutdown)
+        rospy.loginfo("Niryo Button started")
+
+        self.__led_state = LedState.OK
+        self.__cancel_or_resume_thread = Timer(1.0, self.cancel_or_resume)
+
+    def __del__(self):
+        pass
+
+    def read_value(self):
+        try:
+            value = GPIO.input(self.pin)
+        except RuntimeError:
+            return False
+        self.__button_state = value
+
+        self.__button_state_publisher.publish(self.__is_button_pressed())
+        return self.__button_state
+
+    def __is_button_pressed(self):
+        return not self.__button_state
+
+    def __callback_program_is_running(self, msg):
+        self.__program_manager_is_running = msg.data
+
+    def __callback_led_state(self, msg):
+        self.__led_state = msg.data
+
+    def __is_prog_running(self):
+        if self.__program_manager_is_running:
+            python_prog_is_running = True
+        else:
+            python_prog_running_nodes = [s for s in rosnode.get_node_names() if "ros_wrapper" in s]
+            python_prog_is_running = bool(python_prog_running_nodes)
+
+        #Deal with new state
+        if not python_prog_is_running:
+            # if the state is paused, it means that the pause timout has appeared.
+            # Otherwise it's a program that has ended.
+            if self._pause_state == PausePlanExecution.PAUSE:
+                activate_learning_mode(True)
+                self.__set_led_state_service(False, 0, 0, 0)
+            self.send_pause_state(PausePlanExecution.STANDBY)
+
+        elif self._pause_state not in [PausePlanExecution.PLAY, PausePlanExecution.PAUSE]:
+            # detect a new execution of a program
+            self.send_pause_state(PausePlanExecution.PLAY)
+            self.__set_led_state_service(False, 0, 0, 0)
+
+        return python_prog_is_running
+
+
+    def check_button(self, _event):
+        button_was_pressed = self.__is_button_pressed()
+        self.read_value()
+        if self.__is_button_pressed():
+            if not button_was_pressed:
+                self.last_time_button_pressed = rospy.Time.now()
+            self.led_advertiser()
+        # Was pressed and is not anymore (release)
+        elif button_was_pressed:
+            previous_released_time = self.last_time_button_released
+            self.last_time_button_released = rospy.Time.now()
+            elapsed_seconds = (self.last_time_button_released - self.last_time_button_pressed).to_sec()
+
+            # Check if there is an action to do
+            if elapsed_seconds >= 15:
+                pass
+            elif elapsed_seconds >= 6:
+                send_hotspot_command()
+            elif elapsed_seconds >= 3:
+                send_shutdown_command()
+            elif 0.02 < elapsed_seconds < 3:
+                # Detect if a prog is running
+                python_prog_is_running = self.__is_prog_running()
+                # If a programm is running
+                if python_prog_is_running:
+                    self.__manage_python_program()
+                elif self.button_mode == ButtonMode.BLOCKLY_SAVE_POINT:
+                    self.__trigger_blockly_save_point()
+                elif self.button_mode == ButtonMode.TRIGGER_SEQUENCE_AUTORUN:
+                    self.__trigger_sequence_autorun()
+    
+    def __manage_python_program(self):
+        # Pause the current move
+        if self._pause_state in [PausePlanExecution.PLAY]:
+            rospy.loginfo("Button Manager - Sequence paused")
+            self.pause = rospy.Time.now()
+            self.send_pause_state(PausePlanExecution.PAUSE)
+            # Pause led advertiser
+            self.__set_led_state_service(True, 5, LedBlinkerRequest.LED_WHITE, 0)
+        # Double press on pause: activate learning mode
+        elif self._pause_state == PausePlanExecution.PAUSE and (
+                rospy.Time.now() - self.pause).to_sec() < 1:
+            activate_learning_mode(True)
+            self.__set_led_state_service(True, 5, LedBlinkerRequest.LED_WHITE, 0)
+            rospy.loginfo("Button Manager - Sequence paused with learning mode")
+        # Programm paused: resume or cancel
+        elif self._pause_state == PausePlanExecution.PAUSE:
+            # wait if double clic occurs
+            if not self.__cancel_or_resume_thread.is_alive():
+                self.__cancel_or_resume_thread = Timer(1, self.cancel_or_resume)
+                self.__cancel_or_resume_thread.start()
+
+    def __trigger_blockly_save_point(self):
+        self.blockly_save_current_point()
+
+    def __trigger_sequence_autorun(self):
+        rospy.loginfo("Button Manager - Run Auto-sequence")
+        self.send_pause_state(PausePlanExecution.PLAY)
+        if self.__motor_debug_thread.is_alive():
+            self.__motor_debug_server_stop()
+            _status, _message = send_trigger_program_autorun()
+        else:
+            status, message = send_trigger_program_autorun()
+            if status != CommandStatus.SUCCESS:
+                try:
+                    rospy.wait_for_service("/niryo_robot_commander/motor_debug_start", timeout=0.5)
+                    self.__motor_debug_thread = Thread(target=self.__motor_debug_server_start,
+                                                        name="motor_debug_button_thread",
+                                                        args=(self.debug_loop_repetition,))
+                    self.__motor_debug_thread.start()
+                except rospy.ROSException:
+                    pass
+
+    def cancel_or_resume(self):
+        # if double clic
+        double_clic = (rospy.Time.now() - self.last_time_button_pressed).to_sec() < 1
+
+        activate_learning_mode(double_clic)
+        self.__set_led_state_service(False, 0, 0, 0)
+        if double_clic:
+            rospy.logwarn("Button Manager - Cancel sequence")
+            self.send_pause_state(PausePlanExecution.CANCEL)
+            if self.__program_manager_is_running:
+                self.cancel_program_from_program_manager()
+        else:
+            rospy.loginfo("Button Manager - Resume sequence")
+            rospy.sleep(0.1)
+            self.send_pause_state(PausePlanExecution.RESUME)
+            self._pause_state = PausePlanExecution.PLAY
+
+    @staticmethod
+    def cancel_program_from_program_manager():
+        srv = rospy.ServiceProxy('/niryo_robot_programs_manager/stop_program', Trigger)
+        resp = srv()
+        return resp.status, resp.message
+
+    def led_advertiser(self):
+        elapsed_seconds = (rospy.Time.now() - self.last_time_button_pressed).to_sec()
+
+        # Use LED to help user know which action to execute
+        if elapsed_seconds >= 15:
+            pass
+        elif elapsed_seconds >= 6:
+            self.__led_state = LedState.WAIT_HOTSPOT
+            send_led_state(LedState.WAIT_HOTSPOT)
+        elif elapsed_seconds >= 3:
+            self.__led_state = LedState.SHUTDOWN
+            send_led_state(LedState.SHUTDOWN)
+
+    @staticmethod
+    def shutdown():
+        rospy.loginfo("Button Manager - Shutdown cleanup GPIO")
+        rospy.sleep(0.5)
+        GPIO.cleanup()
+
+    def blockly_save_current_point(self):
+        msg = Int32()
+        msg.data = 1
+        self.save_point_publisher.publish(msg)
+
+    def callback_change_button_mode(self, req):
+        # message = ""
+        if req.value == ButtonMode.TRIGGER_SEQUENCE_AUTORUN:
+            message = "Successfully changed button mode to trigger sequence autorun"
+        elif req.value == ButtonMode.BLOCKLY_SAVE_POINT:
+            message = "Successfully changed button mode to save point"
+        elif req.value == ButtonMode.DO_NOTHING:
+            message = "Successfully changed button mode to disabled"
+        else:
+            return {"status": CommandStatus.BUTTON_ERROR, "message": "Incorrect button mode."}
+        self.button_mode = req.value
+        self.last_time_button_mode_changed = rospy.Time.now()
+        return {"status": CommandStatus.SUCCESS, "message": message}
+
+    def send_pause_state(self, state):
+        self._pause_state = state
+        self.__pause_movement_publisher.publish(self._pause_state)
diff --git a/niryo_robot_rpi/scripts/digital_io_panel.py b/niryo_robot_rpi/scripts/digital_io_panel.py
new file mode 100755
index 000000000..bb6f5f2a7
--- /dev/null
+++ b/niryo_robot_rpi/scripts/digital_io_panel.py
@@ -0,0 +1,211 @@
+#!/usr/bin/env python
+
+# digital_io_panel.py
+# Copyright (C) 2017 Niryo
+# All rights reserved.
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+import rospy
+import RPi.GPIO as GPIO
+from threading import Lock
+
+# Command Status
+from niryo_robot_msgs.msg import CommandStatus
+
+from niryo_robot_rpi.msg import DigitalIOState
+from niryo_robot_rpi.srv import GetDigitalIO
+from niryo_robot_rpi.srv import SetDigitalIO
+
+GPIO_1_A = 2
+GPIO_1_B = 3
+GPIO_1_C = 16
+GPIO_2_A = 26
+GPIO_2_B = 19
+GPIO_2_C = 6
+
+SW_1 = 12
+SW_2 = 13
+
+GPIO_1_A_NAME = '1A'
+GPIO_1_B_NAME = '1B'
+GPIO_1_C_NAME = '1C'
+GPIO_2_A_NAME = '2A'
+GPIO_2_B_NAME = '2B'
+GPIO_2_C_NAME = '2C'
+
+SW_1_NAME = 'SW1'
+SW_2_NAME = 'SW2'
+
+
+class DigitalPin:
+
+    def __init__(self, lock, pin, name, mode=GPIO.IN, state=GPIO.LOW):
+        self.lock = lock
+        self.pin = pin
+        self.name = name
+        self.mode = mode
+        self.set_mode(mode)
+        rospy.sleep(0.01)
+        if self.mode == GPIO.OUT:
+            self.state = state
+            GPIO.output(self.pin, self.state)
+        else:
+            self.state = GPIO.input(self.pin)
+
+    def set_mode(self, mode):
+        self.mode = mode
+        if mode == GPIO.OUT:
+            with self.lock:
+                GPIO.setup(self.pin, GPIO.OUT)
+            rospy.sleep(0.01)
+            self.set_state(GPIO.LOW)
+        else:
+            with self.lock:
+                GPIO.setup(self.pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
+
+    def get_mode(self):
+        return self.mode
+
+    def set_state(self, state):
+        if self.mode != GPIO.OUT:
+            return False
+        self.state = state
+        with self.lock:
+            GPIO.output(self.pin, self.state)
+        return True
+
+    def get_state(self):
+        if self.mode == GPIO.IN:
+            with self.lock:
+                self.state = GPIO.input(self.pin)
+        return self.state
+
+    def __str__(self):
+        return self.name
+
+
+class DigitalIOPanel:
+
+    def __init__(self):
+        GPIO.setwarnings(False)
+        GPIO.setmode(GPIO.BCM)
+
+        lock = Lock()
+
+        self.publish_io_state_frequency = rospy.get_param("~publish_io_state_frequency")
+        self.digitalIOs = [DigitalPin(lock, GPIO_1_A, GPIO_1_A_NAME), DigitalPin(lock, GPIO_1_B, GPIO_1_B_NAME),
+                           DigitalPin(lock, GPIO_1_C, GPIO_1_C_NAME),
+                           DigitalPin(lock, GPIO_2_A, GPIO_2_A_NAME), DigitalPin(lock, GPIO_2_B, GPIO_2_B_NAME),
+                           DigitalPin(lock, GPIO_2_C, GPIO_2_C_NAME),
+                           DigitalPin(lock, SW_1, SW_1_NAME, mode=GPIO.OUT),
+                           DigitalPin(lock, SW_2, SW_2_NAME, mode=GPIO.OUT)]
+
+        self.digital_io_publisher = rospy.Publisher('/niryo_robot_rpi/digital_io_state', DigitalIOState, queue_size=1)
+        rospy.Timer(rospy.Duration(1.0 / self.publish_io_state_frequency), self.publish_io_state)
+
+        self.get_io_server = rospy.Service('/niryo_robot_rpi/get_digital_io', GetDigitalIO, self.callback_get_io)
+        self.set_io_mode_server = rospy.Service('/niryo_robot_rpi/set_digital_io_mode', SetDigitalIO,
+                                                self.callback_set_io_mode)
+        self.set_io_state_server = rospy.Service('/niryo_robot_rpi/set_digital_io_state', SetDigitalIO,
+                                                 self.callback_set_io_state)
+
+    def publish_io_state(self, event):
+        msg = DigitalIOState()
+        pins = []
+        names = []
+        modes = []
+        states = []
+        for io in self.digitalIOs:
+            pins.append(io.pin)
+            names.append(io.name)
+            modes.append(io.mode)
+            try:
+                states.append(io.get_state())
+            except RuntimeError:
+                return
+        msg.pins = pins
+        msg.names = names
+        msg.modes = modes
+        msg.states = states
+        try:
+            self.digital_io_publisher.publish(msg)
+        except rospy.ROSException:
+            return
+
+    @staticmethod
+    def create_response(status, message):
+        return {'status': status, 'message': message}
+
+    def callback_get_io(self, req):
+        for io in self.digitalIOs:
+            if io.pin == req.pin:
+                return {
+                    'status': CommandStatus.SUCCESS,
+                    'message': 'OK',
+                    'pin': io.pin,
+                    'name': io.name,
+                    'mode': io.get_mode(),
+                    'state': io.get_state()
+                }
+        return self.create_response(CommandStatus.DIGITAL_IO_PANEL_ERROR,
+                                    "No GPIO found with this pin number (" + str(req.pin) + ")")
+
+    def callback_set_io_mode(self, req):
+        for io in self.digitalIOs:
+            if io.pin == req.pin:
+                if io.name.startswith('SW'):
+                    return self.create_response(CommandStatus.DIGITAL_IO_PANEL_ERROR,
+                                                "Can't change mode for switch pin, mode is fixed to OUTPUT")
+                # Set mode
+                if req.value == 0:
+                    io.set_mode(GPIO.OUT)
+                else:
+                    io.set_mode(GPIO.IN)
+                return self.create_response(CommandStatus.SUCCESS, "Successfully set IO mode for PIN " + str(io))
+        # No pin found
+        return self.create_response(CommandStatus.DIGITAL_IO_PANEL_ERROR,
+                                    "No GPIO found with this pin number (" + str(req.pin) + ")")
+
+    def callback_set_io_state(self, req):
+        for io in self.digitalIOs:
+            if io.pin == req.pin:
+                # Check gpio in in output mode
+                if io.get_mode() != GPIO.OUT:
+                    return self.create_response(CommandStatus.DIGITAL_IO_PANEL_ERROR, "The pin " + str(
+                        io) + " is set as input, you can't change its state")
+
+                # Set state
+                success = False
+                if req.value == 0:
+                    success = io.set_state(GPIO.LOW)
+                else:
+                    success = io.set_state(GPIO.HIGH)
+
+                if success:
+                    return self.create_response(CommandStatus.SUCCESS,
+                                                "Successfully set IO state for pin " + str(io))
+                else:
+                    return self.create_response(CommandStatus.DIGITAL_IO_PANEL_ERROR,
+                                                "Error : could not set IO state for pin " + str(io))
+
+        # No pin found
+        return self.create_response(CommandStatus.DIGITAL_IO_PANEL_ERROR,
+                                    "No GPIO found with this pin number (" + str(req.pin) + ")")
+
+
+if __name__ == '__main__':
+    rospy.init_node('digital_io_panel')
+    DigitalIOPanel()
+    rospy.spin()
diff --git a/niryo_robot_rpi/scripts/fake_rpi_node.py b/niryo_robot_rpi/scripts/fake_rpi_node.py
new file mode 100755
index 000000000..fb0303aee
--- /dev/null
+++ b/niryo_robot_rpi/scripts/fake_rpi_node.py
@@ -0,0 +1,194 @@
+#!/usr/bin/env python
+
+import rospy
+from std_msgs.msg import Int32, Bool
+from enum import IntEnum
+
+from niryo_robot_msgs.msg import CommandStatus
+
+from niryo_robot_rpi.msg import DigitalIOState
+from niryo_robot_rpi.srv import GetDigitalIO
+from niryo_robot_rpi.srv import SetDigitalIO
+
+
+class FakeNiryoButton:
+    def __init__(self):
+        # Publisher used to send info to Niryo Studio, so the user can add a move block
+        # by pressing the button
+        self.save_point_publisher = rospy.Publisher(
+            "/niryo_robot/blockly/save_current_point", Int32, queue_size=10)
+
+        self.__button_state_publisher = rospy.Publisher(
+            "/niryo_robot/rpi/is_button_pressed", Bool, latch=True, queue_size=1)
+
+        self.__button_state_publisher.publish(False)
+
+
+GPIO_1_A = 2
+GPIO_1_B = 3
+GPIO_1_C = 16
+GPIO_2_A = 26
+GPIO_2_B = 19
+GPIO_2_C = 6
+
+SW_1 = 12
+SW_2 = 13
+
+GPIO_1_A_NAME = '1A'
+GPIO_1_B_NAME = '1B'
+GPIO_1_C_NAME = '1C'
+GPIO_2_A_NAME = '2A'
+GPIO_2_B_NAME = '2B'
+GPIO_2_C_NAME = '2C'
+
+SW_1_NAME = 'SW1'
+SW_2_NAME = 'SW2'
+
+
+class FakeDigitalPinMode(IntEnum):
+    OUTPUT = 0
+    INPUT = 1
+
+
+class FakeDigitalPin:
+    def __init__(self, pin, name, mode=FakeDigitalPinMode.INPUT, state=0):
+        self.pin = pin
+        self.name = name
+        self.state = state
+        self.mode = mode
+
+    def set_mode(self, mode):
+        self.mode = mode
+        if mode == FakeDigitalPinMode.OUTPUT:
+            self.set_state(0)
+
+    def get_mode(self):
+        return self.mode
+
+    def set_state(self, state):
+        if self.mode != FakeDigitalPinMode.OUTPUT:
+            return False
+        self.state = state
+        return True
+
+    def get_state(self):
+        return self.state
+
+    def __str__(self):
+        return self.name
+
+
+class FakeDigitalIOPanel:
+
+    def __init__(self):
+        self.publish_io_state_frequency = rospy.get_param("~publish_io_state_frequency")
+        self.digitalIOs = [FakeDigitalPin(GPIO_1_A, GPIO_1_A_NAME),
+                           FakeDigitalPin(GPIO_1_B, GPIO_1_B_NAME),
+                           FakeDigitalPin(GPIO_1_C, GPIO_1_C_NAME),
+                           FakeDigitalPin(GPIO_2_A, GPIO_2_A_NAME),
+                           FakeDigitalPin(GPIO_2_B, GPIO_2_B_NAME),
+                           FakeDigitalPin(GPIO_2_C, GPIO_2_C_NAME),
+                           FakeDigitalPin(SW_1, SW_1_NAME, mode=FakeDigitalPinMode.OUTPUT),
+                           FakeDigitalPin(SW_2, SW_2_NAME, mode=FakeDigitalPinMode.OUTPUT)]
+
+        self.digital_io_publisher = rospy.Publisher('/niryo_robot_rpi/digital_io_state', DigitalIOState, queue_size=1)
+        rospy.Timer(rospy.Duration(1.0 / self.publish_io_state_frequency), self.publish_io_state)
+
+        self.get_io_server = rospy.Service('/niryo_robot_rpi/get_digital_io', GetDigitalIO, self.callback_get_io)
+        self.set_io_mode_server = rospy.Service('/niryo_robot_rpi/set_digital_io_mode', SetDigitalIO,
+                                                self.callback_set_io_mode)
+        self.set_io_state_server = rospy.Service('/niryo_robot_rpi/set_digital_io_state', SetDigitalIO,
+                                                 self.callback_set_io_state)
+
+    def publish_io_state(self, event):
+        msg = DigitalIOState()
+        pins = []
+        names = []
+        modes = []
+        states = []
+        for io in self.digitalIOs:
+            pins.append(io.pin)
+            names.append(io.name)
+            modes.append(io.mode)
+            states.append(io.get_state())
+        msg.pins = pins
+        msg.names = names
+        msg.modes = modes
+        msg.states = states
+        try:
+            self.digital_io_publisher.publish(msg)
+        except rospy.ROSException:
+            return
+
+    @staticmethod
+    def create_response(status, message):
+        return {'status': status, 'message': message}
+
+    def callback_get_io(self, req):
+        for io in self.digitalIOs:
+            if io.pin == req.pin:
+                return {
+                    'status': CommandStatus.SUCCESS,
+                    'message': 'OK',
+                    'pin': io.pin,
+                    'name': io.name,
+                    'mode': io.get_mode(),
+                    'state': io.get_state()
+                }
+        return self.create_response(CommandStatus.DIGITAL_IO_PANEL_ERROR,
+                                    "No GPIO found with this pin number (" + str(req.pin) + ")")
+
+    def callback_set_io_mode(self, req):
+        for io in self.digitalIOs:
+            if io.pin == req.pin:
+                if io.name.startswith('SW'):
+                    return self.create_response(CommandStatus.DIGITAL_IO_PANEL_ERROR,
+                                                "Can't change mode for switch pin, mode is fixed to OUTPUT")
+                # Set mode
+                if req.value == 0:
+                    io.set_mode(FakeDigitalPinMode.OUTPUT)
+                else:
+                    io.set_mode(FakeDigitalPinMode.INPUT)
+                return self.create_response(CommandStatus.SUCCESS, "Successfully set IO mode for pin " + str(io))
+        # No pin found
+        return self.create_response(CommandStatus.DIGITAL_IO_PANEL_ERROR,
+                                    "No GPIO found with this pin number (" + str(req.pin) + ")")
+
+    def callback_set_io_state(self, req):
+        for io in self.digitalIOs:
+            if io.pin == req.pin:
+                # Check gpio in in output mode
+                if io.get_mode() != FakeDigitalPinMode.OUTPUT:
+                    return self.create_response(CommandStatus.DIGITAL_IO_PANEL_ERROR, "The pin " + str(
+                        io) + " is set as input, you can't change its state")
+
+                # Set state
+                success = False
+                if req.value == 0:
+                    success = io.set_state(0)
+                else:
+                    success = io.set_state(1)
+
+                if success:
+                    return self.create_response(CommandStatus.SUCCESS,
+                                                "Successfully set IO state for pin " + str(io))
+                else:
+                    return self.create_response(CommandStatus.DIGITAL_IO_PANEL_ERROR,
+                                                "Error : could not set IO state for pin " + str(io))
+
+        # No pin found
+        return self.create_response(CommandStatus.DIGITAL_IO_PANEL_ERROR,
+                                    "No GPIO found with this pin number (" + str(req.pin) + ")")
+
+
+class NiryoFakeRpi:
+
+    def __init__(self):
+        self.niryo_robot_fake_button = FakeNiryoButton()
+        self.digital_io_panel = FakeDigitalIOPanel()
+
+
+if __name__ == '__main__':
+    rospy.init_node('niryo_robot_rpi')
+    NiryoFakeRpi()
+    rospy.spin()
diff --git a/niryo_robot_rpi/scripts/led_manager.py b/niryo_robot_rpi/scripts/led_manager.py
new file mode 100755
index 000000000..12e0f139f
--- /dev/null
+++ b/niryo_robot_rpi/scripts/led_manager.py
@@ -0,0 +1,211 @@
+#!/usr/bin/env python
+
+# led_manager.py
+# Copyright (C) 2017 Niryo
+# All rights reserved.
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+import rospy
+import RPi.GPIO as GPIO
+from threading import Thread
+
+# Command Status
+from niryo_robot_msgs.msg import CommandStatus
+
+from std_msgs.msg import Bool, Int8
+
+from niryo_robot_msgs.msg import HardwareStatus
+from niryo_robot_msgs.srv import SetInt
+
+from niryo_robot_rpi.srv import LedBlinker
+
+from niryo_robot_rpi.rpi_ros_utils import LedState
+
+LED_GPIO_R = 18
+LED_GPIO_G = 24
+LED_GPIO_B = 22
+
+LED_OFF = 0
+LED_BLUE = 1
+LED_GREEN = 2
+LED_BLUE_GREEN = 3
+LED_RED = 4
+LED_PURPLE = 5
+LED_RED_GREEN = 6
+LED_WHITE = 7
+
+
+class LEDManager:
+    def __init__(self):
+        # Set warning false, and don't cleanup LED GPIO after exit
+        # So the LED will be red only after the Rpi is shutdown
+        GPIO.setwarnings(False)
+        GPIO.setmode(GPIO.BCM)
+
+        GPIO.setup(rospy.get_param("~led/gpio_r"), GPIO.OUT)
+        GPIO.setup(rospy.get_param("~led/gpio_g"), GPIO.OUT)
+        GPIO.setup(rospy.get_param("~led/gpio_b"), GPIO.OUT)
+
+        rospy.sleep(0.1)
+        self.state = LedState.OK
+        self.__led_state_topic = rospy.Publisher('/niryo_robot/rpi/led_state', Int8, latch=True, queue_size=10)
+        self.set_led_from_state(dxl_leds=True)
+
+        self.__blinker_thread = None
+        self.__activate_blinker = None
+        self.__blinker_frequency = None
+        self.__blinker_color = None
+        self.__blinker_stop_time = None
+
+        self.__set_led_state_server = rospy.Service('/niryo_robot/rpi/set_led_state',
+                                                    SetInt, self.__callback_set_led_state)
+
+        self.__set_led_custom_blinker_server = rospy.Service('/niryo_robot_rpi/set_led_custom_blinker',
+                                LedBlinker, self.__callback_set_led_custom_blinker)
+
+        # Subscribe to hotspot and hardware status. Those values will override standard states
+        self.hotspot_state_subscriber = rospy.Subscriber('/niryo_robot/wifi/hotspot',
+                                                         Bool, self.__callback_hotspot_state)
+
+        self.hardware_status_subscriber = rospy.Subscriber('/niryo_robot_hardware_interface/hardware_status',
+                                                           HardwareStatus, self.__callback_hardware_status)
+
+        rospy.loginfo('LED manager has been started.')
+
+    @staticmethod
+    def set_dxl_leds(color):
+        leds = 0
+        if color == LED_RED:
+            leds = 1
+        elif color == LED_GREEN:
+            leds = 2
+        elif color == LED_BLUE:
+            leds = 4
+        # 4 is yellow, no yellow
+        elif color == LED_BLUE_GREEN:
+            leds = 6
+        elif color == LED_PURPLE:
+            leds = 5
+        elif color == LED_WHITE:
+            leds = 7
+        elif color == LED_RED_GREEN:
+            leds = 8
+
+        try:
+            rospy.wait_for_service('niryo_robot/dynamixel_driver/set_dxl_leds', timeout=1)
+        except rospy.ROSException:
+            rospy.logwarn("Niryo ROS control LED service is not up!")
+        try:
+            set_dxl_leds = rospy.ServiceProxy('niryo_robot/dynamixel_driver/set_dxl_leds', SetInt)
+            set_dxl_leds(leds)
+        except rospy.ServiceException:
+            rospy.logwarn("Could not call niryo_robot/dynamixel_driver/set_dxl_leds service")
+
+    def set_led(self, color, dxl_leds=False):
+        r = GPIO.LOW
+        g = GPIO.LOW
+        b = GPIO.LOW
+
+        if color & 0b100:
+            r = GPIO.HIGH
+        if color & 0b010:
+            g = GPIO.HIGH
+        if color & 0b001:
+            b = GPIO.HIGH
+
+        GPIO.output(rospy.get_param("~led/gpio_r"), r)
+        GPIO.output(rospy.get_param("~led/gpio_g"), g)
+        GPIO.output(rospy.get_param("~led/gpio_b"), b)
+
+        if dxl_leds:
+            self.set_dxl_leds(color)
+
+    def set_led_from_state(self, dxl_leds=False):
+        if self.state == LedState.SHUTDOWN:
+            self.set_led(LED_PURPLE, dxl_leds)
+        elif self.state == LedState.HOTSPOT:
+            self.set_led(LED_BLUE, dxl_leds)
+        elif self.state == LedState.WAIT_HOTSPOT:
+            self.set_led(LED_BLUE, dxl_leds)
+        elif self.state == LedState.OK:
+            self.set_led(LED_GREEN, dxl_leds)
+        elif self.state == LedState.PAUSE:
+            self.set_led(LED_RED_GREEN, dxl_leds)
+        else:
+            self.set_led(LED_OFF, dxl_leds)
+
+        self.__led_state_topic.publish(self.state)
+
+    def __callback_hotspot_state(self, msg):
+        if self.state == LedState.SHUTDOWN:
+            return
+
+        if msg.data:
+            if self.state != LedState.HOTSPOT:
+                self.state = LedState.HOTSPOT
+                self.set_led_from_state(dxl_leds=True)
+        elif self.state == LedState.HOTSPOT:
+            self.state = LedState.OK
+            self.set_led_from_state(dxl_leds=True)
+
+    def __callback_hardware_status(self, msg):
+        # filter error 1 = input voltage
+        if not msg.connection_up or list(msg.hardware_errors) > len(msg.hardware_errors)*[1]:
+            self.set_led(LED_RED, dxl_leds=True)  # blink red
+            rospy.sleep(0.05)
+            self.set_led_from_state(dxl_leds=True)
+
+    def __callback_set_led_state(self, req):
+        state = req.value
+        if state == LedState.SHUTDOWN:
+            self.state = LedState.SHUTDOWN
+            self.set_led_from_state(dxl_leds=True)
+        elif state == LedState.WAIT_HOTSPOT:
+            self.state = LedState.WAIT_HOTSPOT
+            self.set_led_from_state(dxl_leds=True)
+        elif state == LedState.PAUSE:
+            self.state = LedState.PAUSE
+            self.set_led_from_state(dxl_leds=False)
+        elif state == LedState.OK:
+            self.state = LedState.OK
+            self.set_led_from_state(dxl_leds=False)
+        else:
+            return {'status': CommandStatus.LED_MANAGER_ERROR, 'message': 'Not yet implemented'}
+        return {'status': CommandStatus.SUCCESS, 'message': 'Set LED OK'}
+
+    def __callback_set_led_custom_blinker(self, req):
+        self.__activate_blinker = req.activate
+        if self.__activate_blinker:
+            self.__blinker_frequency = rospy.Rate(max(min(100, req.frequency), 1))
+            self.__blinker_color = req.color
+            if req.blinker_duration > 0:
+                self.__blinker_stop_time = rospy.Time.now() + rospy.Duration.from_sec(req.blinker_duration)
+            else:
+                self.__blinker_stop_time = None
+            if not self.__blinker_thread or not self.__blinker_thread.is_alive():
+                self.__blinker_thread = Thread(target=self.blinker, name="led_blinker_thread")
+                self.__blinker_thread.start()
+
+        return CommandStatus.SUCCESS, "Success"
+
+    def blinker(self):
+        while not rospy.is_shutdown() and self.__activate_blinker:
+            self.set_led(self.__blinker_color)
+            self.__blinker_frequency.sleep()
+            self.set_led_from_state()
+            self.__blinker_frequency.sleep()
+
+            if self.__blinker_stop_time and rospy.Time.now() >= self.__blinker_stop_time:
+                return
diff --git a/niryo_robot_rpi/scripts/ros_log_manager.py b/niryo_robot_rpi/scripts/ros_log_manager.py
new file mode 100755
index 000000000..8c0ab3be4
--- /dev/null
+++ b/niryo_robot_rpi/scripts/ros_log_manager.py
@@ -0,0 +1,151 @@
+#!/usr/bin/env python
+
+# ros_log_manager.py
+# Copyright (C) 2017 Niryo
+# All rights reserved.
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+import rospy
+import subprocess
+import os
+
+from niryo_robot_rpi.msg import LogStatus
+from niryo_robot_msgs.srv import SetInt
+
+#
+# This class will handle ROS logs on Raspberry Pi
+#
+
+"""
+todo : 
+
+- service to get latest ros log nicely formated
+- detect when ros log is too big (> 1GB) -> alert message
+
+"""
+
+
+class RosLogManager:
+
+    def __init__(self):
+        self.log_size_treshold = rospy.get_param("~ros_log_size_threshold")
+        self.log_path = rospy.get_param("~ros_log_location")
+        self.should_purge_log_on_startup_file = rospy.get_param("~should_purge_ros_log_on_startup_file")
+        self.purge_log_on_startup = self.should_purge_log_on_startup()
+
+        # clean log on startup if param is true
+        if self.purge_log_on_startup:
+            rospy.logwarn("Purging ROS log on startup !")
+            self.purge_log()
+
+        self.purge_log_server = rospy.Service('/niryo_robot_rpi/purge_ros_logs', SetInt,
+                                              self.callback_purge_log)
+
+        self.change_purge_log_on_startup_server = rospy.Service('/niryo_robot_rpi/set_purge_ros_log_on_startup', SetInt,
+                                                                self.callback_change_purge_log_on_startup)
+
+        self.log_status_publisher = rospy.Publisher('/niryo_robot_rpi/ros_log_status', LogStatus, queue_size=10)
+        self.timer = rospy.Timer(rospy.Duration(3), self.publish_log_status)
+
+        rospy.loginfo("Init Ros Log Manager OK")
+
+    @staticmethod
+    def get_available_disk_size():
+        try:
+            process = subprocess.Popen(['df', '--output=avail', '/'], stdout=subprocess.PIPE)
+            output, error = process.communicate()
+            lines = output.split(os.linesep)
+            if len(lines) >= 2:
+                return int(lines[1]) / 1024
+            return -1
+        except subprocess.CalledProcessError:
+            return -1
+
+    def get_log_size(self):
+        try:
+            if not os.path.isdir(self.log_path):
+                return -1
+            output = subprocess.check_output(['du', '-sBM', self.log_path])
+            output_array = output.split()
+            if len(output_array) >= 1:
+                return int(output_array[0].replace('M', ''))
+            return -1
+        except subprocess.CalledProcessError:
+            return -1
+
+    # !! ros logs after using this method will not be saved
+    # need to restart ros completly to save new logs
+    def purge_log(self):
+        try:
+            subprocess.call(['rosclean', 'purge', '--size', '50', '-y'])
+            rospy.loginfo("ROS Log Manager - Purging done")
+            return True
+        except subprocess.CalledProcessError as e:
+            rospy.logwarn(e)
+            return False
+
+    def should_purge_log_on_startup(self):
+        if os.path.isfile(self.should_purge_log_on_startup_file):
+            with open(self.should_purge_log_on_startup_file, 'r') as f:
+                for line in f:
+                    if not (line.startswith('#') or len(line) == 0):
+                        condition = line.rstrip()
+                        if condition == "true":
+                            return True
+                        return False
+        return False
+
+    def change_purge_log_on_startup(self, condition):
+        with open(self.should_purge_log_on_startup_file, 'w') as f:
+            value = ""
+            if condition:
+                value = "true"
+            else:
+                value = "false"
+            f.write(value)
+
+        # After writing, read new value from file
+        self.purge_log_on_startup = self.should_purge_log_on_startup()
+
+    # 
+    # ----- ROS Interface below ----- 
+    #
+
+    @staticmethod
+    def create_response(status, message):
+        return {'status': status, 'message': message}
+
+    def callback_purge_log(self, req):
+        rospy.logwarn("Purge ROS logs on user request")
+        if self.purge_log():
+            return self.create_response(200, "ROS logs have been purged. " +
+                                        "Following logs will be discarded. If you want to get logs, you " +
+                                        "need to restart the robot")
+        return self.create_response(400, "Unable to remove ROS logs")
+
+    def callback_change_purge_log_on_startup(self, req):
+        if req.value == 1:
+            self.change_purge_log_on_startup(True)
+        else:
+            self.change_purge_log_on_startup(False)
+        return self.create_response(200, "Purge log on startup value has been changed")
+
+    def publish_log_status(self, event):
+        msg = LogStatus()
+        msg.header.stamp = rospy.Time.now()
+        msg.log_size = self.get_log_size()
+        msg.available_disk_size = self.get_available_disk_size()
+        msg.purge_log_on_startup = self.purge_log_on_startup
+        self.log_status_publisher.publish(msg)
diff --git a/niryo_robot_rpi/scripts/rpi_node.py b/niryo_robot_rpi/scripts/rpi_node.py
new file mode 100755
index 000000000..418b84746
--- /dev/null
+++ b/niryo_robot_rpi/scripts/rpi_node.py
@@ -0,0 +1,31 @@
+#!/usr/bin/env python
+
+
+import rospy
+
+from button_manager import NiryoButton
+from digital_io_panel import DigitalIOPanel
+from led_manager import LEDManager
+from ros_log_manager import RosLogManager
+from shutdown_manager import ShutdownManager
+from niryo_robot_rpi.fans_manager import FansManager
+
+
+class NiryoRobotRpi:
+
+    def __init__(self):
+        self.__digital_io_panel = DigitalIOPanel()
+        self.__fans_manager = FansManager()
+        self.__led_manager = LEDManager()
+        self.__niryo_robot_button = NiryoButton()
+        self.__ros_log_manager = RosLogManager()
+        self.__shutdown_manager = ShutdownManager()
+
+
+if __name__ == '__main__':
+    rospy.init_node('niryo_robot_rpi', anonymous=False, log_level=rospy.INFO)
+    try:
+        node = NiryoRobotRpi()
+        rospy.spin()
+    except rospy.ROSInterruptException:
+        pass
diff --git a/niryo_robot_rpi/scripts/shutdown_manager.py b/niryo_robot_rpi/scripts/shutdown_manager.py
new file mode 100644
index 000000000..5f406a852
--- /dev/null
+++ b/niryo_robot_rpi/scripts/shutdown_manager.py
@@ -0,0 +1,28 @@
+#!/usr/bin/env python
+
+import rospy
+import threading
+
+from niryo_robot_rpi.rpi_ros_utils import send_reboot_command, send_shutdown_command
+
+from niryo_robot_msgs.msg import CommandStatus
+
+from niryo_robot_msgs.srv import SetInt
+
+
+class ShutdownManager:
+    def __init__(self):
+        rospy.Service('~shutdown_rpi', SetInt, self.callback_shutdown_rpi)
+
+    @staticmethod
+    def callback_shutdown_rpi(req):
+        if req.value == 1:
+            send_shutdown_command_thread = threading.Timer(1.0, send_shutdown_command)
+            send_shutdown_command_thread.start()
+            return CommandStatus.SUCCESS, 'Robot is shutting down'
+        elif req.value == 2:
+            send_reboot_command_thread = threading.Timer(1.0, send_reboot_command)
+            send_reboot_command_thread.start()
+            return CommandStatus.SUCCESS, 'Robot is rebooting'
+        else:
+            return CommandStatus.UNKNOWN_COMMAND, 'Incorrect value: 1 for shutdown, 2 for reboot'
diff --git a/niryo_robot_rpi/setup.py b/niryo_robot_rpi/setup.py
new file mode 100644
index 000000000..4c3b8d9e8
--- /dev/null
+++ b/niryo_robot_rpi/setup.py
@@ -0,0 +1,10 @@
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    packages=['niryo_robot_rpi'],
+    # scripts=['bin/myscript'],
+    package_dir={'': 'src'}
+)
+
+setup(**d)
diff --git a/niryo_robot_rpi/src/niryo_robot_rpi/__init__.py b/niryo_robot_rpi/src/niryo_robot_rpi/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/niryo_robot_rpi/src/niryo_robot_rpi/fans_manager.py b/niryo_robot_rpi/src/niryo_robot_rpi/fans_manager.py
new file mode 100755
index 000000000..3f8ea59fd
--- /dev/null
+++ b/niryo_robot_rpi/src/niryo_robot_rpi/fans_manager.py
@@ -0,0 +1,57 @@
+#!/usr/bin/env python
+
+# fans_manager.py
+# Copyright (C) 2017 Niryo
+# All rights reserved.
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+import rospy
+
+from niryo_robot_msgs.msg import HardwareStatus
+
+import RPi.GPIO as GPIO
+
+
+class FansManager:
+    def __init__(self):
+        self._fans_list = rospy.get_param("/niryo_robot_rpi/fans")
+        self.setup_fans()
+
+        self.hardware_status_subscriber = rospy.Subscriber(
+            '/niryo_robot_hardware_interface/hardware_status', HardwareStatus, self.callback_hardware_status)
+
+    def setup_fans(self):
+        GPIO.setwarnings(False)
+        GPIO.setmode(GPIO.BCM)
+        for fan in self._fans_list:
+            GPIO.setup(fan["gpio"], GPIO.OUT)
+
+        for fan in self._fans_list:
+            self.set_fans(False, fan["gpio"])
+        rospy.loginfo("Fan Manager - Started")
+
+    @staticmethod
+    def set_fans(activate, gpio):
+        if activate:
+            GPIO.output(gpio, GPIO.HIGH)
+        else:
+            GPIO.output(gpio, GPIO.LOW)
+
+    def callback_hardware_status(self, msg):
+        for fan in self._fans_list:
+            if msg.rpi_temperature >= fan["temperature_on_threshold"]:
+                self.set_fans(True, fan["gpio"])
+            elif msg.rpi_temperature <= fan["temperature_off_threshold"]:
+                self.set_fans(False, fan["gpio"])
diff --git a/niryo_robot_rpi/src/niryo_robot_rpi/rpi_ros_utils.py b/niryo_robot_rpi/src/niryo_robot_rpi/rpi_ros_utils.py
new file mode 100755
index 000000000..79ca1a4b2
--- /dev/null
+++ b/niryo_robot_rpi/src/niryo_robot_rpi/rpi_ros_utils.py
@@ -0,0 +1,139 @@
+#!/usr/bin/env python
+
+import rospy
+import rospkg
+import subprocess
+import re
+
+from niryo_robot_msgs.srv import SetBool, SetInt, Trigger
+from niryo_robot_msgs.msg import CommandStatus
+
+ENABLE_BUS_MOTORS_SUCCESS = 1
+ENABLE_BUS_MOTORS_READ_FAIL = -1
+ENABLE_BUS_MOTORS_WRITE_FAIL = -2
+
+CHANGE_MOTOR_CONFIG_SUCCESS = 1
+CHANGE_MOTOR_CONFIG_READ_FAIL = -1
+CHANGE_MOTOR_CONFIG_WRITE_FAIL = -2
+CHANGE_MOTOR_CONFIG_WRONG_VERSION = -3
+
+
+class LedState:
+    def __init__(self):
+        pass
+
+    SHUTDOWN = 1
+    HOTSPOT = 2
+    HW_ERROR = 3
+    OK = 4
+    WAIT_HOTSPOT = 5
+    PAUSE = 6
+
+
+def send_hotspot_command():
+    rospy.loginfo("HOTSPOT")
+    send_led_state(LedState.WAIT_HOTSPOT)
+    rospy.wait_for_service('/niryo_robot/wifi/set_hotspot', timeout=0.5)
+    try:
+        set_hotspot = rospy.ServiceProxy('/niryo_robot/wifi/set_hotspot', SetInt)
+        set_hotspot()
+    except rospy.ServiceException:
+        rospy.logwarn("Could not call set_hotspot service")
+
+
+def send_trigger_program_autorun():
+    rospy.loginfo("Trigger program autorun from button")
+    topic_name = "/niryo_robot_programs_manager/execute_program_autorun"
+    try:
+        rospy.wait_for_service(topic_name, 0.1)
+        trigger = rospy.ServiceProxy(topic_name, Trigger)
+        resp = trigger()
+        return resp.status, resp.message
+    except (rospy.ServiceException, rospy.ROSException):
+        return CommandStatus.FAILURE, "Send trigger autorun error"
+
+
+def send_reboot_motors_command():
+    rospy.loginfo("Send reboot motor command")
+    try:
+        rospy.wait_for_service('/niryo_robot/reboot_motors', timeout=0.5)
+    except rospy.ROSException:
+        pass
+    try:
+        reboot_motors = rospy.ServiceProxy('/niryo_robot/reboot_motors', Trigger)
+        reboot_motors()
+    except rospy.ServiceException:
+        pass
+
+
+def send_shutdown_command():
+    rospy.loginfo("SHUTDOWN")
+    send_led_state(LedState.SHUTDOWN)
+    rospy.loginfo("Activate learning mode")
+    try:
+        rospy.wait_for_service('/niryo_robot/learning_mode/activate', timeout=1)
+    except rospy.ROSException:
+        pass
+    try:
+        rospy.ServiceProxy('/niryo_robot/learning_mode/activate', SetBool)(True)
+    except rospy.ServiceException:
+        pass
+    send_reboot_motors_command()
+    rospy.sleep(0.2)
+    rospy.loginfo("Command 'sudo shutdown now'")
+    try:
+        output = subprocess.check_output(['sudo', 'shutdown', 'now'])
+        rospy.loginfo(str(output))
+    except subprocess.CalledProcessError:
+        rospy.logwarn("Can't exec shutdown cmd")
+
+
+def send_reboot_command():
+    rospy.loginfo("REBOOT")
+    send_led_state(LedState.SHUTDOWN)
+    rospy.loginfo("Activate learning mode")
+    try:
+        rospy.wait_for_service('/niryo_robot/learning_mode/activate', timeout=0.5)
+    except rospy.ROSException:
+        pass
+    try:
+        rospy.ServiceProxy('/niryo_robot/learning_mode/activate', SetBool)(True)
+    except rospy.ServiceException:
+        pass
+    send_reboot_motors_command()
+    rospy.sleep(0.2)
+    rospy.loginfo("Command 'sudo reboot'")
+    try:
+        output = subprocess.check_output(['sudo', 'reboot'])
+        rospy.loginfo(str(output))
+    except subprocess.CalledProcessError:
+        rospy.logwarn("Can't exec reboot cmd")
+
+
+def send_led_state(state):
+    rospy.wait_for_service('/niryo_robot/rpi/set_led_state', timeout=0.5)
+    try:
+        set_led = rospy.ServiceProxy('/niryo_robot/rpi/set_led_state', SetInt)
+        set_led(state)
+    except rospy.ServiceException:
+        rospy.logwarn("Could not call set_led_state service")
+
+
+def activate_learning_mode(activate):
+    try:
+        rospy.wait_for_service('/niryo_robot/learning_mode/activate', timeout=0.5)
+        rospy.ServiceProxy('/niryo_robot/learning_mode/activate', SetBool)(activate)
+
+    except (rospy.ServiceException, rospy.ROSException) as e:
+        return False
+    return True
+
+
+def stop_robot_action():
+    # Stop current move command
+    try:
+        rospy.wait_for_service('/niryo_robot_commander/stop_command', timeout=0.5)
+        stop_cmd = rospy.ServiceProxy('/niryo_robot_commander/stop_command', Trigger)
+        stop_cmd()
+    except (rospy.ServiceException, rospy.ROSException) as e:
+        pass
diff --git a/niryo_robot_rpi/srv/ChangeMotorConfig.srv b/niryo_robot_rpi/srv/ChangeMotorConfig.srv
new file mode 100644
index 000000000..b82e3dc0c
--- /dev/null
+++ b/niryo_robot_rpi/srv/ChangeMotorConfig.srv
@@ -0,0 +1,5 @@
+int32[] can_required_motor_id_list
+int32[] dxl_required_motor_id_list
+---
+int32 status
+string message
diff --git a/niryo_robot_rpi/srv/GetDigitalIO.srv b/niryo_robot_rpi/srv/GetDigitalIO.srv
new file mode 100644
index 000000000..f01c658da
--- /dev/null
+++ b/niryo_robot_rpi/srv/GetDigitalIO.srv
@@ -0,0 +1,9 @@
+int32 pin
+---
+int32 status
+string message
+
+int32 pin
+string name
+int32 mode
+int32 state
diff --git a/niryo_robot_rpi/srv/LedBlinker.srv b/niryo_robot_rpi/srv/LedBlinker.srv
new file mode 100644
index 000000000..dfdb1af00
--- /dev/null
+++ b/niryo_robot_rpi/srv/LedBlinker.srv
@@ -0,0 +1,16 @@
+uint8 LED_OFF = 0
+uint8 LED_BLUE = 1
+uint8 LED_GREEN = 2
+uint8 LED_BLUE_GREEN = 3
+uint8 LED_RED = 4
+uint8 LED_PURPLE = 5
+uint8 LED_RED_GREEN = 6
+uint8 LED_WHITE = 7
+
+bool activate
+uint8 frequency # between 1hz and 100Hz
+uint8 color
+float32 blinker_duration # 0 for infinite
+---
+int32 status
+string message
\ No newline at end of file
diff --git a/niryo_robot_rpi/srv/SetDigitalIO.srv b/niryo_robot_rpi/srv/SetDigitalIO.srv
new file mode 100644
index 000000000..160547fde
--- /dev/null
+++ b/niryo_robot_rpi/srv/SetDigitalIO.srv
@@ -0,0 +1,5 @@
+uint8 pin
+uint8 value
+---
+int32 status
+string message
diff --git a/niryo_robot_system_api_client/CMakeLists.txt b/niryo_robot_system_api_client/CMakeLists.txt
new file mode 100644
index 000000000..fc4e9b397
--- /dev/null
+++ b/niryo_robot_system_api_client/CMakeLists.txt
@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(niryo_robot_system_api_client)
+
+find_package(catkin REQUIRED COMPONENTS
+)
+
+catkin_python_setup()
+
+catkin_package()
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
diff --git a/niryo_robot_system_api_client/launch/system_api_client.launch b/niryo_robot_system_api_client/launch/system_api_client.launch
new file mode 100644
index 000000000..b159a3f7b
--- /dev/null
+++ b/niryo_robot_system_api_client/launch/system_api_client.launch
@@ -0,0 +1,9 @@
+<launch>
+    <arg name="simulation_mode" default="true" />
+    <arg name="server_domain" default="0.0.0.0"/>
+    <arg name="server_port" default="5000"/>
+    <node name="niryo_robot_system_api_client" pkg="niryo_robot_system_api_client" type="system_api_client_node.py" output="screen">
+        <param name="server_domain" type="string" value="$(arg server_domain)"/>
+        <param name="server_port" type="string" value="$(arg server_port)"/>
+    </node>
+</launch>
diff --git a/niryo_robot_system_api_client/package.xml b/niryo_robot_system_api_client/package.xml
new file mode 100644
index 000000000..2dea8a89a
--- /dev/null
+++ b/niryo_robot_system_api_client/package.xml
@@ -0,0 +1,15 @@
+<package>
+  <name>niryo_robot_system_api_client</name>
+  <version>3.0.0</version>
+  <description>The niryo_robot_system_api_client package</description>
+  <author email="j.mottier@niryo.com">Justin Mottier</author>
+  <maintainer email="j.mottier@niryo.com">Justin Mottier</maintainer>
+  <maintainer email="c.ducatez@niryo.com">Corentin Ducatez</maintainer>
+  <license>GPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <run_depend>niryo_robot_msgs</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>std_msgs</run_depend>
+</package>
diff --git a/niryo_robot_system_api_client/scripts/system_api_client_node.py b/niryo_robot_system_api_client/scripts/system_api_client_node.py
new file mode 100755
index 000000000..66d44b977
--- /dev/null
+++ b/niryo_robot_system_api_client/scripts/system_api_client_node.py
@@ -0,0 +1,88 @@
+#!/usr/bin/env python
+
+import rospy
+from niryo_robot_system_api_client.HttpClient import HttpClient
+
+from std_msgs.msg import Bool
+from niryo_robot_msgs.srv import SetInt
+from niryo_robot_msgs.srv import SetString
+from niryo_robot_msgs.msg import CommandStatus
+
+
+class SystemApiClientNode:
+    def __init__(self):
+        rospy.logdebug("System Api Client - Entering in Init")
+
+        domain = rospy.get_param('~server_domain')
+        port = rospy.get_param('~server_port')
+
+        self.client = HttpClient(domain, port)
+
+        self.set_robot_name_server = rospy.Service('/niryo_robot/wifi/set_robot_name', SetString,
+                                                   self.__callback_set_robot_name)
+
+        self.hotspot_state_publisher = rospy.Publisher('/niryo_robot/wifi/hotspot', Bool, queue_size=2)
+        self.slow_mode = False
+        self.hotspot_timer = rospy.Timer(rospy.Duration(1), self.__publish_hotspot_state)
+
+        self.activate_hotspot_server = rospy.Service('/niryo_robot/wifi/set_hotspot', SetInt,
+                                                     self.__callback_activate_hotspot)
+
+        # Set a bool to mentioned this node is initialized
+        rospy.set_param('~initialized', True)
+
+        rospy.loginfo("System Api Client - Node Started")
+
+    def __callback_set_robot_name(self, req):
+        name = req.value
+        rospy.logdebug("System Api Client - Setting robot name to: " + str(name))
+        if len(name) > 32 or len(name) < 3:
+            rospy.logwarn('System Api Client - Invalid name: length must be between 3-32 characters')
+            return CommandStatus.SYSTEM_API_CLIENT_INVALID_ROBOT_NAME, 'Name length must be between 3-32 characters'
+
+        conn_success, result = self.client.set_robot_name(name)
+        if not conn_success:
+            return CommandStatus.SYSTEM_API_CLIENT_REQUEST_FAILED, result
+        if not result:
+            return CommandStatus.SYSTEM_API_CLIENT_UNKNOWN_ERROR, 'Could not change the robot name'
+        return CommandStatus.SUCCESS, 'Successfully changed the robot name'
+
+    def __publish_hotspot_state(self, _):
+        conn_success, activated = self.client.hotspot_state()
+
+        # In case of connection error we increase the timer interval to avoid useless requests
+        if not conn_success:
+            self.slow_mode = True
+            self.hotspot_timer.shutdown()
+            self.hotspot_timer = rospy.Timer(rospy.Duration(5), self.__publish_hotspot_state)
+
+        if conn_success and self.slow_mode:
+            self.slow_mode = False
+            self.hotspot_timer.shutdown()
+            self.hotspot_timer = rospy.Timer(rospy.Duration(1), self.__publish_hotspot_state)
+
+        msg = Bool()
+        if conn_success:
+            msg.data = activated
+        else:
+            msg.data = False
+        try:
+            self.hotspot_state_publisher.publish(msg)
+        except rospy.ROSException:
+            return
+
+    def __callback_activate_hotspot(self, _):
+        conn_success, result = self.client.activate_hotspot()
+
+        if not conn_success:
+            return CommandStatus.SYSTEM_API_CLIENT_REQUEST_FAILED, result
+        if not result:
+            return CommandStatus.SYSTEM_API_CLIENT_UNKNOWN_ERROR, "Failed to activate hotspot mode"
+
+        return CommandStatus.SUCCESS, "Hotspot mode activated"
+
+
+if __name__ == "__main__":
+    rospy.init_node('niryo_robot_system_api_client', anonymous=False, log_level=rospy.INFO)
+    SystemApiClientNode()
+    rospy.spin()
diff --git a/niryo_robot_system_api_client/setup.py b/niryo_robot_system_api_client/setup.py
new file mode 100644
index 000000000..837368f11
--- /dev/null
+++ b/niryo_robot_system_api_client/setup.py
@@ -0,0 +1,10 @@
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    packages=['niryo_robot_system_api_client'],
+    # scripts=['bin/myscript'],
+    package_dir={'': 'src'}
+)
+
+setup(**d)
diff --git a/niryo_robot_system_api_client/src/niryo_robot_system_api_client/HttpClient.py b/niryo_robot_system_api_client/src/niryo_robot_system_api_client/HttpClient.py
new file mode 100644
index 000000000..6ee988196
--- /dev/null
+++ b/niryo_robot_system_api_client/src/niryo_robot_system_api_client/HttpClient.py
@@ -0,0 +1,79 @@
+import json
+import urllib
+import urllib2
+
+
+class HttpClient:
+
+    def __init__(self, host, port):
+        self.host = host
+        self.port = port
+        self.last_error = ''
+
+    def __url_builder(self, uri, params=None):
+        """
+        Build an url from the route and parameters
+
+        :type uri: str
+        :type params: dict
+        :return: None
+        :rtype: str
+        """
+        url = 'http://{}:{}/{}'.format(self.host, self.port, uri)
+
+        if params:
+            url += '?{}'.format(urllib.urlencode(params))
+
+        return url
+
+    def __get(self, uri, params=None):
+        url = self.__url_builder(uri, params)
+
+        try:
+            u = urllib2.urlopen(url)
+        except IOError:
+            return False, False
+
+        return u.getcode(), json.loads(u.read())
+
+    def __post(self, uri, params=None):
+        if params is None:
+            # Important otherwise the request will be GET instead of POST
+            params = {}
+
+        url = self.__url_builder(uri)
+        try:
+            request = urllib2.Request(url)
+            request.add_header('Content-Type', 'application/json')
+            executed = urllib2.urlopen(request, json.dumps(params))
+        except IOError:
+            return False, False
+
+        return executed.getcode(), json.loads(executed.read())
+
+    def set_robot_name(self, name):
+        status_code, response = self.__post('setRobotName', {'name': name})
+
+        if not status_code:
+            return False, 'Unable to connect to the HTTP server'
+
+        if status_code != 200:
+            return False, response['detail']
+
+        return True, response['detail']
+
+    def hotspot_state(self):
+        status_code, response = self.__get('hotspotState')
+
+        if not status_code:
+            return False, 'Unable to connect to the HTTP server'
+
+        return True, response['state']
+
+    def activate_hotspot(self):
+        status_code, response = self.__post('switchToHotspot')
+
+        if not status_code:
+            return False, 'Unable to connect to the HTTP server'
+
+        return True, status_code == 200
diff --git a/niryo_robot_system_api_client/src/niryo_robot_system_api_client/__init__.py b/niryo_robot_system_api_client/src/niryo_robot_system_api_client/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/niryo_robot_tools/CMakeLists.txt b/niryo_robot_tools/CMakeLists.txt
new file mode 100644
index 000000000..9638c009d
--- /dev/null
+++ b/niryo_robot_tools/CMakeLists.txt
@@ -0,0 +1,34 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(niryo_robot_tools)
+
+find_package(catkin REQUIRED
+  COMPONENTS
+  actionlib_msgs
+  message_generation
+  std_msgs
+)
+
+add_message_files(
+  FILES
+  ToolCommand.msg
+)
+
+add_action_files(
+  DIRECTORY action
+  FILES
+  Tool.action
+)
+
+generate_messages(
+  DEPENDENCIES
+  actionlib_msgs
+  std_msgs
+)
+
+catkin_package(
+  CATKIN_DEPENDS
+  message_runtime)
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
diff --git a/niryo_robot_tools/action/Tool.action b/niryo_robot_tools/action/Tool.action
new file mode 100644
index 000000000..62be259a3
--- /dev/null
+++ b/niryo_robot_tools/action/Tool.action
@@ -0,0 +1,9 @@
+# goal
+niryo_robot_tools/ToolCommand cmd
+---
+# result
+int32 status
+string message
+---
+# feedback
+int32 progression
diff --git a/niryo_robot_tools/config/end_effectors.yaml b/niryo_robot_tools/config/end_effectors.yaml
new file mode 100644
index 000000000..b1c20b5d5
--- /dev/null
+++ b/niryo_robot_tools/config/end_effectors.yaml
@@ -0,0 +1,143 @@
+# Config for all the end-effectors
+
+command_list:
+  # Gripper
+  open_gripper: 1
+  close_gripper: 2
+  # Vacuump pump
+  pull_air_vacuum_pump: 10
+  push_air_vacuum_pump: 11
+  # Tools controlled by digital I/Os
+  setup_digital_io: 20
+  activate_digital_io: 21
+  deactivate_digital_io: 22
+
+state_dict:
+  ping_ok: 0x01
+  ping_error: 0x02
+  wrong_id: 0x03
+  timeout: 0x04
+
+  gripper_open: 0x10
+  gripper_close: 0x11
+
+  vacuum_pump_pulled: 0x20
+  vacuum_pump_pushed: 0x21
+
+  ros_communication_problem: 0xA0
+
+namespace_topics: "/niryo_robot/tools/"
+
+# Important note:
+# All the values finishing with "_hold_torque" have been computed so the
+# DXL-320 motor won't become too hot.
+# If you increase those values you may destroy (burn) the motor after a few minutes.
+
+tool_list:
+  - name: "No Tool"
+    type: "no_tool"
+    id: 0
+    specs:
+      [ ]
+    available_commands:
+      [ ]
+  - name: "Gripper 1"
+    type: "gripper"
+    id: 11
+    available_commands:
+      - open_gripper
+      - close_gripper
+    specs:
+      open_position: 600
+      open_hold_torque: 128
+      close_position: 230
+      close_hold_torque: 128
+      close_max_torque: 1023
+      open_speed: 300
+      close_speed: 300
+      limit_open_speed:
+        min: 0
+        max: 1023
+      limit_close_speed:
+        min: 0
+        max: 1023
+  - name: "Gripper 2"
+    type: "gripper"
+    id: 12
+    available_commands:
+      - open_gripper
+      - close_gripper
+    specs:
+      open_position: 640
+      open_hold_torque: 128
+      close_position: 400
+      close_hold_torque: 128
+      close_max_torque: 1023
+      open_speed: 300
+      close_speed: 300
+      limit_open_speed:
+        min: 0
+        max: 1023
+      limit_close_speed:
+        min: 0
+        max: 1023
+  - name: "Gripper 3"
+    type: "gripper"
+    id: 13
+    available_commands:
+      - open_gripper
+      - close_gripper
+    specs:
+      open_position: 450
+      open_hold_torque: 128
+      close_position: 220
+      close_hold_torque: 160
+      close_max_torque: 1023
+      open_speed: 300
+      close_speed: 300
+      limit_open_speed:
+        min: 0
+        max: 1023
+      limit_close_speed:
+        min: 0
+        max: 1023
+  - name: "Gripper 4"
+    type: "gripper"
+    id: 14
+    available_commands:
+      - open_gripper
+      - close_gripper
+    specs:
+      open_position: 518
+      open_hold_torque: 128
+      close_position: 157
+      close_hold_torque: 160
+      close_max_torque: 1023
+      open_speed: 300
+      close_speed: 300
+      limit_open_speed:
+        min: 0
+        max: 1023
+      limit_close_speed:
+        min: 0
+        max: 1023
+  - name: "Electromagnet 1"
+    type: "electromagnet"
+    id: 30
+    available_commands:
+      - activate_digital_io
+      - deactivate_digital_io
+      - setup_digital_io
+    specs:
+      [ ]
+  - name: "Vacuum Pump 1"
+    type: "vacuum_pump"
+    id: 31
+    available_commands:
+      - pull_air_vacuum_pump
+      - push_air_vacuum_pump
+    specs:
+      pull_air_position: 250
+      pull_air_hold_torque: 128
+      push_air_position: 760
+
diff --git a/niryo_robot_tools/msg/ToolCommand.msg b/niryo_robot_tools/msg/ToolCommand.msg
new file mode 100644
index 000000000..797c7e22c
--- /dev/null
+++ b/niryo_robot_tools/msg/ToolCommand.msg
@@ -0,0 +1,15 @@
+uint8 tool_id
+uint8 cmd_type
+
+# if gripper close
+uint16 gripper_close_speed
+
+# if gripper open
+uint16 gripper_open_speed
+
+# if vacuum pump or electromagnet grove
+bool activate
+
+# if tool is set by digital outputs (electromagnet)
+# if gpio<0 get value in memory
+int8 gpio
diff --git a/niryo_robot_tools/package.xml b/niryo_robot_tools/package.xml
new file mode 100644
index 000000000..2d9ec5783
--- /dev/null
+++ b/niryo_robot_tools/package.xml
@@ -0,0 +1,20 @@
+<package>
+  <name>niryo_robot_tools</name>
+  <version>3.0.0</version>
+  <description>Provides functionalities to control end-effectors and accessories for Niryo Robot</description>
+  <author>Edouard Renard</author>
+  <author email="r.lux@niryo.com">Rémi Lux</author>
+  <maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>
+  <maintainer email="v.pitre@niryo.com">Valentin Pitre</maintainer>
+
+  <license>GPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>actionlib_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+
+  <run_depend>message_runtime</run_depend>
+  <run_depend>tools_interface</run_depend>
+  
+</package>
diff --git a/niryo_robot_tools/scripts/tool_controller_node.py b/niryo_robot_tools/scripts/tool_controller_node.py
new file mode 100755
index 000000000..6d8e3a6f2
--- /dev/null
+++ b/niryo_robot_tools/scripts/tool_controller_node.py
@@ -0,0 +1,237 @@
+#!/usr/bin/env python
+
+import rospy
+import actionlib
+
+from tools_classes import *
+from tool_ros_command_interface import ToolRosCommandInterface
+
+# Command Status
+from niryo_robot_msgs.msg import CommandStatus
+
+# Messages
+from std_msgs.msg import Int32
+
+from niryo_robot_tools.msg import ToolAction, ToolResult
+
+# Services
+from niryo_robot_msgs.srv import Trigger, SetInt
+
+
+class ToolsState:
+    def __init__(self, state_dict):
+        self.PING_OK = state_dict["ping_ok"]
+        self.PING_ERROR = state_dict["ping_error"]
+        self.WRONG_ID = state_dict["wrong_id"]
+        self.TIMEOUT = state_dict["timeout"]
+
+        self.GRIPPER_OPEN = state_dict["gripper_open"]
+        self.GRIPPER_CLOSE = state_dict["gripper_close"]
+
+        self.VACUUM_PUMP_PULLED = state_dict["vacuum_pump_pulled"]
+        self.VACUUM_PUMP_PUSHED = state_dict["vacuum_pump_pushed"]
+
+        self.ROS_COMMUNICATION_PROBLEM = state_dict["ros_communication_problem"]
+
+
+class ToolController:
+    def __init__(self):
+        self.__tools_state = ToolsState(rospy.get_param("~state_dict"))
+        self.__ros_command_interface = ToolRosCommandInterface(self.__tools_state.ROS_COMMUNICATION_PROBLEM)
+
+        self.__current_tool = None
+
+        self.__available_tools, self.__dict_commands_string_to_id = self.create_tools()
+
+        self.__dict_id_commands_to_string = {string: id_ for id_, string
+                                             in self.__dict_commands_string_to_id.iteritems()}
+
+        self.__is_simulation = rospy.get_param("~simulation_mode")
+
+        # Subscriber
+        rospy.Subscriber('/niryo_robot_hardware/tools/current_id', Int32,
+                         self.__callback_current_tool_id)
+
+        # Publisher
+        self.__tool_id_publisher = rospy.Publisher('~current_id', Int32, queue_size=10, latch=True)
+
+        # Services
+        rospy.Service('~update_tool', Trigger,
+                      self.__callback_update_tool)
+
+        rospy.Service('~equip_electromagnet', SetInt,
+                      self.__callback_equip_electromagnet)
+
+        # Action Server
+        self.__action_server = actionlib.SimpleActionServer('~action_server', ToolAction,
+                                                            self.__callback_goal, auto_start=False)
+        self.__end_init()
+
+        # Set a bool to mentioned this node is initialized
+        rospy.set_param('~initialized', True)
+
+        rospy.loginfo("Tools controller - Started")
+
+    def __end_init(self):
+        self.__action_server.start()
+        self.update_tool()
+
+    # Subscriber
+
+    def __callback_current_tool_id(self, msg):
+        if self.__current_tool != "electromagnet":
+            id_ = msg.data
+            tool = self.__available_tools[id_]
+            self.__current_tool = tool
+
+        self.__tool_id_publisher.publish(self.__current_tool.get_id())
+
+    # - Callbacks
+
+    def __callback_goal(self, goal):
+        cmd = goal.cmd
+        rospy.logdebug("Tool controller - received goal : " + str(goal))
+
+        if self.__current_tool is None:
+            rospy.logwarn("Tool Controller - No tool selected")
+            self.__action_server.set_aborted(self.create_action_result(CommandStatus.TOOL_FAILURE, "No tool selected"))
+            return
+
+        if not self.__is_simulation:
+            # 1. Check tool id
+            if cmd.tool_id != self.__current_tool.get_id():
+                msg = "Tools ID do not match -> Given : {} Expected : {}".format(cmd.tool_id,
+                                                                                 self.__current_tool.get_id())
+                rospy.logwarn("Tool Controller - {}".format(msg))
+                self.__action_server.set_aborted(self.create_action_result(CommandStatus.TOOL_FAILURE, msg))
+                return
+
+            # 2. Check if current tool is active
+            if self.__current_tool.is_active():
+                self.__action_server.set_aborted(
+                    self.create_action_result(CommandStatus.TOOL_FAILURE, "Tool still active, retry later"))
+                return
+
+        # 3. Check cmd_type (if exists, and is available for selected tool)
+        # Skip in case of simulation
+        if not self.__is_simulation and cmd.cmd_type not in self.__current_tool.get_available_commands():
+            msg = "Command '{}' is not available for {}".format(self.__dict_id_commands_to_string[cmd.cmd_type],
+                                                                self.__current_tool.name)
+            rospy.logwarn("Tool Controller - {}".format(msg))
+            self.__action_server.set_aborted(self.create_action_result(CommandStatus.TOOL_FAILURE, msg))
+            return
+
+        # 3.1 Validate params
+        try:
+            self.__current_tool.validate_command(cmd)
+        except ToolValidationException as e:
+            self.__action_server.set_aborted(self.create_action_result(CommandStatus.TOOL_FAILURE, str(e)))
+            return
+
+        if not self.__is_simulation:
+            # 4. Execute cmd -> retrieve cmd name in command list and execute on current tool
+            self.__current_tool.set_as_active()
+
+            function_name = self.__dict_id_commands_to_string[cmd.cmd_type]
+            success, message = self.__current_tool(function_name, cmd)  # Execute function from name
+
+            self.__current_tool.set_as_non_active()
+
+            # 5. Return success or error
+            if success:
+                self.__action_server.set_succeeded(
+                    self.create_action_result(CommandStatus.SUCCESS, "Tool action successfully finished"))
+            else:
+                rospy.loginfo("Tool controller - error : {}".format(message))
+                self.__action_server.set_aborted(self.create_action_result(CommandStatus.TOOL_FAILURE, message))
+            # Simulation
+        else:
+            self.__action_server.set_succeeded(
+                self.create_action_result(CommandStatus.SUCCESS, "Tool action successfully finished"))
+
+    def __callback_update_tool(self, _req):
+        state, id_ = self.update_tool()
+        if state != self.__tools_state.PING_OK:
+            return self.create_response(CommandStatus.TOOL_FAILURE,
+                                        "Impossible to set new tool")
+
+        if id_ not in self.__available_tools:
+            # no tool found in available tools
+            return self.create_response(CommandStatus.TOOL_ID_INVALID, "This ID does not match any available tool ID")
+
+        self.__current_tool = self.__available_tools[id_]
+        self.__tool_id_publisher.publish(id_)
+
+        return self.create_response(CommandStatus.SUCCESS,
+                                    "New tool has been set, id : {}".format(id_))
+
+    def __callback_equip_electromagnet(self, req):
+        id_ = req.value
+        if id_ not in self.__available_tools:
+            # no tool found in available tools
+            return self.create_response(CommandStatus.TOOL_ID_INVALID, "This ID does not match any electromagnet ID")
+
+        self.__current_tool = self.__available_tools[id_]
+        self.__tool_id_publisher.publish(self.__current_tool.get_id())
+        return CommandStatus.SUCCESS, "Electromagnet properly equipped"
+
+    # Functions
+    def create_tools(self):
+        # Get params from rosparams
+        tool_config_dict = rospy.get_param("~tool_list")
+        list_commands_all_tools = rospy.get_param("~command_list")
+
+        dict_tools = {}
+
+        for tool in tool_config_dict:
+            tool_type, tool_id, tool_name, specs = (tool[key] for key in ['type', 'id', 'name', 'specs'])
+            if tool_type == Gripper.get_type():
+                new_tool = Gripper(tool_id, tool_name, self.__tools_state, self.__ros_command_interface, specs)
+            elif tool_type == Electromagnet.get_type():
+                new_tool = Electromagnet(tool_id, tool_name, self.__tools_state, self.__ros_command_interface)
+            elif tool_type == VacuumPump.get_type():
+                new_tool = VacuumPump(tool_id, tool_name, self.__tools_state, self.__ros_command_interface, specs)
+            elif tool_type == NoTool.get_type():
+                new_tool = NoTool(tool_id, tool_name, self.__tools_state, self.__ros_command_interface)
+            else:
+                rospy.logwarn("Tool Controller - Type not recognized from tool config list : " + str(tool['type']))
+                continue
+
+            tool_command_list = []
+
+            for cmd in tool['available_commands']:
+                try:
+                    tool_command_list.append(list_commands_all_tools[cmd])
+                except KeyError:
+                    rospy.logwarn("Tool Controller - Unknown command : {}".format(cmd))
+                    continue
+
+            new_tool.set_available_commands(tool_command_list)
+
+            dict_tools[tool_id] = new_tool
+
+        return dict_tools, list_commands_all_tools
+
+    def update_tool(self):
+        return self.__ros_command_interface.ping_dxl_tool()
+
+    # - General Purposes
+    @staticmethod
+    def create_action_result(status, message):
+        result = ToolResult()
+        result.status = status
+        result.message = message
+        return result
+
+    @staticmethod
+    def create_response(status, message):
+        return {'status': status, 'message': message}
+
+
+if __name__ == '__main__':
+    rospy.init_node('niryo_robot_tools', anonymous=False, log_level=rospy.INFO)
+    try:
+        node = ToolController()
+        rospy.spin()
+    except rospy.ROSInterruptException:
+        pass
diff --git a/niryo_robot_tools/scripts/tool_ros_command_interface.py b/niryo_robot_tools/scripts/tool_ros_command_interface.py
new file mode 100644
index 000000000..54e565f0b
--- /dev/null
+++ b/niryo_robot_tools/scripts/tool_ros_command_interface.py
@@ -0,0 +1,99 @@
+#!/usr/bin/env python
+
+import rospy
+
+# Command Status
+from niryo_robot_msgs.msg import CommandStatus
+
+# Services
+from niryo_robot_rpi.srv import SetDigitalIO
+
+from tools_interface.srv import PingDxlTool
+from tools_interface.srv import OpenGripper, CloseGripper
+from tools_interface.srv import PullAirVacuumPump, PushAirVacuumPump
+
+
+class ToolRosCommandInterface:
+
+    def __init__(self, state_ros_communication_problem):
+        namespace = rospy.get_param("~namespace_topics")
+        self.__service_open_gripper = rospy.ServiceProxy(namespace + 'open_gripper',
+                                                         OpenGripper)
+        self.__service_close_gripper = rospy.ServiceProxy(namespace + 'close_gripper',
+                                                          CloseGripper)
+
+        self.__service_pull_air_vacuum_pump = rospy.ServiceProxy(namespace + 'pull_air_vacuum_pump',
+                                                                 PullAirVacuumPump)
+        self.__service_push_air_vacuum_pump = rospy.ServiceProxy(namespace + 'push_air_vacuum_pump',
+                                                                 PushAirVacuumPump)
+
+        self.__service_ping_dxl_tool = rospy.ServiceProxy(namespace + 'ping_and_set_dxl_tool', PingDxlTool)
+
+        self.__service_setup_digital_output_tool = rospy.ServiceProxy('/niryo_robot_rpi/set_digital_io_mode',
+                                                                      SetDigitalIO)
+        self.__service_activate_digital_output_tool = rospy.ServiceProxy('/niryo_robot_rpi/set_digital_io_state',
+                                                                         SetDigitalIO)
+
+        self.__state_ros_communication_problem = state_ros_communication_problem
+        rospy.logdebug("Interface between Tools Controller and ROS Control has been started.")
+
+    # Gripper
+
+    def open_gripper(self, gripper_id, open_position, open_speed, open_hold_torque):
+        try:
+            resp = self.__service_open_gripper(gripper_id, open_position, open_speed, open_hold_torque)
+            return resp.state
+        except rospy.ServiceException:
+            rospy.logerr("ROS Tool Interface - Failed to Open Gripper")
+            return self.__state_ros_communication_problem
+
+    def close_gripper(self, gripper_id, close_position, close_speed, close_hold_torque, close_max_torque):
+        try:
+            resp = self.__service_close_gripper(gripper_id, close_position, close_speed, close_hold_torque,
+                                                close_max_torque)
+            return resp.state
+        except rospy.ServiceException:
+            rospy.logerr("ROS Tool Interface - Failed to Close Gripper")
+            return self.__state_ros_communication_problem
+
+    # Vacuum
+    def pull_air_vacuum_pump(self, vp_id, vp_pull_air_position, vp_pull_air_hold_torque):
+        try:
+            resp = self.__service_pull_air_vacuum_pump(vp_id, vp_pull_air_position, vp_pull_air_hold_torque)
+            return resp.state
+        except rospy.ServiceException:
+            rospy.logerr("ROS Tool Interface - Failed to Pull Air")
+            return self.__state_ros_communication_problem
+
+    def push_air_vacuum_pump(self, vp_id, vp_push_air_position):
+        try:
+            resp = self.__service_push_air_vacuum_pump(vp_id, vp_push_air_position)
+            return resp.state
+        except rospy.ServiceException:
+            rospy.logerr("ROS Tool Interface - Failed to Push Air")
+            return self.__state_ros_communication_problem
+
+    # Others
+    def ping_dxl_tool(self):
+        try:
+            resp = self.__service_ping_dxl_tool()
+            return resp.state, resp.id
+        except rospy.ServiceException:
+            rospy.logerr("ROS Tool Interface - Failed to Ping Dynamixel Tool - An error has occurred or another ping was running")
+            return CommandStatus.TOOL_ROS_INTERFACE_ERROR, "Cannot ping dxl tool"
+
+    def digital_output_tool_setup(self, gpio_pin):
+        try:
+            resp = self.__service_setup_digital_output_tool(gpio_pin, 0)  # set output
+            return resp.status, resp.message
+        except rospy.ServiceException:
+            rospy.logerr("ROS Tool Interface - Failed to get digital output setup")
+            return CommandStatus.TOOL_ROS_INTERFACE_ERROR, "Digital IO panel service failed"
+
+    def digital_output_tool_activate(self, gpio_pin, activate):
+        try:
+            resp = self.__service_activate_digital_output_tool(gpio_pin, activate)
+            return resp.status, resp.message
+        except rospy.ServiceException:
+            rospy.logerr("ROS Tool Interface - Failed to activate digital output")
+            return CommandStatus.TOOL_ROS_INTERFACE_ERROR, "Digital IO panel service failed"
diff --git a/niryo_robot_tools/scripts/tools_classes.py b/niryo_robot_tools/scripts/tools_classes.py
new file mode 100644
index 000000000..8a466056f
--- /dev/null
+++ b/niryo_robot_tools/scripts/tools_classes.py
@@ -0,0 +1,261 @@
+#!/usr/bin/env python
+
+# Command Status
+from niryo_robot_msgs.msg import CommandStatus
+
+__all__ = [
+    "Tool",
+    "NoTool",
+    "Gripper",
+    "Electromagnet",
+    "VacuumPump",
+
+    "ToolValidationException",
+]
+
+
+class ToolValidationException(Exception):
+    pass
+
+
+#
+# Base class for any tool
+#
+class Tool(object):
+    def __init__(self, tool_id, tool_name, tools_state, ros_command_interface):
+        self._functions_dict = {}
+        self._id = tool_id
+        self._name = tool_name
+        self._tools_state = tools_state
+        self.ros_command_interface = ros_command_interface
+        self._is_active = False
+        self.available_commands = []
+
+    # To override
+    @staticmethod
+    def get_type():
+        raise NotImplementedError
+
+    # To override
+    def validate_command(self, cmd):
+        raise NotImplementedError
+
+    def set_as_active(self):
+        self._is_active = True
+
+    def set_as_non_active(self):
+        self._is_active = False
+
+    def is_active(self):
+        return self._is_active
+
+    def get_id(self):
+        return self._id
+
+    @property
+    def name(self):
+        return self._name
+
+    def set_available_commands(self, cmd_list):
+        self.available_commands = cmd_list
+
+    def get_available_commands(self):
+        return self.available_commands
+
+    def __call__(self, function_name, *args):
+        return self._functions_dict[function_name](*args)
+
+    def __str__(self):
+        return "Tool {} of type {} with ID {}".format(self._name, self.get_type(), self._id)
+
+    def __repr__(self):
+        return self.__str__()
+
+
+class NoTool(Tool):
+    def __init__(self, tool_id, tool_name, tools_state, ros_command_interface):
+        super(NoTool, self).__init__(tool_id, tool_name, tools_state, ros_command_interface)
+
+    @staticmethod
+    def get_type():
+        return "no_tool"
+
+    def validate_command(self, cmd):
+        pass
+
+    def is_connected(self):
+        state, id_ = self.ros_command_interface.ping_dxl_tool()
+        return state == self._tools_state.PING_OK and id_ == self._id
+
+
+class Gripper(Tool):
+    def __init__(self, tool_id, tool_name, tools_state, ros_command_interface, specs):
+        super(Gripper, self).__init__(tool_id, tool_name, tools_state, ros_command_interface)
+
+        self.open_position = specs["open_position"]
+        self.open_hold_torque = specs["open_hold_torque"]
+        self.close_position = specs["close_position"]
+        self.close_hold_torque = specs["close_hold_torque"]
+        self.close_max_torque = specs["close_max_torque"]
+
+        self.open_speed_limits = specs["limit_open_speed"]
+        self.close_speed_limits = specs["limit_close_speed"]
+
+        self._functions_dict = {
+            "open_gripper": self.open_gripper,
+            "close_gripper": self.close_gripper,
+        }
+
+    @staticmethod
+    def get_type():
+        return "gripper"
+
+    def validate_command(self, cmd):
+        if not self.open_speed_limits["min"] <= cmd.gripper_open_speed < self.open_speed_limits["max"]:
+            raise ToolValidationException(
+                "Gripper open speed must be in ( {}, {})".format(self.open_speed_limits["min"],
+                                                                 self.open_speed_limits["max"]))
+        elif not self.close_speed_limits["min"] <= cmd.gripper_close_speed < self.close_speed_limits["max"]:
+            raise ToolValidationException(
+                "Gripper close speed must be in ( {}, {})".format(self.close_speed_limits["min"],
+                                                                  self.close_speed_limits["max"]))
+
+    def is_connected(self):
+        state, id_ = self.ros_command_interface.ping_dxl_tool()
+        return state == self._tools_state.PING_OK and id_ == self._id
+
+    def return_gripper_status(self, state):
+        if state == self._tools_state.GRIPPER_OPEN:
+            return True, "Successfully opened gripper"
+        if state == self._tools_state.GRIPPER_CLOSE:
+            return True, "Successfully closed gripper"
+        if state == self._tools_state.PING_OK:
+            return True, "Gripper is connected"
+        if state == self._tools_state.PING_ERROR:
+            return False, "Gripper not detected"
+        if state == self._tools_state.TIMEOUT:
+            return False, "Gripper action - Timeout"
+        if state == self._tools_state.WRONG_ID:
+            return False, "This gripper is not the one attached"
+        if state == self._tools_state.ROS_COMMUNICATION_PROBLEM:
+            return False, "A communication problem occured, please retry"
+
+    def open_gripper(self, cmd):
+        state = self.ros_command_interface.open_gripper(
+            self._id, self.open_position, cmd.gripper_open_speed, self.open_hold_torque)
+        return self.return_gripper_status(state)
+
+    def close_gripper(self, cmd):
+        state = self.ros_command_interface.close_gripper(
+            self._id, self.close_position, cmd.gripper_close_speed, self.close_hold_torque, self.close_max_torque)
+        return self.return_gripper_status(state)
+
+    def update_params(self, open_position, open_hold_torque, close_position,
+                      close_hold_torque, close_max_torque):
+        self.open_position = open_position
+        self.open_hold_torque = open_hold_torque
+        self.close_position = close_position
+        self.close_hold_torque = close_hold_torque
+        self.close_max_torque = close_max_torque
+
+
+class Electromagnet(Tool):
+    def __init__(self, tool_id, tool_name, tools_state, ros_command_interface):
+        super(Electromagnet, self).__init__(tool_id, tool_name, tools_state, ros_command_interface)
+        self._functions_dict = {
+            "setup_digital_io": self.setup_digital_io,
+            "activate_digital_io": self.activate_digital_io,
+            "deactivate_digital_io": self.deactivate_digital_io,
+        }
+        self._gpio = None
+
+    @staticmethod
+    def get_type():
+        return "electromagnet"
+
+    def validate_command(self, cmd):
+        if type(cmd.activate) is not bool:
+            raise ToolValidationException("Electromagnet activation command should be boolean")
+
+    def setup_digital_io(self, cmd):
+        self._gpio = cmd.gpio
+        status, message = self.ros_command_interface.digital_output_tool_setup(cmd.gpio)
+        if status == CommandStatus.SUCCESS:
+            return True, 'Successfully setup digital output PIN  ' + str(cmd.gpio) + ' for electromagnet'
+        else:
+            return False, message
+
+    def activate_digital_io(self, cmd):
+        if cmd.gpio > 0:
+            self._gpio = cmd.gpio
+        status, message = self.ros_command_interface.digital_output_tool_activate(self._gpio, 1)
+        if status == CommandStatus.SUCCESS:
+            return True, 'Successfully activated eletromagnet on PIN  ' + str(cmd.gpio)
+        else:
+            return False, message
+
+    def deactivate_digital_io(self, cmd):
+        if cmd.gpio > 0:
+            self._gpio = cmd.gpio
+        status, message = self.ros_command_interface.digital_output_tool_activate(self._gpio, 0)
+        if status == CommandStatus.SUCCESS:
+            return True, 'Successfully deactivated eletromagnet on PIN  ' + str(cmd.gpio)
+        else:
+            return False, message
+
+
+class VacuumPump(Tool):
+    def __init__(self, tool_id, tool_name, tools_state, ros_command_interface, specs):
+        super(VacuumPump, self).__init__(tool_id, tool_name, tools_state, ros_command_interface)
+        self.__pull_air_position = specs["pull_air_position"]
+        self.__pull_air_hold_torque = specs["pull_air_hold_torque"]
+        self.__push_air_position = specs["push_air_position"]
+
+        self._functions_dict = {
+            "pull_air_vacuum_pump": self.pull_air_vacuum_pump,
+            "push_air_vacuum_pump": self.push_air_vacuum_pump,
+        }
+
+    @staticmethod
+    def get_type():
+        return "vacuum_pump"
+
+    def validate_command(self, cmd):
+        if type(cmd.activate) is not bool:
+            raise ToolValidationException("Vacuum Pump activation command should be boolean")
+
+    def is_connected(self):
+        state = self.ros_command_interface.ping_dxl_tool(self._id, self._name)
+        return state == self._tools_state.PING_OK
+
+    def return_vaccump_pump_state(self, state):
+        if state == self._tools_state.VACUUM_PUMP_PULLED:
+            return True, 'Successfully pulled air'
+        elif state == self._tools_state.VACUUM_PUMP_PUSHED:
+            return True, 'Successfully pushed air'
+        elif state == self._tools_state.PING_OK:
+            return True, 'Vacuum Pump is connected'
+        elif state == self._tools_state.PING_ERROR:
+            return False, 'Vacuum pump not detected'
+        elif state == self._tools_state.TIMEOUT:
+            return False, 'Vacump pump action - Timeout'
+        elif state == self._tools_state.WRONG_ID:
+            return False, 'This vacuum pump is not the one attached'
+        elif state == self._tools_state.ROS_COMMUNICATION_PROBLEM:
+            return False, "A communication problem occured, please retry"
+        else:
+            return False, "Error : Unknown vacuum pump return" + str(state)
+
+    def pull_air_vacuum_pump(self, _):
+        state = self.ros_command_interface.pull_air_vacuum_pump(self._id, self.__pull_air_position,
+                                                                self.__pull_air_hold_torque)
+        return self.return_vaccump_pump_state(state)
+
+    def push_air_vacuum_pump(self, _):
+        state = self.ros_command_interface.push_air_vacuum_pump(self._id, self.__push_air_position)
+        return self.return_vaccump_pump_state(state)
+
+    def update_params(self, pull_air_position, pull_air_hold_torque, push_air_position):
+        self.__pull_air_position = pull_air_position
+        self.__pull_air_hold_torque = pull_air_hold_torque
+        self.__push_air_position = push_air_position
diff --git a/niryo_robot_unit_tests/CMakeLists.txt b/niryo_robot_unit_tests/CMakeLists.txt
new file mode 100644
index 000000000..ff36395a3
--- /dev/null
+++ b/niryo_robot_unit_tests/CMakeLists.txt
@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(niryo_robot_unit_tests)
+
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+  rostest
+)
+
+catkin_package()
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
diff --git a/niryo_robot_unit_tests/launch/rpi_tests.launch b/niryo_robot_unit_tests/launch/rpi_tests.launch
new file mode 100755
index 000000000..550178bb6
--- /dev/null
+++ b/niryo_robot_unit_tests/launch/rpi_tests.launch
@@ -0,0 +1,13 @@
+<launch>
+    <arg name="conveyor" default="false"/>
+    <arg name="verbose" default="true"/>
+
+    <node name="niryo_robot_unit_tests" pkg="niryo_robot_unit_tests" type="script_test_from_launch.py"
+          output="screen" required="true">
+        <param name="conveyor" type="bool" value="$(arg conveyor)"/>
+        <param name="gripper_n_camera" type="bool" value="false"/>
+        <param name="headless" type="bool" value="true"/>
+        <param name="rpi" type="bool" value="true"/>
+        <param name="verbose" type="bool" value="$(arg verbose)"/>
+    </node>
+</launch>
diff --git a/niryo_robot_unit_tests/launch/simulation_gazebo_tests.launch b/niryo_robot_unit_tests/launch/simulation_gazebo_tests.launch
new file mode 100755
index 000000000..136f0ee16
--- /dev/null
+++ b/niryo_robot_unit_tests/launch/simulation_gazebo_tests.launch
@@ -0,0 +1,13 @@
+<launch>
+    <arg name="conveyor" default="false"/>
+    <arg name="verbose" default="false"/>
+
+    <node name="niryo_robot_unit_tests" pkg="niryo_robot_unit_tests" type="script_test_from_launch.py"
+          output="screen" required="true">
+        <param name="conveyor" type="bool" value="false"/>
+        <param name="gripper_n_camera" type="bool" value="true"/>
+        <param name="headless" type="bool" value="false"/>
+        <param name="rpi" type="bool" value="false"/>
+        <param name="verbose" type="bool" value="$(arg verbose)"/>
+    </node>
+</launch>
diff --git a/niryo_robot_unit_tests/launch/simulation_headless_tests.launch b/niryo_robot_unit_tests/launch/simulation_headless_tests.launch
new file mode 100755
index 000000000..1a7ec16b9
--- /dev/null
+++ b/niryo_robot_unit_tests/launch/simulation_headless_tests.launch
@@ -0,0 +1,12 @@
+<launch>
+    <arg name="verbose" default="true"/>
+
+    <node name="niryo_robot_unit_tests" pkg="niryo_robot_unit_tests" type="script_test_from_launch.py"
+          output="screen" required="true">
+        <param name="conveyor" type="bool" value="false"/>
+        <param name="gripper_n_camera" type="bool" value="false"/>
+        <param name="headless" type="bool" value="true"/>
+        <param name="rpi" type="bool" value="false"/>
+        <param name="verbose" type="bool" value="$(arg verbose)"/>
+    </node>
+</launch>
diff --git a/niryo_robot_unit_tests/launch/simulation_rviz_tests.launch b/niryo_robot_unit_tests/launch/simulation_rviz_tests.launch
new file mode 100755
index 000000000..64fd098e1
--- /dev/null
+++ b/niryo_robot_unit_tests/launch/simulation_rviz_tests.launch
@@ -0,0 +1,12 @@
+<launch>
+    <arg name="verbose" default="true"/>
+
+    <node name="niryo_robot_unit_tests" pkg="niryo_robot_unit_tests" type="script_test_from_launch.py"
+          output="screen" required="true">
+        <param name="conveyor" type="bool" value="false"/>
+        <param name="headless" type="bool" value="false"/>
+        <param name="gripper_n_camera" type="bool" value="false"/>
+        <param name="rpi" type="bool" value="false"/>
+        <param name="verbose" type="bool" value="$(arg verbose)"/>
+    </node>
+</launch>
diff --git a/niryo_robot_unit_tests/package.xml b/niryo_robot_unit_tests/package.xml
new file mode 100644
index 000000000..f0d4636f0
--- /dev/null
+++ b/niryo_robot_unit_tests/package.xml
@@ -0,0 +1,17 @@
+<package>
+    <name>niryo_robot_unit_tests</name>
+    <version>3.0.0</version>
+    <description>Package containing unit tests in order to run CI !</description>
+    <author email="r.lux@niryo.com">Remi Lux</author>
+    <maintainer email="r.lux@niryo.com">Remi Lux</maintainer>
+    <license>GPLv3</license>
+
+    <buildtool_depend>catkin</buildtool_depend>
+
+    <build_depend>rospy</build_depend>
+    <build_depend>rostest</build_depend>
+
+    <run_depend>rospy</run_depend>
+    <run_depend>rostest</run_depend>
+
+</package>
diff --git a/niryo_robot_unit_tests/scripts/pipeline_test_ros_n_pure_python.py b/niryo_robot_unit_tests/scripts/pipeline_test_ros_n_pure_python.py
new file mode 100644
index 000000000..d9c11679f
--- /dev/null
+++ b/niryo_robot_unit_tests/scripts/pipeline_test_ros_n_pure_python.py
@@ -0,0 +1,184 @@
+#!/usr/bin/env python
+"""
+This script is made to run ROS tests on .test files
+It allows to hide log which are generated by catkin's run_tests or rostest
+
+To use it, firstly add test files names in the corresponding list, either simulation or rpi
+"""
+from subprocess import Popen, PIPE
+import argparse
+
+list_test_files_simulation = [
+    ["niryo_robot_poses_handlers", "simulation_poses_handlers.test", False],
+    ["niryo_robot_programs_manager", "simulation_programs_manager.test", False],
+    ["niryo_robot_python_ros_wrapper", "simulation_python_wrapper.test", True],
+]
+
+list_test_files_rpi = [
+    ["niryo_robot_poses_handlers", "rpi_poses_handlers.test", False],
+    ["niryo_robot_programs_manager", "rpi_programs_manager.test", False],
+    ["niryo_robot_python_ros_wrapper", "rpi_python_wrapper.test", True],
+]
+
+
+class Colors(object):
+    """
+    https://godoc.org/github.com/whitedevops/colors
+    """
+    # Colors
+    DEFAULT = '\033[39m'
+    RED = '\033[91m'
+    GREEN = '\033[92m'
+    ORANGE = '\033[93m'
+    BLUE = '\033[94m'
+    MAGENTA = "\033[95m"
+
+    # Font style
+    BOLD = "\033[1m"
+
+    # Reset all
+    RESET = '\033[0m'
+
+
+def args_parser():
+    def description_parser():
+        warning = 15 * '-' + " Ned Tests " + 15 * '-'
+        return warning
+
+    # def help_gripper():
+    #     s = ["Run tests on gripper",
+    #          "Will use Gripper 1 for simulation and Gripper 2 for Real Robot",
+    #          "If not set, will test all end-effectors functions on simulation and None for the real robot"
+    #          ]
+    #     return "\n".join(s)
+
+    parser = argparse.ArgumentParser(description=description_parser(),
+                                     epilog=50 * '-' + '\n',
+                                     # formatter_class=argparse.RawTextHelpFormatter
+                                     )
+
+    parser.add_argument("--rpi",
+                        action="store_true",
+                        help="If tests are done on RPI",
+                        )
+    parser.add_argument("--headless",
+                        action="store_true",
+                        help="If you want to run on headless",
+                        )
+    parser.add_argument("-v", "--verbose",
+                        action="store_true",
+                        help="Display stderr. Nevertheless, it can be misleading"
+                             "cause some errors happened when closing Gazebo",
+                        )
+    parser.add_argument("-gc", "--gripper_n_camera",
+                        action="store_true",
+                        help="Run tests also on vision node and a tool",
+                        )
+    parser.add_argument("--conveyor",
+                        action="store_true",
+                        help="Run tests with conveyor",
+                        )
+
+    l_args = parser.parse_args()
+    optional_args = [
+        "gripper_n_camera:={}".format(str(l_args.gripper_n_camera).lower()),
+        "gui:={}".format(str(not l_args.headless).lower()),
+    ]
+
+    return l_args, optional_args
+
+
+def find_result(output_clean):
+    target_str = " * RESULT: "
+    res = "NOT FOUND"
+    for line in output_clean:
+        if target_str not in line:
+            continue
+        res = line.replace(target_str, "")
+        break
+    return res.strip()
+
+
+def test_pipeline(show_errors, use_simulation, optional_args=None):
+    if optional_args is None:
+        optional_args = []
+    line = 20 * "-"
+    if use_simulation:
+        list_test = list_test_files_simulation
+    else:
+        list_test = list_test_files_rpi
+
+    # - Display before running
+    print "\n" + 20 * "*" + "\n"
+    print "Executing {} tests on {} mode\n".format(
+        len(list_test), Colors.BLUE + ("Simulation" if use_simulation else "RPI") + Colors.RESET)
+    print "Optional args : \n{}\n".format(Colors.ORANGE + "\n".join(optional_args) + Colors.RESET)
+    print "\n" + 20 * "*" + "\n"
+    # - Run all commands in a loop
+    list_res = []
+    for dir_, file_, use_args in list_test:
+        print "{}\nExecuting Test {} from Package {}".format(line, Colors.BLUE + file_ + Colors.RESET,
+                                                             Colors.GREEN + dir_ + Colors.RESET)
+        l_param = ["rostest", dir_, file_]
+        if use_args:
+            l_param.extend(optional_args)
+
+        print "Command used : {}\n{}".format(Colors.MAGENTA + " ".join(l_param) + Colors.RESET, line)
+
+        # Launching command in a shell and getting output
+        p = Popen(l_param, stdout=PIPE, stderr=PIPE)
+        output, error = p.communicate()
+
+        # - Analysing the output to extract only useful information which is contains after ROSTEST
+        output_split = output.split("\n")
+        for i in range(len(output_split)):
+            if output_split[i].startswith("[ROSTEST]"):
+                j = i + 1
+                break
+        else:
+            list_res.append([dir_, file_, "{}CANNOT FIND ROSTEST RESULT{}".format(Colors.RED, Colors.RESET)])
+            continue
+
+        jump_to_end = 6  # Number of lines between "SUMMARY" on end of summary
+        for j in range(i, len(output_split) - jump_to_end - 1):
+            if output_split[j].startswith("SUMMARY"):
+                break
+
+        # - Format output
+        output_clean_list = output_split[i + 1:j + jump_to_end + 1]
+        output_clean = "\n".join(output_clean_list)
+
+        # - Display result of the test
+        if show_errors and error:
+            print 3 * "!" + " Warns/Errors " + 3 * "!" + "\n"
+            print error
+            print 3 * "#" + " Test Results " + 3 * "#" + "\n"
+        print output_clean + "\n"
+
+        # Check if the test Succeed and store result
+        list_res.append([dir_, file_, find_result(output_clean_list)])
+
+    # - Summary of tests
+    success = all(["SUCCESS" in res for _, _, res in list_res])
+    if success:
+        success_str = Colors.GREEN + "SUCCESS"
+    else:
+        success_str = Colors.RED + "FAILED"
+
+    border = "{}--Tests Summary : {} --{}".format(Colors.BOLD, success_str + Colors.DEFAULT, Colors.RESET)
+    print "\n\n" + border + "\n"
+
+    for dir_, file_, res in list_res:
+        print "File {} from package {} : {}".format(file_, dir_, res)
+
+    print "\n" + border
+
+    return success
+
+
+if __name__ == '__main__':
+    # - Getting CLI arguments
+    args_, optional_args_ = args_parser()
+
+    test_pipeline(show_errors=args_.verbose, use_simulation=not args_.rpi,
+                  optional_args=optional_args_)
diff --git a/niryo_robot_unit_tests/scripts/script_test_from_launch.py b/niryo_robot_unit_tests/scripts/script_test_from_launch.py
new file mode 100755
index 000000000..63c75aa39
--- /dev/null
+++ b/niryo_robot_unit_tests/scripts/script_test_from_launch.py
@@ -0,0 +1,26 @@
+#!/usr/bin/env python
+
+import rospy
+
+from pipeline_test_ros_n_pure_python import test_pipeline
+
+if __name__ == '__main__':
+    rospy.init_node('unit_tests_node')
+
+    conveyor = rospy.get_param('~conveyor')
+    simulation_mode = not rospy.get_param('~rpi')
+    headless = rospy.get_param('~headless')
+    gripper_n_camera = rospy.get_param('~gripper_n_camera')
+    verbose = rospy.get_param('~verbose')
+
+    gripper_n_camera_str = "true" if gripper_n_camera else "false"
+    conveyor_str = "true" if conveyor else "false"
+    gui = "false" if headless else "true"
+    optional_args = [
+        "conveyor:={}".format(conveyor_str),
+        "gripper_n_camera:={}".format(gripper_n_camera_str),
+        "gui:={}".format(gui),
+    ]
+
+    success_bool = test_pipeline(show_errors=verbose, use_simulation=simulation_mode,
+                                 optional_args=optional_args)
diff --git a/niryo_robot_unit_tests/scripts/script_test_gazebo.py b/niryo_robot_unit_tests/scripts/script_test_gazebo.py
new file mode 100755
index 000000000..3702e4c04
--- /dev/null
+++ b/niryo_robot_unit_tests/scripts/script_test_gazebo.py
@@ -0,0 +1,15 @@
+#!/usr/bin/env python
+
+import sys
+from pipeline_test_ros_n_pure_python import test_pipeline
+
+if __name__ == '__main__':
+    optional_args = [
+        "conveyor:=false",
+        "gripper_n_camera:=true",
+        "gui:=true"
+    ]
+
+    success_bool = test_pipeline(show_errors=False, use_simulation=True,
+                                 optional_args=optional_args)
+    sys.exit(0 if success_bool else 1)
diff --git a/niryo_robot_unit_tests/scripts/script_test_headless.py b/niryo_robot_unit_tests/scripts/script_test_headless.py
new file mode 100755
index 000000000..fb59eb86f
--- /dev/null
+++ b/niryo_robot_unit_tests/scripts/script_test_headless.py
@@ -0,0 +1,15 @@
+#!/usr/bin/env python
+
+import sys
+from pipeline_test_ros_n_pure_python import test_pipeline
+
+if __name__ == '__main__':
+    optional_args = [
+        "conveyor:=false",
+        "gripper_n_camera:=false",
+        "gui:=false",
+    ]
+
+    success_bool = test_pipeline(show_errors=True, use_simulation=True,
+                                 optional_args=optional_args)
+    sys.exit(0 if success_bool else 1)
diff --git a/niryo_robot_unit_tests/scripts/script_test_rviz.py b/niryo_robot_unit_tests/scripts/script_test_rviz.py
new file mode 100755
index 000000000..2708e4b2e
--- /dev/null
+++ b/niryo_robot_unit_tests/scripts/script_test_rviz.py
@@ -0,0 +1,15 @@
+#!/usr/bin/env python
+
+import sys
+from pipeline_test_ros_n_pure_python import test_pipeline
+
+if __name__ == '__main__':
+    optional_args = [
+        "conveyor:=false",
+        "gripper_n_camera:=false",
+        "gui:=true"
+    ]
+
+    success_bool = test_pipeline(show_errors=False, use_simulation=True,
+                                 optional_args=optional_args)
+    sys.exit(0 if success_bool else 1)
diff --git a/niryo_robot_user_interface/CMakeLists.txt b/niryo_robot_user_interface/CMakeLists.txt
new file mode 100644
index 000000000..d270785ef
--- /dev/null
+++ b/niryo_robot_user_interface/CMakeLists.txt
@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(niryo_robot_user_interface)
+
+find_package(catkin REQUIRED COMPONENTS
+  message_generation
+)
+
+add_message_files(
+  FILES
+  MatlabMoveResult.msg
+)
+
+catkin_python_setup()
+
+generate_messages()
+
+catkin_package()
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
diff --git a/niryo_robot_user_interface/launch/user_interface.launch b/niryo_robot_user_interface/launch/user_interface.launch
new file mode 100644
index 000000000..56a1e1bae
--- /dev/null
+++ b/niryo_robot_user_interface/launch/user_interface.launch
@@ -0,0 +1,6 @@
+<launch>
+    <!--  Launch Main node  -->
+    <node name="niryo_robot_user_interface" pkg="niryo_robot_user_interface" type="user_interface_node.py"
+          output="screen">
+    </node>
+</launch>
diff --git a/niryo_robot_user_interface/msg/MatlabMoveResult.msg b/niryo_robot_user_interface/msg/MatlabMoveResult.msg
new file mode 100644
index 000000000..94741eeff
--- /dev/null
+++ b/niryo_robot_user_interface/msg/MatlabMoveResult.msg
@@ -0,0 +1,2 @@
+int32 status 
+string message 
diff --git a/niryo_robot_user_interface/package.xml b/niryo_robot_user_interface/package.xml
new file mode 100644
index 000000000..7a2f7b252
--- /dev/null
+++ b/niryo_robot_user_interface/package.xml
@@ -0,0 +1,21 @@
+<package>
+  <name>niryo_robot_user_interface</name>
+  <version>3.0.0</version>
+  <description>Handles high level commands from user</description>
+  <author email="r.lux@niryo.com">Remi Lux</author>
+  <maintainer email="r.lux@niryo.com">Remi Lux</maintainer>
+  <maintainer email="c.ducatez@niryo.com">Corentin Ducatez</maintainer>
+  <license>GPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>message_generation</build_depend>
+
+  <run_depend>actionlib</run_depend>
+  <run_depend>actionlib_msgs</run_depend>
+  <run_depend>niryo_robot_commander</run_depend>
+  <run_depend>niryo_robot_msgs</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>std_msgs</run_depend>
+
+</package>
diff --git a/niryo_robot_user_interface/scripts/__init__.py b/niryo_robot_user_interface/scripts/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/niryo_robot_user_interface/scripts/jog_interface/client_jog_interface_example.py b/niryo_robot_user_interface/scripts/jog_interface/client_jog_interface_example.py
new file mode 100755
index 000000000..6bd29e521
--- /dev/null
+++ b/niryo_robot_user_interface/scripts/jog_interface/client_jog_interface_example.py
@@ -0,0 +1,67 @@
+#!/usr/bin/env python
+
+import rospy
+
+from niryo_robot_msgs.msg import CommandStatus
+from std_msgs.msg import Bool
+
+from niryo_robot_commander.srv import JogShift, JogShiftRequest
+from niryo_robot_msgs.srv import SetBool
+
+
+class JogClient:
+    def __init__(self):
+        rospy.init_node('jog_client_node', anonymous=True)
+
+        self.__jog_enabled = False
+        self.__jog_enabled_subscriber = rospy.Subscriber('/niryo_robot/jog_interface/is_enabled',
+                                                         Bool, self.__callback_subscriber_jog_enabled,
+                                                         queue_size=1)
+
+    def __callback_subscriber_jog_enabled(self, ros_data):
+        self.__jog_enabled = ros_data.data
+
+    def set_jog(self, set_bool):
+        if set_bool == self.__jog_enabled:
+            return CommandStatus.SUCCESS, "Already enable"
+        rospy.wait_for_service('/niryo_robot/jog_interface/enable')
+        try:
+            enable_service = rospy.ServiceProxy('/niryo_robot/jog_interface/enable', SetBool)
+            response = enable_service(set_bool)
+        except rospy.ServiceException as e:
+            raise Exception("Service call failed: {}".format(e))
+        rospy.sleep(0.1)
+        return response
+
+    def ask_for_jog_shift(self, cmd, shift_values):
+        init_time = rospy.get_time()
+        if not self.__jog_enabled:
+            self.set_jog(True)
+        service_name = '/niryo_robot/jog_interface/jog_shift_commander'
+        rospy.wait_for_service(service_name)
+        try:
+            jog_commander_service = rospy.ServiceProxy(service_name, JogShift)
+            req = JogShiftRequest()
+            req.cmd = cmd
+            req.shift_values = shift_values
+            response = jog_commander_service(req)
+        except rospy.ServiceException as e:
+            raise Exception("Service call failed: {}".format(e))
+        rospy.sleep(0.15 - (rospy.get_time() - init_time))
+        return response
+
+
+if __name__ == "__main__":
+    # Creating Client Object
+    jc = JogClient()
+    jc.set_jog(True)
+
+    for sign in [1, -1]:
+        for i in range(15):
+            jc.ask_for_jog_shift(cmd=JogShiftRequest.JOINTS_SHIFT,
+                                 shift_values=[sign * 0.05, 0.0, 0.0, 0.0, 0.0, 0.0])
+
+    for sign in [1, -1]:
+        for i in range(20):
+            jc.ask_for_jog_shift(cmd=JogShiftRequest.POSE_SHIFT,
+                                 shift_values=[sign * 0.005, 0.0, 0.0, 0.0, 0.0, 0.0])
diff --git a/niryo_robot_user_interface/scripts/jog_interface/client_jog_interface_mouse.py b/niryo_robot_user_interface/scripts/jog_interface/client_jog_interface_mouse.py
new file mode 100755
index 000000000..befff6b2b
--- /dev/null
+++ b/niryo_robot_user_interface/scripts/jog_interface/client_jog_interface_mouse.py
@@ -0,0 +1,102 @@
+#!/usr/bin/env python
+
+import rospy
+
+from client_jog_interface_example import JogClient
+
+from niryo_robot_commander.srv import JogShiftRequest
+
+from pynput.mouse import Button, Listener, Controller
+
+
+class MyMouseListener:
+
+    def __init__(self):
+        self.clicked = False
+
+        self.last_x_send = None
+        self.actual_x = None
+
+        self.last_y_send = None
+        self.actual_y = None
+
+        self.last_z_send = 0
+        self.actual_z = 0
+
+        self.mouse = Controller()
+
+        self.listener = Listener(
+            on_move=self.on_move,
+            on_click=self.on_click,
+            on_scroll=self.on_scroll).start()
+
+    def __del__(self):
+        self.listener.stop()
+
+    def on_move(self, x, y):
+        if self.last_x_send is None:
+            self.last_x_send = x
+            self.last_y_send = y
+        self.actual_x = x
+        self.actual_y = y
+
+    def on_click(self, _x, _y, button, pressed):
+        if not pressed:
+            # self.mouse.release(button)
+            if button == Button.right:
+                self.clicked = True
+            elif button == Button.left:
+                self.actual_x = 960
+                self.actual_y = 1500
+                self.mouse.position = (self.actual_x, self.actual_y)
+                self.actual_z = 0
+                self.reset()
+
+    def on_scroll(self, _x, _y, _dx, dy):
+        self.actual_z += dy
+
+    def reset(self):
+        self.last_x_send = self.actual_x
+        self.last_y_send = self.actual_y
+        self.last_z_send = self.actual_z
+
+    def get_x_diff(self):
+        if self.last_x_send is None:
+            return 0
+        return self.actual_x - self.last_x_send
+
+    def get_y_diff(self):
+        if self.last_y_send is None:
+            return 0
+        return self.actual_y - self.last_y_send
+
+    def get_z_diff(self):
+        return self.actual_z - self.last_z_send
+
+    def __str__(self):
+        return ''
+
+
+if __name__ == "__main__":
+    import time
+
+    # Creating Client Object
+    jc = JogClient()
+    jc.set_jog(True)
+
+    mouse_listener = MyMouseListener()
+
+    actualization_rate = rospy.Rate(10)
+    while not mouse_listener.clicked:
+        init = time.time()
+        mouse_dx = mouse_listener.get_x_diff()
+        mouse_dy = mouse_listener.get_y_diff()
+        mouse_dz = mouse_listener.get_z_diff()
+        mouse_listener.reset()
+        robot_dx = - float(mouse_dy) * 1e-4
+        robot_dy = - float(mouse_dx) * 1e-4
+        robot_dz = float(mouse_dz) * 5e-3
+        jc.ask_for_jog_shift(cmd=JogShiftRequest.POSE_SHIFT,
+                             shift_values=[robot_dx, robot_dy, robot_dz, 0.0, 0.0, 0.0])
+
+        actualization_rate.sleep()
diff --git a/niryo_robot_user_interface/scripts/matlab_manager.py b/niryo_robot_user_interface/scripts/matlab_manager.py
new file mode 100755
index 000000000..67e0c88af
--- /dev/null
+++ b/niryo_robot_user_interface/scripts/matlab_manager.py
@@ -0,0 +1,53 @@
+#!/usr/bin/env python
+
+import rospy
+import actionlib
+
+# Messages
+from niryo_robot_commander.msg import RobotCommand
+from niryo_robot_user_interface.msg import MatlabMoveResult
+
+# Action
+from niryo_robot_commander.msg import RobotMoveAction
+from niryo_robot_commander.msg import RobotMoveGoal
+
+
+class MatlabManager:
+
+    def __init__(self):
+        rospy.Subscriber('/niryo_robot_matlab/command', RobotCommand,
+                         self.__callback_matlab_node)
+        self.__matlab_move_publisher = rospy.Publisher('/niryo_robot_matlab/result', MatlabMoveResult,
+                                                       queue_size=10)
+        self.__action_client_matlab = actionlib.SimpleActionClient('/niryo_robot_commander/robot_action',
+                                                                   RobotMoveAction)
+        rospy.logdebug('Matlab Manager - Started')
+
+    @staticmethod
+    def create_response(status, message):
+        return {'status': status, 'message': message}
+
+    def __callback_matlab_node(self, request):
+        rospy.loginfo("Matlab Manager - Receive Goal")
+        cmd = request.joints
+        cmd_type = request.cmd_type
+        response = self.__send_matlab_goal(cmd, cmd_type)
+        msg = MatlabMoveResult()
+        msg.status = response.status
+        msg.message = response.message
+        rospy.loginfo(msg)
+        rospy.sleep(0.2)
+        self.__matlab_move_publisher.publish(msg)
+        rospy.loginfo("Matlab Manager - Move Result Published")
+
+    def __send_matlab_goal(self, cmd, cmd_type):
+        self.__action_client_matlab.wait_for_server()
+        goal = RobotMoveGoal()
+        goal.cmd.joints = cmd
+        goal.cmd.cmd_type = cmd_type
+        self.__action_client_matlab.send_goal(goal)
+        rospy.loginfo("Matlab Manager - Waiting for result")
+        self.__action_client_matlab.wait_for_result()
+        response = self.__action_client_matlab.get_result()
+        rospy.logdebug("Matlab Manager - Result : {}".format(response))
+        return response
diff --git a/niryo_robot_user_interface/scripts/user_interface_node.py b/niryo_robot_user_interface/scripts/user_interface_node.py
new file mode 100755
index 000000000..7f2556d77
--- /dev/null
+++ b/niryo_robot_user_interface/scripts/user_interface_node.py
@@ -0,0 +1,35 @@
+#!/usr/bin/env python
+
+import rospy
+
+from matlab_manager import MatlabManager
+from niryo_robot_user_interface.tcp_server import TcpServer
+
+
+class UserInterface:
+
+    def __init__(self):
+        rospy.logdebug("User Interface Node - Entering in Init")
+
+        # Matlab node manager
+        self.__matlab_manager = MatlabManager()
+
+        self.__tcp_server = TcpServer().start()
+
+        # Set a bool to mentioned this node is initialized
+        rospy.set_param('~initialized', True)
+
+        rospy.loginfo("User Interface Node - Started")
+
+    def shutdown(self):
+        self.__tcp_server.quit()
+
+
+if __name__ == '__main__':
+    rospy.init_node('niryo_robot_user_interface', anonymous=False, log_level=rospy.INFO)
+    try:
+        ui = UserInterface()
+        rospy.on_shutdown(ui.shutdown)
+        rospy.spin()
+    except rospy.ROSInterruptException:
+        pass
diff --git a/niryo_robot_user_interface/setup.py b/niryo_robot_user_interface/setup.py
new file mode 100644
index 000000000..6c4ec4b61
--- /dev/null
+++ b/niryo_robot_user_interface/setup.py
@@ -0,0 +1,10 @@
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    packages=['niryo_robot_user_interface'],
+    # scripts=['bin/myscript'],
+    package_dir={'': 'src'}
+)
+
+setup(**d)
diff --git a/niryo_robot_user_interface/src/__init__.py b/niryo_robot_user_interface/src/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/niryo_robot_user_interface/src/niryo_robot_user_interface/__init__.py b/niryo_robot_user_interface/src/niryo_robot_user_interface/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/__init__.py b/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/__init__.py
new file mode 100644
index 000000000..6cf8db9d4
--- /dev/null
+++ b/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/__init__.py
@@ -0,0 +1,3 @@
+# from .communication_functions import *
+# from .const_communication import *
+from .tcp_server import TcpServer
diff --git a/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/command_interpreter.py b/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/command_interpreter.py
new file mode 100644
index 000000000..1815bd49b
--- /dev/null
+++ b/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/command_interpreter.py
@@ -0,0 +1,702 @@
+#!/usr/bin/env python
+import rospy
+
+from niryo_robot_python_ros_wrapper.ros_wrapper_enums import *
+from niryo_robot_python_ros_wrapper.ros_wrapper import NiryoRosWrapper
+from .communication_functions import dict_to_packet
+
+
+class TcpCommandException(Exception):
+    pass
+
+
+def check_nb_args(expected_nbr):
+    """
+    Decorator used to check number of arguments before running a function
+    """
+
+    def decorator(function):
+        def wrapper(*args):
+            nbr_args = len(args) - 1  # Because "self"
+            if nbr_args != expected_nbr:
+                err = "{} parameters expected but {} given".format(expected_nbr, nbr_args)
+                raise TcpCommandException(err + "\nIn function".format(function.__name__))
+            result = function(*args)
+            return result
+
+        return wrapper
+
+    return decorator
+
+
+class CommandInterpreter:
+    """
+    Object which interpret commands from TCP Client, and then, call Niryo Python ROS Wrapper to execute these commands
+    """
+
+    def __init__(self):
+        # Niryo Python Ros Wrapper instance
+        self.__niryo_robot = NiryoRosWrapper()
+
+        # Dict containing a mapping between
+        # "Command" enumeration (defined in const_communication) and interpreter's functions
+        self.__commands_dict = self.__generate_functions_dict()
+
+        # - Enumerations mapping
+        self.__axis_string_dict_convertor = {
+            "X": ShiftPose.AXIS_X,
+            "Y": ShiftPose.AXIS_Y,
+            "Z": ShiftPose.AXIS_Z,
+            "ROLL": ShiftPose.ROT_ROLL,
+            "PITCH": ShiftPose.ROT_PITCH,
+            "YAW": ShiftPose.ROT_YAW,
+        }
+
+        self.__pin_nbr_string_dict_convertor = {
+            "GPIO_1A": PinID.GPIO_1A,
+            "GPIO_1B": PinID.GPIO_1B,
+            "GPIO_1C": PinID.GPIO_1C,
+            "GPIO_2A": PinID.GPIO_2A,
+            "GPIO_2B": PinID.GPIO_2B,
+            "GPIO_2C": PinID.GPIO_2C,
+        }
+
+        self.__pin_mode_string_dict_convertor = {
+            "OUTPUT": PinMode.OUTPUT,
+            "INPUT": PinMode.INPUT,
+        }
+
+        self.__digital_state_string_dict_convertor = {
+            "HIGH": PinState.HIGH,
+            "LOW": PinState.LOW,
+        }
+
+        self.__digital_state_string_dict_convertor_inv = {index: string for string, index
+                                                          in self.__digital_state_string_dict_convertor.iteritems()}
+
+        self.__boolean_string_dict_converter = {
+            "TRUE": True,
+            "FALSE": False
+        }
+
+        self.__tools_string_dict_convertor = {
+            "NONE": ToolID.NONE,
+            "GRIPPER_1": ToolID.GRIPPER_1,
+            "GRIPPER_2": ToolID.GRIPPER_2,
+            "GRIPPER_3": ToolID.GRIPPER_3,
+            "GRIPPER_4": ToolID.GRIPPER_4,
+            "ELECTROMAGNET_1": ToolID.ELECTROMAGNET_1,
+            "VACUUM_PUMP_1": ToolID.VACUUM_PUMP_1,
+        }
+
+        self.__grippers_string_dict_convertor = {
+            "NONE": ToolID.NONE,
+            "GRIPPER_1": ToolID.GRIPPER_1,
+            "GRIPPER_2": ToolID.GRIPPER_2,
+            "GRIPPER_3": ToolID.GRIPPER_3,
+            "GRIPPER_4": ToolID.GRIPPER_4,
+        }
+
+        self.__conveyor_id_string_dict_convertor = {
+            "NONE": ConveyorID.NONE,
+            "ID_1": ConveyorID.ID_1,
+            "ID_2": ConveyorID.ID_2,
+        }
+        self.__conveyor_id_string_dict_convertor_inv = {index: string for string, index
+                                                        in self.__conveyor_id_string_dict_convertor.iteritems()}
+
+        self.__conveyor_direction_string_dict_convertor = {
+            "FORWARD": ConveyorDirection.FORWARD,
+            "BACKWARD": ConveyorDirection.BACKWARD,
+        }
+
+        self.__available_tools_string_dict_convertor_inv = {index: string for string, index
+                                                            in self.__tools_string_dict_convertor.iteritems()}
+
+    # Error Handlers
+    def __raise_exception_expected_choice(self, expected_choice, given):
+        raise TcpCommandException("Expected one of the following: {}.\nGiven: {}".format(expected_choice, given))
+
+    def __raise_exception_expected_type(self, expected_type, given):
+        raise TcpCommandException("Expected the following type: " + expected_type + ".\nGiven: " + given)
+
+    def __raise_exception_expected_parameters_nbr(self, expected_nbr, given):
+        raise TcpCommandException(str(expected_nbr) + " parameters expected, given: " + str(given))
+
+    # Command interpreter
+    def interpret_command(self, dict_command_received):
+        rospy.logdebug("Command Interpreter - Dict Received : {}".format(dict_command_received))
+        # Check if command is a dict
+        if not type(dict_command_received) is dict:
+            msg = "Cannot interpret command of incorrect type: " + type(dict_command_received)
+            return self.generate_dict_failure(message=msg)
+        # Check if the dict is well formed
+        if set(dict_command_received.keys()) != {"command", "param_list"}:
+            msg = "Incorrect command format: " + str(dict_command_received)
+            return self.generate_dict_failure(message=msg)
+        # Check if command exists
+        command_name = dict_command_received["command"].upper()
+        if command_name not in self.__commands_dict:
+            return dict_to_packet((self.generate_dict_failure(message="Unknown command")))
+
+        # Execute command
+        try:
+            param_list = dict_command_received["param_list"]
+            # noinspection PyArgumentList
+            status, list_ret_param, payload = self.__commands_dict[command_name](*param_list)
+            rospy.logdebug("Command Interpreter - {} - {}".format(status, list_ret_param))
+        except (TcpCommandException, TypeError, NotImplementedError) as e:
+            return dict_to_packet(self.generate_dict_failure(command=command_name, message=str(e)))
+
+        # Save answer Format parameters
+        new_param_list = []
+        for parameter in list_ret_param:
+            if isinstance(parameter, Enum):
+                new_param_list.append(parameter.name)
+            elif isinstance(parameter, bool):
+                new_param_list.append(str(parameter))
+            else:
+                new_param_list.append(parameter)
+
+        dict_ret = {"status": status,
+                    "command": command_name,
+                    "list_ret_param": new_param_list,
+                    "payload_size": len(payload)}
+
+        packet_data = dict_to_packet(dict_ret)
+        rospy.logdebug("Command Interpreter - Packet response size {}\n" +
+                       "Dict response : {}".format(len(packet_data), dict_ret))
+
+        return packet_data + payload
+
+    # Dictionaries handler
+    def __generate_functions_dict(self):
+        """
+        Generate a dict with the format : {command_1 : function_to_call_1, command_2 : function_to_call_2...}
+        WARNING -> function name should have the following format : function_to_call_1 = __command_1.lower()
+        For instance GRASP_WITH_TOOL is associated to "__grasp_with_tool"
+        :return: dict
+        """
+        dict_c = dict()
+        # noinspection PyTypeChecker
+        for command in CommandEnum:
+            try:
+                func_adr = getattr(self, "_{}__{}".format(self.__class__.__name__, command.name.lower()))
+            except AttributeError:
+                func_adr = self.__not_implemented_function
+            dict_c[command.name] = func_adr
+
+        return dict_c
+
+    @staticmethod
+    def generate_dict_failure(command="", message="Failure in command_interpreter"):
+        return {"command": command, "status": "KO", "message": message, "list_ret_param": []}
+
+    def __send_answer(self, *params):
+        """
+        Return success with empty payload
+        """
+        return self.__send_answer_with_payload("", *params)
+
+    @staticmethod
+    def __send_answer_with_payload(payload, *params):
+        return "OK", params, payload
+
+    def __check_list_belonging(self, value, list_):
+        """
+        Check if a value belong to a list
+        """
+        if value not in list_:
+            self.__raise_exception_expected_choice(list_, value)
+
+    def __check_dict_belonging(self, value, dict_):
+        """
+        Check if a value belong to a dictionary
+        """
+        if value not in dict_.keys():
+            self.__raise_exception_expected_choice(dict_.keys(), value)
+
+    def __check_type(self, value, type_):
+        if type(value) is not type_:
+            self.__raise_exception_expected_type(type_.__name__, value)
+
+    def __check_list_type(self, list_, type_):
+        for value in list_:
+            self.__check_type(value, type_)
+
+    def __check_and_get_from_dict(self, value, dict_):
+        """
+        Check if a value belong to a dictionary and return it
+        """
+        self.__check_dict_belonging(value, dict_)
+        return dict_[value]
+
+    def __map_list(self, list_, type_):
+        """
+        Try to map a list to another type (Very useful for list like joints
+        which are acquired as string)
+        """
+        try:
+            map_list = map(type_, list_)
+            return map_list
+        except ValueError:
+            self.__raise_exception_expected_type(type_.__name__, list_)
+
+    def __transform_to_type(self, value, type_):
+        """
+        Try to change value type to another
+        """
+        try:
+            value = type_(value)
+            return value
+        except ValueError:
+            self.__raise_exception_expected_type(type_.__name__, value)
+
+    # --- FUNCTION LIST
+    def __not_implemented_function(self, *_):
+        raise NotImplementedError
+
+    # - Main Purpose
+    @check_nb_args(1)
+    def __calibrate(self, calibrate_mode):
+        self.__check_list_belonging(calibrate_mode, ["MANUAL", "AUTO"])
+        self.__niryo_robot.calibrate_manual() if calibrate_mode == "MANUAL" else self.__niryo_robot.calibrate_auto()
+
+        return self.__send_answer()
+
+    @check_nb_args(0)
+    def __get_learning_mode(self):
+        is_learning_mode_enabled = self.__niryo_robot.get_learning_mode()
+        return self.__send_answer(is_learning_mode_enabled)
+
+    @check_nb_args(1)
+    def __set_learning_mode(self, state_string):
+        state = self.__check_and_get_from_dict(state_string, self.__boolean_string_dict_converter)
+        ret = self.__niryo_robot.set_learning_mode(state)
+        return self.__send_answer(ret)
+
+    @check_nb_args(1)
+    def __set_arm_max_velocity(self, max_velocity_percentage):
+        if type(max_velocity_percentage) not in [int, float] or not 0 < max_velocity_percentage <= 100:
+            self.__raise_exception_expected_type("float/integer [1 -100]", max_velocity_percentage)
+
+        self.__niryo_robot.set_arm_max_velocity(max_velocity_percentage)
+        return self.__send_answer()
+
+    @check_nb_args(1)
+    def __set_jog_control(self, state_string):
+        state = self.__check_and_get_from_dict(state_string, self.__boolean_string_dict_converter)
+
+        ret = self.__niryo_robot.set_jog_use_state(state)
+        return self.__send_answer(ret)
+
+    # - Pose
+
+    @check_nb_args(0)
+    def __get_joints(self):
+        return self.__send_answer(*self.__niryo_robot.get_joints())
+
+    @check_nb_args(0)
+    def __get_pose(self):
+        arm_pose = self.__niryo_robot.get_pose()
+        data_answer = [arm_pose.position.x, arm_pose.position.y, arm_pose.position.z, arm_pose.rpy.roll,
+                       arm_pose.rpy.pitch, arm_pose.rpy.yaw]
+        return self.__send_answer(*data_answer)
+
+    @check_nb_args(0)
+    def __get_pose_quat(self):
+        arm_pose = self.__niryo_robot.get_pose()
+        data_answer = [arm_pose.position.x, arm_pose.position.y, arm_pose.position.z, arm_pose.orientation.x,
+                       arm_pose.orientation.y, arm_pose.orientation.z, arm_pose.orientation.w]
+        return self.__send_answer(*data_answer)
+
+    @check_nb_args(6)
+    def __move_joints(self, *param_list):
+        joint_list = self.__map_list(param_list, float)
+
+        self.__niryo_robot.move_joints(*joint_list)
+        return self.__send_answer()
+
+    @check_nb_args(6)
+    def __move_pose(self, *param_list):
+        parameters_value_array = self.__map_list(param_list, float)
+
+        self.__niryo_robot.move_pose(*parameters_value_array)
+        return self.__send_answer()
+
+    @check_nb_args(2)
+    def __shift_pose(self, axis_string, value_string):
+        axis = self.__check_and_get_from_dict(axis_string, self.__axis_string_dict_convertor)
+        value = self.__transform_to_type(value_string, float)
+
+        self.__niryo_robot.shift_pose(axis, value)
+        return self.__send_answer()
+
+    @check_nb_args(6)
+    def __jog_joints(self, *param_list):
+        joint_list = self.__map_list(param_list, float)
+
+        self.__niryo_robot.jog_joints_shift(joint_list)
+        return self.__send_answer()
+
+    @check_nb_args(6)
+    def __jog_pose(self, *param_list):
+        shift_values_list = self.__map_list(param_list, float)
+
+        self.__niryo_robot.jog_pose_shift(shift_values_list)
+        return self.__send_answer()
+
+    @check_nb_args(6)
+    def __move_linear_pose(self, *param_list):
+        parameters_value_array = self.__map_list(param_list, float)
+
+        self.__niryo_robot.move_linear_pose(*parameters_value_array)
+        return self.__send_answer()
+
+    @check_nb_args(6)
+    def __forward_kinematics(self, *param_list):
+        joint_list = self.__map_list(param_list, float)
+
+        return self.__send_answer(self.__niryo_robot.forward_kinematics(*joint_list))
+
+    @check_nb_args(6)
+    def __inverse_kinematics(self, *param_list):
+        parameters_value_array = self.__map_list(param_list, float)
+
+        return self.__send_answer(self.__niryo_robot.inverse_kinematics(*parameters_value_array))
+
+    # - Saved Pose
+
+    @check_nb_args(1)
+    def __get_pose_saved(self, *param_list):
+        pose = self.__niryo_robot.get_pose_saved(*param_list)
+        return self.__send_answer(*pose)
+
+    @check_nb_args(7)
+    def __save_pose(self, *param_list):
+        try:
+            parameters_value_array = self.__map_list(param_list[1:], float)
+        except ValueError:
+            self.__raise_exception_expected_type("float", param_list)
+        else:
+            self.__niryo_robot.save_pose(param_list[0], *parameters_value_array)
+        return self.__send_answer()
+
+    @check_nb_args(1)
+    def __delete_pose(self, *param_list):
+        self.__niryo_robot.delete_pose(*param_list)
+        return self.__send_answer()
+
+    @check_nb_args(0)
+    def __get_saved_pose_list(self):
+        pose_list = self.__niryo_robot.get_saved_pose_list()
+        return self.__send_answer(pose_list)
+
+    # - Pick/Place
+
+    @check_nb_args(6)
+    def __pick_from_pose(self, *param_list):
+        parameters_value_array = self.__map_list(param_list, float)
+
+        self.__niryo_robot.pick_from_pose(*parameters_value_array)
+        return self.__send_answer()
+
+    @check_nb_args(6)
+    def __place_from_pose(self, *param_list):
+        parameters_value_array = self.__map_list(param_list, float)
+
+        self.__niryo_robot.place_from_pose(*parameters_value_array)
+        return self.__send_answer()
+
+    @check_nb_args(3)
+    def __pick_and_place(self, *param_list):
+        pick_pose = self.__map_list(param_list[0], float)
+        place_pose = self.__map_list(param_list[1], float)
+
+        dist_smoothing = param_list[2]
+        self.__check_type(dist_smoothing, float)
+
+        self.__niryo_robot.pick_and_place(pick_pose, place_pose, dist_smoothing)
+        return self.__send_answer()
+
+    # - Trajectories
+    @check_nb_args(1)
+    def __get_trajectory_saved(self, *param_list):
+        traj = self.__niryo_robot.get_trajectory_saved(*param_list)
+        return self.__send_answer(traj)
+
+    @check_nb_args(2)
+    def __execute_trajectory_from_poses(self, *param_list):
+        list_poses = []
+        for pose in param_list[0]:
+            if len(pose) != 7:
+                self.__raise_exception_expected_parameters_nbr(7, len(pose))
+            list_poses.append(self.__map_list(pose, float))
+
+        dist_smoothing = param_list[1]
+        self.__check_type(dist_smoothing, float)
+
+        self.__niryo_robot.execute_trajectory_from_poses(list_poses, dist_smoothing)
+        return self.__send_answer()
+
+    @check_nb_args(1)
+    def __execute_trajectory_saved(self, *param_list):
+        self.__niryo_robot.execute_trajectory_saved(param_list[0])
+        return self.__send_answer()
+
+    @check_nb_args(2)
+    def __save_trajectory(self, *param_list):
+        list_poses = []
+        for pose in param_list[1]:
+            if len(pose) != 7:
+                self.__raise_exception_expected_parameters_nbr(7, len(pose))
+            list_poses.append(self.__map_list(pose, float))
+
+        self.__niryo_robot.save_trajectory(param_list[0], list_poses)
+        return self.__send_answer()
+
+    @check_nb_args(1)
+    def __delete_trajectory(self, *param_list):
+        self.__niryo_robot.delete_trajectory(*param_list)
+        return self.__send_answer()
+
+    @check_nb_args(0)
+    def __get_saved_trajectory_list(self):
+        traj_list = self.__niryo_robot.get_saved_trajectory_list()
+        return self.__send_answer(traj_list)
+
+    # -- Tools
+    @check_nb_args(0)
+    def __update_tool(self):
+        self.__niryo_robot.update_tool()
+        return self.__send_answer()
+
+    @check_nb_args(0)
+    def __get_current_tool_id(self):
+        tool_id = self.__niryo_robot.get_current_tool_id()
+        return self.__send_answer(self.__available_tools_string_dict_convertor_inv[tool_id])
+
+    @check_nb_args(0)
+    def __grasp_with_tool(self):
+        self.__niryo_robot.grasp_with_tool()
+        return self.__send_answer()
+
+    @check_nb_args(0)
+    def __release_with_tool(self):
+        self.__niryo_robot.release_with_tool()
+        return self.__send_answer()
+
+    # - Gripper
+    @check_nb_args(1)
+    def __open_gripper(self, speed):
+        self.__check_type(speed, int)
+
+        self.__niryo_robot.open_gripper(speed)
+        return self.__send_answer()
+
+    @check_nb_args(1)
+    def __close_gripper(self, speed):
+        self.__check_type(speed, int)
+
+        self.__niryo_robot.close_gripper(speed)
+        return self.__send_answer()
+
+    # - Vacuum
+    @check_nb_args(0)
+    def __pull_air_vacuum_pump(self):
+        self.__niryo_robot.pull_air_vacuum_pump()
+        return self.__send_answer()
+
+    @check_nb_args(0)
+    def __push_air_vacuum_pump(self):
+        self.__niryo_robot.push_air_vacuum_pump()
+        return self.__send_answer()
+
+    # - Electromagnet
+    @check_nb_args(1)
+    def __setup_electromagnet(self, pin_string):
+        pin = self.__check_and_get_from_dict(pin_string, self.__pin_nbr_string_dict_convertor)
+
+        self.__niryo_robot.setup_electromagnet(pin)
+        return self.__send_answer()
+
+    @check_nb_args(1)
+    def __activate_electromagnet(self, pin_string):
+        pin = self.__check_and_get_from_dict(pin_string, self.__pin_nbr_string_dict_convertor)
+
+        self.__niryo_robot.activate_electromagnet(pin)
+        return self.__send_answer()
+
+    @check_nb_args(2)
+    def __deactivate_electromagnet(self, pin_string):
+        pin = self.__check_and_get_from_dict(pin_string, self.__pin_nbr_string_dict_convertor)
+
+        self.__niryo_robot.deactivate_electromagnet(pin)
+        return self.__send_answer()
+
+    # - Hardware
+
+    @check_nb_args(2)
+    def __set_pin_mode(self, pin_string, pin_mode_string):
+        pin = self.__check_and_get_from_dict(pin_string, self.__pin_nbr_string_dict_convertor)
+        pin_mode = self.__check_and_get_from_dict(pin_mode_string, self.__pin_mode_string_dict_convertor)
+
+        self.__niryo_robot.set_pin_mode(pin, pin_mode)
+        return self.__send_answer()
+
+    @check_nb_args(2)
+    def __digital_write(self, pin_string, state_string):
+        pin = self.__check_and_get_from_dict(pin_string, self.__pin_nbr_string_dict_convertor)
+        state = self.__check_and_get_from_dict(state_string, self.__digital_state_string_dict_convertor)
+
+        self.__niryo_robot.digital_write(pin, state)
+        return self.__send_answer()
+
+    @check_nb_args(1)
+    def __digital_read(self, pin_string):
+        pin = self.__check_and_get_from_dict(pin_string, self.__pin_nbr_string_dict_convertor)
+        digital_state = self.__niryo_robot.digital_read(pin)
+        return self.__send_answer(self.__digital_state_string_dict_convertor_inv[digital_state])
+
+    @check_nb_args(0)
+    def __get_hardware_status(self):
+        hw_status = self.__niryo_robot.get_hardware_status()
+        data_answer = [hw_status.rpi_temperature, hw_status.hardware_version, hw_status.connection_up,
+                       "\'" + hw_status.error_message + "\'", hw_status.calibration_needed,
+                       hw_status.calibration_in_progress, hw_status.motor_names, hw_status.motor_types,
+                       hw_status.temperatures, hw_status.voltages, hw_status.hardware_errors]
+        return self.__send_answer(*data_answer)
+
+    @check_nb_args(0)
+    def __get_digital_io_state(self):
+        digital_io_state_array = self.__niryo_robot.get_digital_io_state()
+        data_answer = []
+        for counter in range(0, len(digital_io_state_array.pins)):
+            data_answer.append([digital_io_state_array.pins[counter],
+                                digital_io_state_array.names[counter],
+                                digital_io_state_array.modes[counter],
+                                digital_io_state_array.states[counter]])
+        return self.__send_answer(*data_answer)
+
+    # - Conveyor
+    @check_nb_args(0)
+    def __set_conveyor(self):
+        conveyor_id = self.__niryo_robot.set_conveyor()
+        return self.__send_answer(self.__conveyor_id_string_dict_convertor_inv[conveyor_id])
+
+    @check_nb_args(1)
+    def __unset_conveyor(self, conveyor_id_string):
+        conveyor_id = self.__check_and_get_from_dict(conveyor_id_string, self.__conveyor_id_string_dict_convertor)
+
+        status, message = self.__niryo_robot.unset_conveyor(conveyor_id)
+        return self.__send_answer(status, message)
+
+    @check_nb_args(4)
+    def __control_conveyor(self, conveyor_id_string, control_on_string, speed, direction_string):
+        conveyor_id = self.__check_and_get_from_dict(conveyor_id_string, self.__conveyor_id_string_dict_convertor)
+        control_on = self.__check_and_get_from_dict(control_on_string, self.__boolean_string_dict_converter)
+
+        self.__check_type(speed, int)
+        if speed < 0 or speed > 100:
+            self.__raise_exception_expected_choice("[0 => 100]", speed)
+
+        direction = self.__check_and_get_from_dict(direction_string, self.__conveyor_direction_string_dict_convertor)
+
+        self.__niryo_robot.control_conveyor(conveyor_id, control_on, speed, direction)
+        return self.__send_answer()
+
+    @check_nb_args(0)
+    def __get_connected_conveyors_id(self):
+        conveyors = self.__niryo_robot.get_conveyors_feedback()
+        conveyors_list = [self.__conveyor_id_string_dict_convertor_inv[conveyor.conveyor_id]
+                          for conveyor in conveyors]
+        return self.__send_answer(conveyors_list)
+
+    # - Vision
+
+    @check_nb_args(0)
+    def __get_image_compressed(self):
+        compressed_image = self.__niryo_robot.get_compressed_image()
+        return self.__send_answer_with_payload(compressed_image)
+
+    @check_nb_args(5)
+    def __get_target_pose_from_rel(self, *param_list):
+        workspace = param_list[0]
+        distance_params = param_list[1:5]
+        height_offset, x_rel, y_rel, yaw_rel = self.__map_list(distance_params, float)
+
+        target_msg = self.__niryo_robot.get_target_pose_from_rel(
+            workspace, height_offset, x_rel, y_rel, yaw_rel)
+
+        pose_list = self.__niryo_robot.robot_state_msg_to_list(target_msg)
+        return self.__send_answer(pose_list)
+
+    @check_nb_args(4)
+    def __get_target_pose_from_cam(self, *param_list):
+        self.__check_type(param_list[1], float)
+
+        obj_found, target_msg, obj_shape, obj_color = self.__niryo_robot.get_target_pose_from_cam(
+            *param_list)
+
+        pose_list = []
+        if obj_found:
+            pose_list = self.__niryo_robot.robot_state_msg_to_list(target_msg)
+
+        return self.__send_answer(obj_found, pose_list, obj_shape, obj_color)
+
+    @check_nb_args(4)
+    def __vision_pick(self, *param_list):
+        self.__check_type(param_list[1], float)
+
+        data_list = self.__niryo_robot.vision_pick(*param_list)
+        return self.__send_answer(*data_list)
+
+    @check_nb_args(4)
+    def __move_to_object(self, *param_list):
+        self.__check_type(param_list[1], float)
+
+        data_list = self.__niryo_robot.move_to_object(*param_list)
+        return self.__send_answer(*data_list)
+
+    @check_nb_args(3)
+    def __detect_object(self, *param_list):
+        object_found, rel_pose, shape, color = self.__niryo_robot.detect_object(
+            *param_list)
+        if not object_found:
+            return self.__send_answer(object_found, 0, 0, 0, shape, color)
+        return self.__send_answer(
+            object_found, rel_pose.x, rel_pose.y, rel_pose.yaw, shape, color)
+
+    @check_nb_args(5)
+    def __save_workspace_from_poses(self, *param_list):
+        name = param_list[0]
+        list_poses = list(param_list[1:])
+
+        self.__niryo_robot.save_workspace_from_poses(name, list_poses)
+        return self.__send_answer()
+
+    @check_nb_args(5)
+    def __save_workspace_from_points(self, *param_list):
+        name = param_list[0]
+        list_points = list(param_list[1:])
+
+        self.__niryo_robot.save_workspace_from_points(name, list_points)
+        return self.__send_answer()
+
+    @check_nb_args(1)
+    def __delete_workspace(self, name):
+        self.__niryo_robot.delete_workspace(name)
+        return self.__send_answer()
+
+    @check_nb_args(1)
+    def __get_workspace_ratio(self, workspace_name):
+        return self.__send_answer(self.__niryo_robot.get_workspace_ratio(workspace_name))
+
+    @check_nb_args(0)
+    def __get_workspace_list(self):
+        return self.__send_answer(self.__niryo_robot.get_workspace_list())
+
+    @check_nb_args(0)
+    def __get_camera_intrinsics(self):
+        mat_k, mat_d = self.__niryo_robot.get_camera_intrinsics()
+        return self.__send_answer(mat_k, mat_d)
diff --git a/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/communication_functions.py b/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/communication_functions.py
new file mode 100644
index 000000000..547503e3d
--- /dev/null
+++ b/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/communication_functions.py
@@ -0,0 +1,116 @@
+"""
+File containing functions for communication with Socket !
+"""
+
+import sys
+import ast
+import json
+import socket
+import struct
+
+from .const_communication import READ_SIZE, DEFAULT_PACKET_SIZE_INFOS
+
+
+# --- RECEPTION -- #
+def receive_data(sckt, packet_size_infos, buffer_size):
+    """
+    Receive msg which cannot be contained in only one buffer
+
+    :param sckt: the socket
+    :param packet_size_infos: Format de l'objet du message : permet de savoir sur cb de bytes est codee la taille
+    :param buffer_size: buffer size for reading socket's buffer
+    :return: Bytes corresponding to received packet !
+    """
+    nbr_bytes = packet_size_infos["nbr_bytes"]
+    received_data = sckt.recv(nbr_bytes)
+    if len(received_data) != nbr_bytes:
+        return None
+    size_packet = int(struct.unpack(packet_size_infos["type"], received_data)[0])
+    received_big_data = "" if sys.version_info[0] == 2 else b""
+
+    while len(received_big_data) < size_packet:
+        received_big_data += sckt.recv(min(buffer_size, size_packet - len(received_big_data)))
+
+    return received_big_data if sys.version_info[0] == 2 else received_big_data.decode()
+
+
+def receive_dict(sckt, packet_size_infos=DEFAULT_PACKET_SIZE_INFOS, buffer_size=READ_SIZE):
+    """
+    Receive json through a Socket
+
+    :param sckt: the socket
+    :param packet_size_infos: Format de l'objet du message : permet de savoir sur cb de bytes est codee la taille
+    :param buffer_size: buffer size for reading socket's buffer
+    :return:
+    """
+    msg = receive_data(sckt, buffer_size=buffer_size, packet_size_infos=packet_size_infos)
+    return data_to_dict(msg)
+
+
+def receive_dict_w_payload(sckt, packet_size_infos=DEFAULT_PACKET_SIZE_INFOS, buffer_size=READ_SIZE):
+    """
+    Receive json through a Socket then extract payload content.
+    Payload can typically be an heavy file like an image
+
+    :param sckt: the socket
+    :param packet_size_infos: Format de l'objet du message : permet de savoir sur cb de bytes est codee la taille
+    :param buffer_size: buffer size for reading socket's buffer
+    :return: dict of packet's JSON, payload
+    """
+    dict_data = receive_dict(sckt, buffer_size=buffer_size, packet_size_infos=packet_size_infos)
+
+    payload_size = dict_data["payload_size"]
+    received_payload = "" if sys.version_info[0] == 2 else b""
+    while len(received_payload) < payload_size:
+        received_payload += sckt.recv(buffer_size)
+
+    return dict_data, received_payload
+
+
+# - JSON - #
+def data_to_dict(data):
+    """
+    Convert a string representing a JSON to a JSON
+
+    :param data: String representing a JSON
+    :return: dict of this JSON
+    """
+    if data is None:
+        return None
+    # if type(data) == bytes:
+    #     data = data.decode()
+    return ast.literal_eval(data)
+
+
+def dict_to_packet(dict_obj, packet_size_infos=DEFAULT_PACKET_SIZE_INFOS):
+    """
+    Convert dict to packet
+
+    :type dict_obj: dict
+    :param packet_size_infos:
+    :return: packet
+    """
+    json_obj = json.dumps(dict_obj)
+
+    if sys.version[0] == 3:
+        json_obj = json_obj.encode()
+    packet = "" if sys.version_info[0] == 2 else b""
+    packet += struct.pack(packet_size_infos["type"], len(json_obj))
+    packet += json_obj
+    return packet
+
+
+# # --- SOCKET HANDLING --- #
+
+def create_socket_server(ip_address, port):
+    """
+    Everything in the title
+
+    :param ip_address: IP Address
+    :param port: Port
+    :return: Socket object
+    """
+    s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+    s.bind((ip_address, port))
+    return s
diff --git a/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/const_communication.py b/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/const_communication.py
new file mode 100644
index 000000000..6f57b3196
--- /dev/null
+++ b/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/const_communication.py
@@ -0,0 +1,10 @@
+TCP_PORT = 40001  # Port used for TCP communication
+READ_SIZE = 512  # Buffer used for receiving TCP packet
+
+# - Infos on the JSON size
+# nbr_bytes : number of bytes on which the size is coded
+# type : size coding type
+DEFAULT_PACKET_SIZE_INFOS = {
+    "nbr_bytes": 2,
+    "type": '@H',
+}
diff --git a/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/tcp_server.py b/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/tcp_server.py
new file mode 100644
index 000000000..0ddcb21f6
--- /dev/null
+++ b/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/tcp_server.py
@@ -0,0 +1,135 @@
+#!/usr/bin/env python
+
+import rospy
+
+# Communication imports
+import select
+import socket
+from .const_communication import TCP_PORT
+from .communication_functions import create_socket_server, receive_dict, dict_to_packet
+
+from .command_interpreter import CommandInterpreter
+
+# Threading
+from threading import Thread, Lock
+import Queue
+
+
+class TcpServer:
+    def __init__(self):
+        # Server TCP
+        self.__port = TCP_PORT
+        self.__server = create_socket_server(ip_address='', port=self.__port)
+        self.__server.listen(1)
+        self.__client = None
+        self.__is_client_connected = False
+        # Thread
+        self.__loop_thread = Thread(target=self.__loop, name="TCP Server Loop thread")
+        self.__command_executor_thread = Thread(target=self.__command_executor_loop,
+                                                name="TCP Server Command Executor thread")
+        self.__is_running = True
+        self.__is_busy_lock = Lock()
+        # Interpreter
+        self.__interpreter = CommandInterpreter()
+        self.__queue = Queue.Queue(1)
+
+    def __del__(self):
+        self.quit()
+
+    def start(self):
+        self.__loop_thread.start()
+        self.__command_executor_thread.start()
+        return self
+
+    def quit(self):
+        self.__is_running = False
+        if self.__loop_thread.isAlive():
+            self.__loop_thread.join()
+        if self.__command_executor_thread.isAlive():
+            self.__command_executor_thread.join()
+        if self.__client is not None:
+            self.__shutdown_client()
+        self.__server.close()
+
+    def __loop(self):
+        rospy.loginfo("TCP Server - Started on port {}".format(self.__port))
+        inputs = [self.__server]
+        while self.__is_running is True:
+            readable, writable, exceptional = select.select(inputs, [], [], 0.5)
+            for s in readable:
+                if self.__is_client_connected is False and s is self.__server:
+                    self.__accept_client()
+                    inputs.append(self.__client)
+                elif s is not self.__server:
+                    self.__client_socket_event(inputs)
+
+    # -- CLIENTS
+
+    def __accept_client(self):
+        self.__client, address = self.__server.accept()
+        self.__is_client_connected = True
+        rospy.loginfo("TCP Server - Client connected from IP address: {}/{}".format(address[0], address[1]))
+
+    def __client_socket_event(self, inputs):
+        dict_command_received = self.__read_command()
+        if dict_command_received is not None:
+            with self.__is_busy_lock:
+                self.__queue.put(dict_command_received)
+        else:
+            rospy.loginfo("TCP Server - Client disconnect")
+            self.__is_client_connected = False
+            self.__shutdown_client()
+            inputs.remove(self.__client)
+
+    def __shutdown_client(self):
+        if self.__client is not None:
+            try:
+                self.__client.shutdown(socket.SHUT_RDWR)
+            except socket.error:
+                pass
+            self.__client.close()
+
+    # -- COMMANDS
+    # LOOP which execute commands in queue
+    def __command_executor_loop(self):
+        while self.__is_running is True:
+            try:
+                dict_command_received = self.__queue.get(block=True, timeout=0.5)
+                with self.__is_busy_lock:
+                    self.__treat_command(dict_command_received)
+            except Queue.Empty:
+                pass
+
+    def __read_command(self):
+        try:
+            received_dict = receive_dict(sckt=self.__client)
+        except (socket.error, ValueError) as e:
+            rospy.loginfo("TCP Server - Error while receiving answer: {}".format(e))
+            return None
+        if not received_dict:
+            return None
+        return received_dict
+
+    def __treat_command(self, dict_command_received):
+        try:
+            result_data = self.__interpreter.interpret_command(dict_command_received)
+        except Exception as e:
+            command_name = dict_command_received["command"]
+            self.__answer_error(command_name, e)
+        else:
+            self.__send(result_data)
+
+    # -- ANSWER AND SEND
+
+    def __answer_error(self, command_name, error):
+        str_err = "An error occured while executing the last command : {}".format(error)
+        dict_error = self.__interpreter.generate_dict_failure(command_name, str_err)
+        packet_error = dict_to_packet(dict_error)
+        self.__send(packet_error)
+
+    def __send(self, result_data):
+        if self.__client is not None:
+            try:
+                self.__client.sendall(result_data)
+            except socket.error as e:
+                rospy.loginfo("TCP Server - Error while sending answer to client: {}".format(e))
diff --git a/niryo_robot_vision/CMakeLists.txt b/niryo_robot_vision/CMakeLists.txt
new file mode 100644
index 000000000..7c194e79c
--- /dev/null
+++ b/niryo_robot_vision/CMakeLists.txt
@@ -0,0 +1,35 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(niryo_robot_vision)
+
+find_package(catkin REQUIRED COMPONENTS
+  message_generation
+  niryo_robot_msgs
+  sensor_msgs
+)
+
+add_service_files(
+  DIRECTORY srv
+  FILES
+  DebugColorDetection.srv
+  DebugMarkers.srv
+  ObjDetection.srv
+  TakePicture.srv
+)
+
+catkin_python_setup()
+
+generate_messages(
+  DEPENDENCIES
+  niryo_robot_msgs
+  sensor_msgs
+)
+
+catkin_package(
+  CATKIN_DEPENDS
+  niryo_robot_msgs
+  sensor_msgs
+)
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
diff --git a/niryo_robot_vision/OPENCV_LICENSE b/niryo_robot_vision/OPENCV_LICENSE
new file mode 100644
index 000000000..a6824bf65
--- /dev/null
+++ b/niryo_robot_vision/OPENCV_LICENSE
@@ -0,0 +1,42 @@
+By downloading, copying, installing or using the software you agree to this license.
+If you do not agree to this license, do not download, install,
+copy or use the software.
+
+
+                          License Agreement
+               For Open Source Computer Vision Library
+                       (3-clause BSD License)
+
+Copyright (C) 2000-2020, Intel Corporation, all rights reserved.
+Copyright (C) 2009-2011, Willow Garage Inc., all rights reserved.
+Copyright (C) 2009-2016, NVIDIA Corporation, all rights reserved.
+Copyright (C) 2010-2013, Advanced Micro Devices, Inc., all rights reserved.
+Copyright (C) 2015-2016, OpenCV Foundation, all rights reserved.
+Copyright (C) 2015-2016, Itseez Inc., all rights reserved.
+Copyright (C) 2019-2020, Xperience AI, all rights reserved.
+Third party copyrights are property of their respective owners.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+  * Redistributions of source code must retain the above copyright notice,
+    this list of conditions and the following disclaimer.
+
+  * Redistributions in binary form must reproduce the above copyright notice,
+    this list of conditions and the following disclaimer in the documentation
+    and/or other materials provided with the distribution.
+
+  * Neither the names of the copyright holders nor the names of the contributors
+    may be used to endorse or promote products derived from this software
+    without specific prior written permission.
+
+This software is provided by the copyright holders and contributors "as is" and
+any express or implied warranties, including, but not limited to, the implied
+warranties of merchantability and fitness for a particular purpose are disclaimed.
+In no event shall copyright holders or contributors be liable for any direct,
+indirect, incidental, special, exemplary, or consequential damages
+(including, but not limited to, procurement of substitute goods or services;
+loss of use, data, or profits; or business interruption) however caused
+and on any theory of liability, whether in contract, strict liability,
+or tort (including negligence or otherwise) arising in any way out of
+the use of this software, even if advised of the possibility of such damage.
\ No newline at end of file
diff --git a/niryo_robot_vision/config/cam_intrinsics.yaml b/niryo_robot_vision/config/cam_intrinsics.yaml
new file mode 100644
index 000000000..0680f06a9
--- /dev/null
+++ b/niryo_robot_vision/config/cam_intrinsics.yaml
@@ -0,0 +1,20 @@
+mtx:
+  - 508.069
+  - 0.0
+  - 332.821
+  - 0.0
+  - 506.445
+  - 242.984
+  - 0.0
+  - 0.0
+  - 1.0
+
+dist:
+  - -0.4146402
+  - 0.2407384
+  - 0.0
+  - 0.0
+  - -0.1040042
+
+width_img: 640
+height_img: 480
diff --git a/niryo_robot_vision/config/video_server_setup.yaml b/niryo_robot_vision/config/video_server_setup.yaml
new file mode 100644
index 000000000..2b05d68d0
--- /dev/null
+++ b/niryo_robot_vision/config/video_server_setup.yaml
@@ -0,0 +1,24 @@
+# -- Editable settings
+undistort_stream:   false
+frame_rate:         15  # 15, 25 or 30
+subsampling:        3
+camera_port:        -1
+calibration_grid_shape:
+  - 9
+  - 6
+
+# For expert
+obj_calib_name:     "cam_intrinsics"
+frame_size: # Available resolutions : 320x240, 352x288, 640x360, 640x480, 1280x720, 1920x1080
+  - 640  # width
+  - 480  # height
+
+restart_rate: 0.2
+max_restart_time: 120.0
+is_active_rate: 2.0
+
+buffer_size: 5
+display: false # Useful only on computer
+
+stream_compression_quality: 55
+debug_compression_quality: 70
diff --git a/niryo_robot_vision/config/video_server_setup_local.yaml b/niryo_robot_vision/config/video_server_setup_local.yaml
new file mode 100644
index 000000000..065e363c4
--- /dev/null
+++ b/niryo_robot_vision/config/video_server_setup_local.yaml
@@ -0,0 +1,24 @@
+# -- Editable settings
+undistort_stream:   false
+frame_rate:         30  # 15, 25 or 30
+subsampling:        1
+camera_port:        -1
+calibration_grid_shape:
+  - 9
+  - 6
+
+# For expert
+obj_calib_name:     "cam_intrinsics"
+frame_size: # Available resolutions : 320x240, 352x288, 640x360, 640x480, 1280x720, 1920x1080
+  - 640  # width
+  - 480  # height
+
+restart_rate: 0.5
+max_restart_time: 30.0
+is_active_rate: 2.0
+
+buffer_size: 5
+display: true # Useful only on computer
+
+stream_compression_quality: 75
+debug_compression_quality: 80
diff --git a/niryo_robot_vision/launch/vision_node.launch b/niryo_robot_vision/launch/vision_node.launch
new file mode 100644
index 000000000..a88a5a810
--- /dev/null
+++ b/niryo_robot_vision/launch/vision_node.launch
@@ -0,0 +1,12 @@
+<launch>
+    <arg name="simulation_mode" default="false"/>
+
+    <node name="niryo_robot_vision" pkg="niryo_robot_vision" type="camera_publisher_and_services.py" output="screen">
+        <param name="simulation_mode" type="bool" value="$(arg simulation_mode)"/>
+
+        <!-- Settings will give more FPS if the user is using simulation-->
+        <rosparam file="$(find niryo_robot_vision)/config/video_server_setup_local.yaml" if="$(arg simulation_mode)"/>
+        <rosparam file="$(find niryo_robot_vision)/config/video_server_setup.yaml" unless="$(arg simulation_mode)"/>
+
+    </node>
+</launch>
diff --git a/niryo_robot_vision/launch/vision_node_local.launch b/niryo_robot_vision/launch/vision_node_local.launch
new file mode 100644
index 000000000..bb5211280
--- /dev/null
+++ b/niryo_robot_vision/launch/vision_node_local.launch
@@ -0,0 +1,6 @@
+<launch>
+    <node name="niryo_robot_vision" pkg="niryo_robot_vision" type="camera_publisher_and_services.py" output="screen">
+        <param name="simulation_mode" type="bool" value="false"/>
+        <rosparam file="$(find niryo_robot_vision)/config/video_server_setup_local.yaml"/>
+    </node>
+</launch>
diff --git a/niryo_robot_vision/package.xml b/niryo_robot_vision/package.xml
new file mode 100644
index 000000000..bd7e7e53d
--- /dev/null
+++ b/niryo_robot_vision/package.xml
@@ -0,0 +1,23 @@
+<package>
+    <name>niryo_robot_vision</name>
+    <version>3.0.0</version>
+    <description>Niryo vision package</description>
+    <author email="r.lux@niryo.com">Remi Lux</author>
+    <maintainer email="r.lux@niryo.com">Remi Lux</maintainer>
+    <license>GPLv3</license>
+
+    <buildtool_depend>catkin</buildtool_depend>
+
+    <build_depend>niryo_robot_msgs</build_depend>
+    <build_depend>sensor_msgs</build_depend>
+
+    <run_depend>niryo_robot_msgs</run_depend>
+    <run_depend>rosbridge_server</run_depend>
+    <run_depend>sensor_msgs</run_depend>
+
+    <!-- Python Dependencies -->
+    <run_depend>python-numpy</run_depend>
+    <run_depend>python-opencv</run_depend>
+    <run_depend>python-yaml</run_depend>
+
+</package>
diff --git a/niryo_robot_vision/scripts/ObjectDetector.py b/niryo_robot_vision/scripts/ObjectDetector.py
new file mode 100644
index 000000000..4685477bd
--- /dev/null
+++ b/niryo_robot_vision/scripts/ObjectDetector.py
@@ -0,0 +1,218 @@
+import rospy
+
+import numpy as np
+
+# Messages
+from niryo_robot_msgs.msg import CommandStatus
+from niryo_robot_msgs.msg import ObjectPose
+
+
+from niryo_robot_vision.image_functions import *
+from niryo_robot_vision.enums import *
+
+
+class ObjectDetector:
+    def __init__(self, obj_type, obj_color, workspace_ratio=1.0, ret_image_bool=False):
+        self._img = None
+        self._im_thresh = None
+
+        self._obj_type = obj_type
+        self._nb_sides = obj_type.value
+        self._obj_color = obj_color
+        self._ret_image_bool = ret_image_bool
+
+        self._workspace_ratio = workspace_ratio
+
+        self._p_init = None
+        self._draw_method = 2
+
+        self._draw_marker_size = 0
+        self._draw_marker_thickness = 0
+        self._draw_text_thickness = 0
+
+    def actualize_img(self, img):
+        # Setting the new image
+        self._img = img
+        # Adjusting drawing values to fit the image size. These values are totally empirical
+        h, w = img.shape[:2]
+        self._draw_marker_size = 9 if w > 499 else 4
+        self._draw_marker_thickness = 5 if w > 499 else 3
+
+        self._draw_text_thickness = 2 if w > 499 else 1
+
+    def get_img(self):
+        return self._img
+
+    def actualize_im_thresh(self, im_thresh):
+        self._im_thresh = im_thresh
+
+    def get_im_thresh(self):
+        return self._im_thresh
+
+    def get_hsv_parameters(self):
+        list_min_hsv, list_max_hsv, reverse_hue = self._obj_color.value
+        return list_min_hsv, list_max_hsv, reverse_hue
+
+    def should_ret_image(self):
+        return self._ret_image_bool
+
+    def set_nb_sides(self, nb_sides):
+        self._nb_sides = nb_sides
+
+    def extract_object_with_hsv(self, img):
+        """
+        Execute object detection pipeline using parameters written in object_detector
+        :param img: OpenCV image from Webcam Stream
+        :param self: ObjectDetector object
+        :return: status, ROS message of type ObjectPose, annotated image if give_image is True else None
+        """
+        # Init values
+        msg_res_pos = ObjectPose()
+
+        # Extract working area image from markers
+        im_work = extract_img_workspace(img, workspace_ratio=self._workspace_ratio)
+        if im_work is None:  # Case where working area is not found
+            status = CommandStatus.MARKERS_NOT_FOUND
+            rospy.logwarn("Vision Node - Markers Not Found !")
+            return status, msg_res_pos, "", "", img
+
+        # Generating threshold image with HSV
+        im_thresh = self.image_preprocess_with_hsv(im_work, use_s_prime=False)
+
+        # Extracting biggest blob from image. This will correspond to the object
+        cx, cy, angle, obj_type, obj_color, im_draw = self.extract_biggest_blob(im_thresh)
+
+        if cx is None:
+            rospy.logwarn("Vision Node - No Object Found !")
+            status = CommandStatus.OBJECT_NOT_FOUND
+        else:
+            x_rel, y_rel = self.relative_pos_from_pixels(cx, cy)
+            # Filling message
+            msg_res_pos.x = x_rel
+            msg_res_pos.y = y_rel
+            msg_res_pos.yaw = angle
+
+            status = CommandStatus.SUCCESS
+
+        if self.should_ret_image() and status == CommandStatus.SUCCESS:
+            # im_draw = cv2.resize(im_draw, dsize=(450, 450))
+            list_pos = [msg_res_pos.x, msg_res_pos.y, msg_res_pos.z]
+            im_draw = get_annotated_image_rel_pos(im_draw, list_pos, angle)
+
+        return status, msg_res_pos, obj_type, obj_color, im_draw
+
+    def image_preprocess_with_hsv(self, im_work, use_s_prime=False):
+        """
+
+        :param im_work:
+        :param use_s_prime: Bool -> True if you want to use S channel as S' = S x V else classic
+        :return:
+        """
+        self.actualize_img(im_work)
+        list_min_hsv, list_max_hsv, reverse_hue = self.get_hsv_parameters()
+        im_thresh = threshold_hsv(im_work, list_min_hsv, list_max_hsv, reverse_hue=reverse_hue, use_s_prime=use_s_prime)
+        im_morph = morphological_transformations(im_thresh, MorphoType.OPEN, kernel_shape=(7, 7))
+        self.actualize_im_thresh(im_morph)
+        return im_morph
+
+    def relative_pos_from_pixels(self, x_pixels, y_pixels):
+        return float(x_pixels) / self._img.shape[1], float(y_pixels) / self._img.shape[0]
+
+    def extract_biggest_blob(self, im_thresh):
+        """
+        Function to extract the biggest shape from a threshed image.
+        :return: X,Y coordinates of the center / Rotation angle / IM
+
+        Multiple drawing methods:
+            - 1 : Draw on Threshold image
+            - 2 : Draw on BGR
+            - 3 : Draw on BGR with mask
+        """
+        cx, cy = None, None
+        angle = 0
+        found_something = False
+
+        if not self._ret_image_bool or self._draw_method == 2:
+            im_ret = self._img
+            thickness_contours = 3
+        elif self._draw_method == 3:
+            im_ret = cv2.bitwise_and(self._img, self._img, mask=self._im_thresh)
+            thickness_contours = 2
+        else:
+            im_ret = cv2.cvtColor(self._im_thresh, cv2.COLOR_GRAY2BGR)
+            thickness_contours = 2
+
+        best_cnts = biggest_contours_finder(im_thresh)
+        if best_cnts is None:
+            return None, None, None, "", "", im_ret
+        best_cnt = None
+        obj_type = ObjectType.ANY
+
+        for best_cnt in best_cnts:
+            cx, cy = get_contour_barycenter(best_cnt)
+            if self._nb_sides is not None:
+                peri = cv2.arcLength(best_cnt, True)
+                approx = cv2.approxPolyDP(best_cnt, 0.035 * peri, True)
+
+                # ANY CASE
+                if self._obj_type == ObjectType.ANY:
+                    if len(approx) > 5:
+                        obj_type = ObjectType.CIRCLE
+                    else:
+                        obj_type = ObjectType.SQUARE
+                        angle = get_contour_angle(best_cnt)
+
+                    found_something = True
+                    break
+                else:
+                    obj_type = self._obj_type
+                    # Circle Case
+                    if self._obj_type == ObjectType.CIRCLE and len(approx) > 5:
+                        found_something = True
+                        break
+
+                    elif len(approx) == self._nb_sides:
+                        angle = get_contour_angle(best_cnt)
+                        found_something = True
+                        break
+        if not found_something:
+            return None, None, None, "", "", im_ret
+
+        # Getting color
+        colors_representation = np.mean(self._img[cy - 3:cy + 3, cx - 3:cx + 3], axis=(0, 1))
+        most_present_channel = np.argmax(colors_representation)
+
+        obj_color = ["BLUE", "GREEN", "RED"][most_present_channel]
+
+        if self._ret_image_bool and cx is not None:
+            p_init = self._p_init
+            if p_init is None:
+                h_im, w_im = im_ret.shape[:2]
+                p_init = (w_im // 2, h_im // 2)
+            cv2.drawContours(im_ret, [best_cnt], 0, PURPLE, thickness_contours)
+            cv2.arrowedLine(im_ret, p_init, (cx, cy), BLUE, thickness=self._draw_text_thickness)
+
+            cv2.drawMarker(im_ret, p_init, markerType=cv2.MARKER_DIAMOND,
+                           markerSize=self._draw_marker_size, thickness=self._draw_marker_thickness, color=RED)
+            cv2.drawMarker(im_ret, (cx, cy), markerType=cv2.MARKER_TILTED_CROSS,
+                           markerSize=self._draw_marker_size, thickness=self._draw_marker_thickness, color=ORANGE)
+
+        return cx, cy, angle, obj_type.name, obj_color, im_ret
+
+
+def get_annotated_image_rel_pos(img, list_pos, angle, write_on_top=True):
+    """
+    Annotate image with position information
+    :param img: Image
+    :param list_pos: List of position [x,y,z]
+    :param angle: the angle
+    :param write_on_top: if text should be write on top
+    :return: annotated image
+    """
+    x, y, _ = list_pos
+    # print(x,y,z,angle)
+    if x is None or x == "None":
+        return img
+    text = "x:{:.1f}% y:{:.1f}% Roll {:.1f}".format(100 * x, 100 * y,
+                                                    angle)
+    return add_annotation_to_image(img, text, write_on_top=write_on_top)
diff --git a/niryo_robot_vision/scripts/VideoStream.py b/niryo_robot_vision/scripts/VideoStream.py
new file mode 100644
index 000000000..7c7430485
--- /dev/null
+++ b/niryo_robot_vision/scripts/VideoStream.py
@@ -0,0 +1,283 @@
+# Libs
+import rospy
+
+from cv_bridge import CvBridge
+import cv2
+
+from threading import Lock, Thread
+
+from fonctions_camera import generate_msg_from_image
+
+# Messages
+from niryo_robot_msgs.msg import CommandStatus
+from sensor_msgs.msg import CompressedImage, Image
+from std_msgs.msg import Bool
+
+# Service
+from niryo_robot_msgs.srv import SetBool
+
+
+class VideoStream(object):
+    def __init__(self, calibration_object, publisher_compressed_stream):
+        self._calibration_object = calibration_object
+        self._publisher_compressed_stream = publisher_compressed_stream
+
+        self._undistort_stream = rospy.get_param('~undistort_stream')
+        self._display = rospy.get_param("~display")
+        self._frame_rate = rospy.get_param("~frame_rate")
+        self._subsample_read = rospy.get_param("~subsampling")
+
+        self._actualization_rate_ros = rospy.Rate(1.1 * int(self._frame_rate))
+
+        # - Publisher about Running/Stopped Stream
+        self._running = False
+        self._should_run = False
+
+        self._publisher_camera_stream_running = rospy.Publisher('~video_stream_is_active',
+                                                                Bool, queue_size=2)
+        rospy.Timer(rospy.Duration(1.0 / rospy.get_param("~is_active_rate")),
+                    self._publish_is_active)
+        # - SERVICES
+        self.__service_start_stop = rospy.Service('~start_stop_video_streaming',
+                                                  SetBool, self._callback_start_stop)
+
+    # -- CALLBACKS
+    def _callback_start_stop(self, req):
+        command = ["stopping", "starting"][int(req.value)]
+        if command == "stopping":
+            if not self._running:
+                message = "The video stream is already stopped. Cannot stop it"
+                rospy.logwarn("Vision Node - " + message)
+                return CommandStatus.VIDEO_STREAM_ON_OFF_FAILURE, message
+
+            else:
+                self._should_run = False
+
+                for _ in range(30):
+                    if not self._running:
+                        break
+                    rospy.sleep(0.1)
+                else:
+                    message = "Failed to stop the video stream !"
+                    rospy.loginfo("Vision Node - " + message)
+
+                    return CommandStatus.VIDEO_STREAM_ON_OFF_FAILURE, message
+
+                message = "Stream stopped"
+                rospy.loginfo("Vision Node - " + message)
+
+                return CommandStatus.SUCCESS, message
+
+        else:
+            if self._running:
+                message = "The video stream is already running. Cannot start it"
+                rospy.logwarn("Vision Node - " + message)
+
+                return CommandStatus.VIDEO_STREAM_ON_OFF_FAILURE, message
+            else:
+                rospy.loginfo("Vision Node - Trying to launch the stream ...")
+                self._should_run = True
+
+                # Updating last read time to avoid instant stop
+                self.__last_time_read = rospy.get_time()
+
+                for _ in range(100):
+                    if self._running:
+                        break
+                    rospy.sleep(0.1)
+                else:
+                    message = "Failed to relaunch the stream !"
+                    rospy.loginfo("Vision Node - " + message)
+
+                    return CommandStatus.VIDEO_STREAM_ON_OFF_FAILURE, message
+
+                message = "Stream relaunched !"
+                rospy.loginfo("Vision Node - " + message)
+
+                return CommandStatus.SUCCESS, message
+
+    def _publish_is_active(self, _):
+        self._publisher_camera_stream_running.publish(self._running)
+
+    # -- METHODS
+
+    def read_undistorted(self):
+        raise NotImplementedError
+
+    def read_raw_img(self):
+        raise NotImplementedError
+
+    def start(self):
+        self._should_run = True
+        t = Thread(target=self._loop, name="Camera Thread")
+        t.start()
+
+    def _loop(self):
+        raise NotImplementedError
+
+
+class WebcamStream(VideoStream):
+
+    def __init__(self, calibration_object, publisher_compressed_stream):
+        super(WebcamStream, self).__init__(calibration_object, publisher_compressed_stream)
+
+        self.__cam_port = rospy.get_param("~camera_port")
+        self.__last_time_read = None
+        self.__frame_raw = None
+        self.__frame_undistort = None
+
+        self.__lock_image = Lock()
+
+        # Stop Stream handling
+        self.__actualization_rate_no_stream = rospy.Rate(rospy.get_param("~restart_rate"))
+        self.__max_restart_time = rospy.get_param("~max_restart_time")
+
+        self.__count_grab_failed = 0
+
+    # -- PUBLIC
+
+    def read_undistorted(self):
+        if not self._running or not self._should_run:
+            return None
+        with self.__lock_image:
+            ret, frame = self.__video_stream.retrieve()
+        if ret is False:
+            return None
+        if self._calibration_object.is_set():
+            return self._calibration_object.undistort_image(frame)
+        else:
+            return frame
+
+    def read_raw_img(self):
+        if not self._running or not self._should_run:
+            return None
+        with self.__lock_image:
+            ret, frame = self.__video_stream.retrieve()
+        if ret is False:
+            return None
+        return frame
+
+    # -- Private
+    def __setup_stream_settings(self):
+        # Set compression format
+        self.__video_stream.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc('M', 'J', 'P', 'G'))
+        # Set Buffer size
+        # -- Not available in opencv 3.4 -- #
+        # self.__video_stream.set(cv2.CAP_PROP_BUFFERSIZE, rospy.get_param("~buffer_size"))
+
+        # Set image size
+        w, h = rospy.get_param("~frame_size")
+        self.__video_stream.set(cv2.CAP_PROP_FRAME_WIDTH, w)
+        self.__video_stream.set(cv2.CAP_PROP_FRAME_HEIGHT, h)
+        # Set frame rate
+        self.__video_stream.set(cv2.CAP_PROP_FPS, self._frame_rate)
+
+    def _loop(self):
+        while not rospy.is_shutdown():
+            if not self._should_run:
+                self._running = False
+                self.__actualization_rate_no_stream.sleep()
+                continue
+            self.__video_stream = cv2.VideoCapture(self.__cam_port)
+            if not self.__video_stream.isOpened():
+                rospy.logwarn_throttle(10.0, "Vision Node - Failed to open video stream. Check camera is well plugged.")
+                self._running = False
+                if self.__last_time_read is None or \
+                        (rospy.get_time() - self.__last_time_read) > self.__max_restart_time:
+                    self._should_run = False
+                self.__actualization_rate_no_stream.sleep()
+                continue
+
+            rospy.loginfo("Vision Node - Video Stream Open")
+            self.__setup_stream_settings()
+            self._running = True
+            self._should_run = True
+
+            index_read = -1
+            while not rospy.is_shutdown() and self._should_run:
+                index_read = (index_read + 1) % self._subsample_read
+                with self.__lock_image:
+                    bool_grabbed = self.__video_stream.grab()
+                if not bool_grabbed:
+                    rospy.logwarn("Vision Node - Image not grabbed. Camera may have been unplugged.")
+                    rospy.logwarn("Vision Node - Closing Video Stream")
+                    break
+                if index_read == 0:
+                    _, frame = self.__video_stream.retrieve()
+                    self.__last_time_read = rospy.get_time()
+
+                    self.__frame_raw = frame
+                    if self._undistort_stream:
+                        self.__frame_undistort = self._calibration_object.undistort_image(frame)
+                    else:
+                        self.__frame_undistort = None
+                    used_image = self.__frame_undistort if self._undistort_stream else self.__frame_raw
+                    if self._display:
+                        cv2.imshow("Video Stream", used_image)
+                        cv2.waitKey(1)
+                    result, msg = generate_msg_from_image(used_image)
+
+                    if not result:
+                        continue
+                    rospy.logdebug("Vision Node - Publishing an image")
+                    try:
+                        self._publisher_compressed_stream.publish(msg)
+                    except rospy.ROSException:
+                        return
+                self._actualization_rate_ros.sleep()
+
+            self.__video_stream.release()
+            rospy.loginfo("Vision Node - Video Stream Stopped")
+            self._running = False
+
+
+class GazeboStream(VideoStream):
+
+    def __init__(self, calibration_object, publisher_compressed_stream):
+        super(GazeboStream, self).__init__(calibration_object, publisher_compressed_stream)
+
+        self.__image_raw_sub = rospy.Subscriber('/gazebo_camera/image_raw', Image,
+                                                self.__callback_sub_image_raw)
+        self.__image_compressed_sub = rospy.Subscriber('/gazebo_camera/image_raw/compressed', CompressedImage,
+                                                       self.__callback_sub_image_compressed)
+        self.__bridge = CvBridge()
+        self.__last_image_raw = None
+        self.__last_image_compressed_msg = CompressedImage()
+
+        self._running = True
+        self._should_run = True
+
+    def __callback_sub_image_raw(self, image_message):
+        self.__last_image_raw = self.__bridge.imgmsg_to_cv2(image_message, desired_encoding="bgr8")
+
+    def __callback_sub_image_compressed(self, msg):
+        self.__last_image_compressed_msg = msg
+
+    def read_undistorted(self):
+        if self.__last_image_raw is None:
+            return None
+        if self._calibration_object.is_set():
+            return self._calibration_object.undistort_image(self.__last_image_raw)
+        else:
+            return self.__last_image_raw
+
+    def read_raw_img(self):
+        return self.__last_image_raw
+
+    def _loop(self):
+        while not rospy.is_shutdown():
+            if not self._should_run:
+                self._running = False
+                self._actualization_rate_ros.sleep()
+                continue
+
+            self._running = True
+            if self.__last_image_raw is not None:
+                cv2.imshow("Video Stream", self.__last_image_raw)
+                cv2.waitKey(1)
+
+            try:
+                self._publisher_compressed_stream.publish(self.__last_image_compressed_msg)
+            except rospy.ROSException:
+                return
+            self._actualization_rate_ros.sleep()
diff --git a/niryo_robot_vision/scripts/camera_publisher_and_services.py b/niryo_robot_vision/scripts/camera_publisher_and_services.py
new file mode 100755
index 000000000..703b35853
--- /dev/null
+++ b/niryo_robot_vision/scripts/camera_publisher_and_services.py
@@ -0,0 +1,184 @@
+#!/usr/bin/env python
+
+import rospy
+import rospkg
+
+import yaml
+import time
+import os
+import cv2
+import numpy as np
+
+from niryo_robot_vision.enums import ObjectType, ColorHSV
+from niryo_robot_vision.image_functions import debug_threshold_color, debug_markers
+from niryo_robot_vision.CalibrationObject import CalibrationObject
+from ObjectDetector import ObjectDetector
+from fonctions_camera import generate_msg_from_image
+from VideoStream import WebcamStream, GazeboStream
+
+# Messages
+from sensor_msgs.msg import CameraInfo, CompressedImage
+from niryo_robot_msgs.msg import CommandStatus
+from niryo_robot_msgs.msg import ObjectPose
+
+# Services
+from niryo_robot_vision.srv import DebugColorDetection
+from niryo_robot_vision.srv import DebugMarkers
+from niryo_robot_vision.srv import ObjDetection
+from niryo_robot_vision.srv import TakePicture
+
+
+class VisionNode:
+    """
+    Object which will contains all ROS Publishers & Services relate to image processing
+    """
+
+    def __init__(self):
+        rospy.logdebug("Vision Node - Entering in Init")
+        # -- ROS
+        self.__path_package = rospkg.RosPack().get_path('niryo_robot_vision')
+        self.__simulation_mode = rospy.get_param('~simulation_mode')
+
+        # PUBLISHERS
+        self.__publisher_compressed_stream = rospy.Publisher('~compressed_video_stream',
+                                                             CompressedImage, queue_size=1)
+
+        # OBJECT DETECTION
+        rospy.Service('~obj_detection_rel', ObjDetection,
+                      self.__callback_get_obj_relative_pose)
+
+        # CALIBRATION
+        if not self.__simulation_mode:
+            self.__calibration_object = self.__generate_calib_object_from_setup()
+        else:
+            self.__calibration_object = self.__generate_calib_object_from_gazebo_topic()
+
+        self.__camera_intrinsics_publisher = rospy.Publisher(
+            '~camera_intrinsics', CameraInfo, latch=True, queue_size=1)
+        self.publish_camera_intrinsics()
+        rospy.logdebug("Vision Node - Camera Intrinsics published !")
+
+        # Debug features
+        rospy.Service('~take_picture', TakePicture,
+                      self.__callback_take_picture)
+
+        self.__debug_compression_quality = rospy.get_param("~debug_compression_quality")
+        rospy.Service('~debug_markers', DebugMarkers,
+                      self.__callback_debug_markers)
+        rospy.Service('~debug_colors', DebugColorDetection,
+                      self.__callback_debug_color)
+
+        # -- VIDEO STREAM
+        rospy.logdebug("Vision Node - Creating Video Stream object")
+        cls_ = GazeboStream if self.__simulation_mode else WebcamStream
+        self.__video_stream = cls_(self.__calibration_object, self.__publisher_compressed_stream)
+        rospy.logdebug("Vision Node - Video Stream Created")
+
+        self.__video_stream.start()
+
+        # Set a bool to mentioned this node is initialized
+        rospy.set_param('~initialized', True)
+
+        rospy.loginfo("Vision Node - Initialized")
+
+    def __generate_calib_object_from_setup(self):
+        calibration_object_name = rospy.get_param("~obj_calib_name")
+
+        path_yaml = os.path.join(self.__path_package, "config/{}.yaml".format(calibration_object_name))
+        if not os.path.isfile(path_yaml):
+            rospy.logwarn("Vision Node - Intrinsics file '{}' does not exist".format(calibration_object_name))
+            return CalibrationObject.set_empty()
+        with open(path_yaml, "r") as input_file:
+            yaml_file = yaml.load(input_file)
+        return CalibrationObject.set_from_yaml(yaml_file)
+
+    @staticmethod
+    def __generate_calib_object_from_gazebo_topic():
+        camera_info_message = rospy.wait_for_message("/gazebo_camera/camera_info", CameraInfo)
+        mtx = np.reshape(camera_info_message.K, (3, 3))
+        dist = np.expand_dims(camera_info_message.D, axis=0)
+        return CalibrationObject.set_from_values(mtx, dist)
+
+    def publish_camera_intrinsics(self):
+        mtx, dist = self.__calibration_object.get_camera_info()
+
+        msg_camera_info = CameraInfo()
+        msg_camera_info.K = list(mtx.flatten())
+        msg_camera_info.D = list(dist.flatten())
+        return self.__camera_intrinsics_publisher.publish(msg_camera_info)
+
+    # - CALLBACK
+    def __callback_get_obj_relative_pose(self, req):
+        # Reading last image
+        img = self.__video_stream.read_undistorted()
+        if img is None:
+            rospy.logwarn("Vision Node - Try to get object relative pose while stream is not running !")
+            return CommandStatus.VIDEO_STREAM_NOT_RUNNING, ObjectPose(), "", "", CompressedImage()
+
+        # Extracting parameters from request
+        obj_type = ObjectType[req.obj_type]
+        obj_color = ColorHSV[req.obj_color]
+        workspace_ratio = req.workspace_ratio
+        ret_image = req.ret_image
+
+        # Creating ObjectDetector, an object for object detection
+        self.__object_detector = ObjectDetector(
+            obj_type=obj_type, obj_color=obj_color,
+            workspace_ratio=workspace_ratio,
+            ret_image_bool=ret_image,
+        )
+
+        # Launching pipeline
+        status, msg_res_pos, obj_type, obj_color, im_draw = self.__object_detector.extract_object_with_hsv(img)
+        if self.__object_detector.should_ret_image():
+            _, msg_img = generate_msg_from_image(im_draw, compression_quality=self.__debug_compression_quality)
+        else:
+            msg_img = CompressedImage()
+        return status, msg_res_pos, obj_type, obj_color, msg_img
+
+    def __callback_take_picture(self, req):
+        path = os.path.expanduser(req.path)
+        if not os.path.isdir(path):
+            os.makedirs(path)
+        time_string = time.strftime("%Y%m%d-%H%M%S")
+
+        img_full_path = "{}.jpg".format(os.path.join(path, time_string))
+        im = self.__video_stream.read_raw_img()
+        res_bool = cv2.imwrite(img_full_path, im)
+
+        if res_bool:
+            rospy.logdebug("Vision Node - Picture taken & saved")
+        else:
+            rospy.logwarn("Vision Node - Cannot save picture")
+
+        return res_bool
+
+    def __callback_debug_markers(self, _):
+        img = self.__video_stream.read_undistorted()
+        if img is None:
+            rospy.logwarn_throttle(2.0, "Vision Node - Try to get debug markers while stream is not running !")
+            return False, CompressedImage()
+        markers_detected, img_res = debug_markers(img)
+        _, msg_img = generate_msg_from_image(img_res, compression_quality=self.__debug_compression_quality)
+
+        return markers_detected, msg_img
+
+    def __callback_debug_color(self, req):
+        img = self.__video_stream.read_undistorted()
+        if img is None:
+            rospy.logwarn_throttle(2.0, "Vision Node - Try to get debug colors while stream is not running !")
+            return CompressedImage()
+        color = ColorHSV[req.color]
+        img_res = debug_threshold_color(img, color)
+        _, msg_img = generate_msg_from_image(img_res, compression_quality=self.__debug_compression_quality)
+
+        return msg_img
+
+
+if __name__ == '__main__':
+    rospy.init_node('niryo_robot_vision', anonymous=False, log_level=rospy.INFO)
+    try:
+        vision_node = VisionNode()
+        rospy.spin()
+    except rospy.ROSInterruptException:
+        pass
diff --git a/niryo_robot_vision/scripts/fonctions_camera.py b/niryo_robot_vision/scripts/fonctions_camera.py
new file mode 100644
index 000000000..9dd797206
--- /dev/null
+++ b/niryo_robot_vision/scripts/fonctions_camera.py
@@ -0,0 +1,24 @@
+import rospy
+from sensor_msgs.msg import CompressedImage
+from niryo_robot_vision.image_functions import compress_image
+
+
+def generate_msg_from_image(img, compression_quality=90):
+    """
+    Generate ROS CompressedImage message from an OpenCV Image
+    :param img: OpenCV Image
+    :param compression_quality: integer between 1 - 100. The higher it is, the less information will be lost,
+    but the heavier the compressed image will be
+    :return: success, msg
+    """
+    result, compressed_img = compress_image(img, quality=compression_quality)
+    if not result:
+        rospy.logerr("Failed to generate CompressedImage message from image")
+        return False, None
+
+    msg = CompressedImage()
+    msg.header.stamp = rospy.Time.now()
+    msg.format = "jpg"
+    msg.data = compressed_img
+
+    return True, msg
diff --git a/niryo_robot_vision/setup.py b/niryo_robot_vision/setup.py
new file mode 100644
index 000000000..4eb9153c7
--- /dev/null
+++ b/niryo_robot_vision/setup.py
@@ -0,0 +1,10 @@
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    packages=['niryo_robot_vision'],
+    # scripts=['bin/myscript'],
+    package_dir={'': 'src'}
+)
+
+setup(**d)
diff --git a/niryo_robot_vision/src/__init__.py b/niryo_robot_vision/src/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/niryo_robot_vision/src/niryo_robot_vision/CalibrationObject.py b/niryo_robot_vision/src/niryo_robot_vision/CalibrationObject.py
new file mode 100644
index 000000000..dfc7e132f
--- /dev/null
+++ b/niryo_robot_vision/src/niryo_robot_vision/CalibrationObject.py
@@ -0,0 +1,74 @@
+import cv2
+import numpy as np
+
+
+class CalibrationObject:
+    """
+    Class containing intrinsic parameters of the camera used
+    """
+
+    def __init__(self, mtx, dist):
+        self.__mtx = mtx
+        self.__dist = dist
+
+        self.__fx = self.__mtx[0][0]
+        self.__fy = self.__mtx[1][1]
+        self.__cx = self.__mtx[0][2]
+        self.__cy = self.__mtx[1][2]
+
+    @classmethod
+    def set_from_values(cls, mtx, dist):
+        return cls(mtx, dist)
+
+    @classmethod
+    def set_from_yaml(cls, yaml_file):
+        mtx = np.reshape(yaml_file["mtx"], (3, 3))
+        dist = np.expand_dims(yaml_file["dist"], axis=0)
+        return cls(mtx, dist)
+
+    @classmethod
+    def set_empty(cls):
+        mtx = np.zeros((3, 3), dtype=np.float)
+        dist = []
+        return cls(mtx, dist)
+
+    def __str__(self):
+        big_string = "mtx\n" + str(self.__mtx) + "\n"
+        big_string += "dist\n" + str(self.__dist) + "\n"
+        return big_string
+
+    def get_center_position(self):
+        return tuple([self.__cx, self.__cy])
+
+    def get_center_position_int(self):
+        return tuple([int(round(self.__cx)), int(round(self.__cy))])
+
+    def get_intrinsic_parameters(self):
+        return {
+            "fx": self.__fx,
+            "fy": self.__fy,
+            "cx": self.__cx,
+            "cy": self.__cy,
+        }
+
+    def get_cam_mtx_and_dist_coefs(self):
+        return self.__mtx, self.__dist
+
+    def undistort_image(self, img):
+        return cv2.undistort(src=img, cameraMatrix=self.__mtx,
+                             distCoeffs=self.__dist, newCameraMatrix=None)
+
+    def meters_to_pixels(self, length, width, z_offset):
+        u = (length / z_offset) * self.__fx
+        v = (width / z_offset) * self.__fy
+
+        return tuple([u, v])
+
+    def get_camera_info(self):
+        """
+        Return value for ROS CameraInfo message
+        """
+        return self.__mtx, self.__dist
+
+    def is_set(self):
+        return self.__fx != 0.0 and self.__fy != 0.0 and self.__cx != 0.0 and self.__cy != 0.0
diff --git a/niryo_robot_vision/src/niryo_robot_vision/__init__.py b/niryo_robot_vision/src/niryo_robot_vision/__init__.py
new file mode 100644
index 000000000..93a519fd5
--- /dev/null
+++ b/niryo_robot_vision/src/niryo_robot_vision/__init__.py
@@ -0,0 +1,2 @@
+from .enums import *
+from .image_functions import *
diff --git a/niryo_robot_vision/src/niryo_robot_vision/enums.py b/niryo_robot_vision/src/niryo_robot_vision/enums.py
new file mode 100644
index 000000000..840edba67
--- /dev/null
+++ b/niryo_robot_vision/src/niryo_robot_vision/enums.py
@@ -0,0 +1,71 @@
+from enum import Enum, unique
+import cv2
+
+# -- Text Display
+RED = (0, 0, 255)
+PURPLE = (255, 0, 255)
+ORANGE = (0, 127, 255)
+GREEN = (0, 255, 0)
+BLUE = (255, 0, 0)
+WHITE = (255, 255, 255)
+BLACK = (0, 0, 0)
+font = cv2.FONT_HERSHEY_SIMPLEX
+font_scale_big = 2.0
+font_scale_normal = 0.7
+thickness_big = 3
+thickness_small = 2
+
+
+# Command list
+@unique
+class Command(Enum):
+    GET_OBJECT_POS = 1
+    GET_OBJECT_RELATIVE_POS = 2
+
+
+# Values for HSV threshold
+@unique
+class ColorHSV(Enum):
+    """
+    MIN HSV, MAX HSV, Invert Hue (bool)
+    """
+    BLUE = [90, 50, 85], [125, 255, 255], False
+    RED = [15, 80, 75], [170, 255, 255], True
+    GREEN = [40, 60, 75], [85, 255, 255], False
+    ANY = [0, 50, 100], [179, 255, 255], False
+
+
+# Values use for HS'V thresholding
+@unique
+class ColorHSVPrime(Enum):
+    """
+    MIN HSV, MAX HSV, Invert Hue (bool)
+    """
+    BLUE = [90, 70, 100], [115, 255, 255], False
+    RED = [15, 70, 100], [170, 255, 255], True
+    GREEN = [40, 70, 100], [85, 255, 255], False
+    ANY = [0, 70, 140], [179, 255, 255], False
+
+
+# Different object types handle by the API. The value corresponds to the object's number of sides
+@unique
+class ObjectType(Enum):
+    SQUARE = 4
+    TRIANGLE = 3
+    CIRCLE = -1
+    ANY = 0
+
+
+@unique
+class MorphoType(Enum):
+    ERODE = cv2.MORPH_ERODE
+    DILATE = cv2.MORPH_DILATE
+    OPEN = cv2.MORPH_OPEN
+    CLOSE = cv2.MORPH_CLOSE
+
+
+@unique
+class KernelType(Enum):
+    RECT = cv2.MORPH_RECT
+    ELLIPSE = cv2.MORPH_ELLIPSE
+    CROSS = cv2.MORPH_CROSS
diff --git a/niryo_robot_vision/src/niryo_robot_vision/image_functions.py b/niryo_robot_vision/src/niryo_robot_vision/image_functions.py
new file mode 100644
index 000000000..181a40ddc
--- /dev/null
+++ b/niryo_robot_vision/src/niryo_robot_vision/image_functions.py
@@ -0,0 +1,486 @@
+import math
+import numpy as np
+
+from .enums import *
+from .markers_detection import extract_img_markers, draw_markers
+
+__all__ = [
+    "threshold_hsv",
+    "morphological_transformations",
+    "get_contour_barycenter",
+    "get_contour_angle",
+    "biggest_contour_finder",
+    "biggest_contours_finder",
+    "draw_contours",
+    "extract_img_workspace",
+    "relative_pos_from_pixels",
+
+    "show_and_check_close",
+    "show_img",
+    "show_and_wait_close",
+
+    "compress_image",
+    "uncompress_image",
+    "add_annotation_to_image",
+    "undistort_image",
+    "resize_img",
+    "concat_imgs",
+
+    "extract_img_from_ros_msg",
+
+    "debug_threshold_color",
+    "debug_markers",
+]
+
+
+# Image Processing
+def threshold_hsv(img, list_min_hsv, list_max_hsv, reverse_hue=False, use_s_prime=False):
+    """
+    Take BGR image (OpenCV imread result) and return thresholded image
+    according to values on HSV (Hue, Saturation, Value)
+    Pixel will worth 1 if a pixel has a value between min_v and max_v for all channels
+
+    :param img: image BGR if rgb_space = False
+    :type img: numpy.array
+    :param list_min_hsv: list corresponding to [min_value_H,min_value_S,min_value_V]
+    :type list_min_hsv: list[int]
+    :param list_max_hsv: list corresponding to [max_value_H,max_value_S,max_value_V]
+    :type list_max_hsv: list[int]
+    :param use_s_prime: True if you want to use S channel as S' = S x V else classic
+    :type use_s_prime: bool
+    :param reverse_hue: Useful for Red color cause it is at both extremum
+    :type reverse_hue: bool
+    :return: threshold image
+    :rtype: numpy.array
+    """
+    frame_hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
+    if use_s_prime:
+        frame_hsv[:, :, 1] = (1. / 255) * frame_hsv[:, :, 1] * frame_hsv[:, :, 2].astype(np.uint8)
+
+    if not reverse_hue:
+        return cv2.inRange(frame_hsv, tuple(list_min_hsv), tuple(list_max_hsv))
+    else:
+        list_min_v_c = list(list_min_hsv)
+        list_max_v_c = list(list_max_hsv)
+        lower_bound_red, higher_bound_red = sorted([list_min_v_c[0], list_max_v_c[0]])
+        list_min_v_c[0], list_max_v_c[0] = 0, lower_bound_red
+        low_red_im = cv2.inRange(frame_hsv, tuple(list_min_v_c), tuple(list_max_v_c))
+        list_min_v_c[0], list_max_v_c[0] = higher_bound_red, 179
+        high_red_im = cv2.inRange(frame_hsv, tuple(list_min_v_c), tuple(list_max_v_c))
+        return cv2.addWeighted(low_red_im, 1.0, high_red_im, 1.0, 0)
+
+
+def morphological_transformations(im_thresh, morpho_type=MorphoType.CLOSE, kernel_shape=(5, 5),
+                                  kernel_type=KernelType.ELLIPSE):
+    """
+    Take black & white image and apply morphological transformation
+
+    :param im_thresh: Black & White Image
+    :type im_thresh: numpy.array
+    :param morpho_type: CLOSE/OPEN/ERODE/DILATE => See on OpenCV/Google if you do not know these words
+    :type morpho_type: MorphoType
+    :param kernel_shape: tuple corresponding to the size of the kernel
+    :type kernel_shape: tuple[float]
+    :param kernel_type: RECT/ELLIPSE/CROSS => see on OpenCV
+    :type kernel_type: KernelType
+    :return: image after processing
+    :rtype: numpy.array
+    """
+    if not isinstance(morpho_type, MorphoType) or not isinstance(kernel_type, KernelType):
+        raise TypeError
+
+    kernel = cv2.getStructuringElement(kernel_type.value, kernel_shape)
+
+    return cv2.morphologyEx(im_thresh, morpho_type.value, kernel)
+
+
+# Contours
+def get_contour_barycenter(contour):
+    """
+    Return barycenter of an OpenCV Contour
+
+    :param contour:
+    :type contour: OpenCV Contour
+    :return: Barycenter X, Barycenter Y
+    :rtype: int, int
+    """
+    moments = cv2.moments(contour)
+    if moments['m00'] == 0:
+        rect = cv2.boundingRect(contour)
+        cx, cy, _, _ = rect
+    else:
+        cx = int(moments['m10'] / moments['m00'])
+        cy = int(moments['m01'] / moments['m00'])
+
+    return cx, cy
+
+
+def get_contour_angle(contour):
+    """
+    Return orientation of a contour according to the smallest side
+    in order to be well oriented for gripper
+
+    :param contour: contour
+    :type contour: OpenCV Contour
+    :return: Angle in radians
+    :rtype: float
+    """
+    rotrect = cv2.minAreaRect(contour)
+    angle = rotrect[-1]
+    size1, size2 = rotrect[1][0], rotrect[1][1]
+    ratio_size = float(size1) / float(size2)
+    if 1.25 > ratio_size > 0.75:
+        if angle < -45:
+            angle = 90 + angle
+    else:
+        if size1 < size2:
+            angle = angle + 180
+        else:
+            angle = angle + 90
+
+        if angle > 90:
+            angle = angle - 180
+
+    return math.radians(angle)
+
+
+def biggest_contour_finder(img):
+    res = biggest_contours_finder(img, nb_contours_max=1)
+    if not res:
+        return res
+    else:
+        return res[0]
+
+
+def biggest_contours_finder(img, nb_contours_max=3):
+    """
+    Function to find the biggest contour in an binary image
+
+    :param img: Binary Image
+    :type img: numpy.array
+    :param nb_contours_max: maximal number of contours which will be returned
+    :type nb_contours_max: int
+    :return: biggest contours found
+    :rtype: list[OpenCV Contour]
+    """
+    contours = cv2.findContours(img, cv2.RETR_LIST, cv2.CHAIN_APPROX_NONE)[-2]
+    if not contours:
+        return None
+    contours_area = list()
+    for cnt in contours:
+        contours_area.append(cv2.contourArea(cnt))
+    biggest_contours = []
+    le = len(contours_area)
+    if nb_contours_max > le:
+        nb_contours = le
+        id_contours_sorted_init = list(range(nb_contours))
+    else:
+        nb_contours = nb_contours_max
+        id_contours_sorted_init = np.argpartition(contours_area, -nb_contours)[-nb_contours:]
+    id_contours_sorted = [x for x in sorted(id_contours_sorted_init, key=lambda idi: -contours_area[idi])]
+
+    for i in range(nb_contours):
+        id_used = id_contours_sorted[i]
+
+        if contours_area[id_used] < 400:
+            break
+
+        biggest_contours.append(contours[id_used])
+    return biggest_contours
+
+
+def draw_contours(img, contours):
+    """
+    Draw a list of contour on an image and return the drawing image
+
+    :param img: Image
+    :type img: numpy.array
+    :param contours: contours list
+    :type contours: list[OpenCV Contour]
+    :return: Image with drawing
+    :rtype: numpy.array
+    """
+    if len(img.shape) == 2:
+        img_bgr = cv2.cvtColor(img, cv2.COLOR_GRAY2BGR)
+    else:
+        img_bgr = img.copy()
+    cv2.drawContours(img_bgr, contours, -1, (255, 0, 0), 3)
+    return img_bgr
+
+
+def extract_img_workspace(img, workspace_ratio=1.0):
+    """
+    Extract working area from an image thanks to 4 Niryo's markers
+
+    :param img: OpenCV image which contain 4 Niryo's markers
+    :type img: numpy.array
+    :param workspace_ratio: Ratio between the width and the height of the area represented by the markers
+    :type workspace_ratio: float
+    :return: extracted and warped working area image
+    :rtype: numpy.array
+    """
+    return extract_img_markers(img, workspace_ratio)
+
+
+def relative_pos_from_pixels(img, x_pixels, y_pixels):
+    """
+    Transform a pixels position to a relative position
+
+    :param img: Image where the object is detected
+    :type img: numpy.array
+    :param x_pixels: coordinate X
+    :type x_pixels: int
+    :param y_pixels: coordinate Y
+    :type y_pixels: int
+    :return: X relative, Y relative
+    :rtype: float, float
+    """
+    return float(x_pixels) / img.shape[1], float(y_pixels) / img.shape[0]
+
+
+# - SHOW FUNCTIONS
+keys_leave = [27, ord('q')]
+
+
+def show_and_check_close(window_name, img):
+    """
+    Display an image and check whether the user want to close
+
+    :param window_name: window's name
+    :type window_name: str
+    :param img: Image
+    :type img: numpy.array
+    :return: boolean indicating if the user wanted to leave
+    :rtype: bool
+    """
+    cv2.imshow(window_name, img)
+    return cv2.waitKey(1) in keys_leave
+
+
+def show_img(window_name, img, wait_ms=1):
+    """
+    Display an image during a certain time
+
+    :param window_name: window's name
+    :type window_name: str
+    :param img: Image
+    :type img: numpy.array
+    :param wait_ms: Wait time in milliseconds
+    :type wait_ms: int
+    :return: value of the key pressed during the display
+    :rtype: int
+    """
+    if type(wait_ms) == float:
+        wait_ms = int(wait_ms)
+    if wait_ms < 1:
+        wait_ms = 1
+    cv2.imshow(window_name, img)
+    return cv2.waitKey(wait_ms)
+
+
+def show_and_wait_close(window_name, img):
+    """
+    Display an image and wait that the user close it
+
+    :param window_name: window's name
+    :type window_name: str
+    :param img: Image
+    :type img: numpy.array
+    :return: None
+    :rtype: None
+    """
+    cv2.imshow(window_name, img)
+    cv2.waitKey(0)
+
+
+# -- IMAGE EDITING
+def compress_image(img, quality=90):
+    """
+    Compress OpenCV image
+
+    :param img: OpenCV Image
+    :type img: numpy.array
+    :param quality: integer between 1 - 100. The higher it is, the less information will be lost,
+     but the heavier the compressed image will be
+    :type quality: int
+    :return: status & string representing compressed image
+    :rtype: bool, str
+    """
+    result, encimg = cv2.imencode('.jpg', img, [int(cv2.IMWRITE_JPEG_QUALITY), quality])
+    if not result:
+        return False, None
+
+    return True, np.array(encimg).tostring()
+
+
+def uncompress_image(compressed_image):
+    """
+    Take a compressed img and return an OpenCV image
+
+    :param compressed_image: compressed image
+    :type compressed_image: str
+    :return: OpenCV image
+    :rtype: numpy.array
+    """
+    np_arr = np.fromstring(compressed_image, np.uint8)
+    return cv2.imdecode(np_arr, cv2.IMREAD_COLOR)
+
+
+def add_annotation_to_image(img, text, write_on_top=True):
+    """
+    Add Annotation to an image
+
+    :param img: Image
+    :type img: numpy.array
+    :param text: text string
+    :type text: str
+    :param write_on_top: if you write the text on top
+    :type write_on_top: bool
+    :return: img with text written on it
+    :rtype: numpy.array
+    """
+    font_scale_used = font_scale_normal
+    thickness_used = thickness_small
+    h_im, w_im = img.shape[:2]
+    (text_width, text_height), baseline = cv2.getTextSize(text, font, fontScale=font_scale_used,
+                                                          thickness=thickness_used)
+    text_true_height = text_height + baseline
+    if write_on_top:
+        cv2.rectangle(img, (0, 0),
+                      (int(text_width * 1.1), int(text_true_height * 1.35)),
+                      WHITE, cv2.FILLED)
+        cv2.putText(img, text,
+                    (int(text_width * 0.05), int(text_true_height * 1.2 - baseline)),
+                    font, font_scale_used, ORANGE, thickness_used)
+    else:
+        cv2.rectangle(img,
+                      (int(text_width * 1.1), h_im - int(text_true_height * 1.35)),
+                      (0, h_im),
+                      WHITE, cv2.FILLED)
+        cv2.putText(img, text,
+                    (int(text_width * 0.05), h_im - baseline),
+                    font, font_scale_used, ORANGE, thickness_used)
+    return img
+
+
+def undistort_image(img, mtx, dist):
+    """
+    Use camera intrinsics to undistort raw image
+
+    :param img: Raw Image
+    :type img: numpy.array
+    :param mtx: Camera Intrinsics matrix
+    :type mtx: list[list[float]]
+    :param dist: Distortion Coefficient
+    :type dist: list[list[float]]
+    :return: Undistorted image
+    :rtype: numpy.array
+    """
+    return cv2.undistort(src=img, cameraMatrix=mtx, distCoeffs=dist)
+
+
+def resize_img(img, width=None, height=None, inter=cv2.INTER_AREA):
+    """
+    Resize an image. The user should precise only width or height if he wants to keep image's ratio
+
+    :param img: OpenCV Image
+    :type img: numpy.array
+    :param width: Target Width
+    :type width: int
+    :param height: Target Height
+    :type height: int
+    :param inter: OpenCV interpolation flag
+    :type inter: long
+    :return: resized image
+    :rtype: numpy.array
+    """
+    if width is None and height is None:
+        return img
+
+    height_init, width_init = img.shape[:2]
+
+    if width is None:
+        ratio = height / float(height_init)
+        dim = (int(width_init * ratio), height)
+
+    elif height is None:
+        ratio = width / float(width_init)
+        dim = (width, int(height_init * ratio))
+    else:
+        dim = (width, height)
+
+    resized = cv2.resize(img, dim, interpolation=inter)
+
+    return resized
+
+
+def concat_imgs(tuple_imgs, axis=1):
+    """
+    Concat multiple images along 1 axis
+
+    :param tuple_imgs: tuple of images
+    :type tuple_imgs: tuple[numpy.array]
+    :param axis: 0 means vertically and 1 means horizontally
+    :type axis: int
+    :return: Concat image
+    :rtype: numpy.array
+    """
+    new_list_imgs = []
+    for image in tuple_imgs:
+        if len(image.shape) == 2:
+            image = cv2.cvtColor(image, cv2.COLOR_GRAY2BGR)
+        new_list_imgs.append(image)
+
+    concat_im = np.concatenate(tuple(new_list_imgs), axis=axis)
+    return concat_im
+
+
+# ROS
+
+def extract_img_from_ros_msg(ros_msg):
+    """
+    Take a ROS CompressedImage message and return the image uncompressed
+
+    :param ros_msg: a ROS CompressedImage
+    :type ros_msg: :sensor_msgs:`CompressedImage`
+    :return: image uncompressed
+    :rtype: numpy.array
+    """
+    data_image = ros_msg.data
+    if not data_image:
+        return None
+    image = uncompress_image(data_image)
+    return image
+
+
+# DEBUG
+
+def debug_threshold_color(img, color_hsv):
+    """
+    Return masked image to see the effect of color threshold
+
+    :param img: OpenCV image
+    :type img: numpy.array
+    :param color_hsv: Color used for debug
+    :type color_hsv: ColorHSV
+    :return: Masked image
+    :rtype: numpy.array
+    """
+    param_thresh = color_hsv.value
+    thresh_img = threshold_hsv(img, *param_thresh)
+    im_morph = morphological_transformations(thresh_img, MorphoType.OPEN, kernel_shape=(7, 7))
+    return cv2.bitwise_and(img, img, mask=im_morph)
+
+
+def debug_markers(img, workspace_ratio=1.0):
+    """
+    Display detected markers on an image
+
+    :param img: OpenCV image which contain Niryo's markers
+    :type img: numpy.array
+    :param workspace_ratio: Ratio between the width and the height of the area represented by the markers
+    :type workspace_ratio: float
+    :return: (status, annotated image)
+    :rtype: numpy.array
+    """
+    return draw_markers(img, workspace_ratio)
diff --git a/niryo_robot_vision/src/niryo_robot_vision/markers_detection.py b/niryo_robot_vision/src/niryo_robot_vision/markers_detection.py
new file mode 100644
index 000000000..593c21895
--- /dev/null
+++ b/niryo_robot_vision/src/niryo_robot_vision/markers_detection.py
@@ -0,0 +1,298 @@
+import numpy as np
+import cv2
+from .math_functions import euclidean_dist_2_pts
+
+IM_EXTRACT_SMALL_SIDE_PIXELS = 200
+
+
+def extract_img_markers(img, workspace_ratio=1.0):
+    """
+    Extract working area from an image thanks to 4 Niryo's markers
+    :param img: OpenCV image which contain 4 Niryo's markers
+    :param workspace_ratio: Ratio between the width and the height of the area represented by the markers
+    :return: extracted and warped working area image
+    """
+
+    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+
+    img_thresh = cv2.adaptiveThreshold(gray, maxValue=255, adaptiveMethod=cv2.ADAPTIVE_THRESH_MEAN_C,
+                                       thresholdType=cv2.THRESH_BINARY, blockSize=15, C=25)
+
+    list_good_candidates = find_markers_from_img_thresh(img_thresh)
+    if not list_good_candidates or len(list_good_candidates) > 6:
+        return None
+
+    if len(list_good_candidates) == 4:
+        list_good_candidates = sort_markers_detection(list_good_candidates)
+    else:
+        list_good_candidates = complicated_sort_markers(list_good_candidates, workspace_ratio=workspace_ratio)
+        if list_good_candidates is None:
+            return None
+
+    im_cut = extract_sub_img(img, list_good_candidates, ratio_w_h=workspace_ratio)
+    return im_cut
+
+
+def extract_sub_img(img, list_corners, ratio_w_h=1.0):
+    """
+    Extract an small image from a big one using a Perspective Warp
+    :param img: Big image from which the small one will be extracted
+    :param list_corners: corners list of the small image
+    :param ratio_w_h: Width over Height ratio of the area. It helps to not stretch the working area image
+    :return: extracted and warped image
+    """
+    if list_corners is None or len(list_corners) != 4:
+        return None
+
+    if ratio_w_h >= 1.0:
+        target_w_area = int(round(ratio_w_h * IM_EXTRACT_SMALL_SIDE_PIXELS))
+        target_h_area = IM_EXTRACT_SMALL_SIDE_PIXELS
+    else:
+        ratio_w_h = 1.0 / ratio_w_h
+        target_h_area = int(round(ratio_w_h * IM_EXTRACT_SMALL_SIDE_PIXELS))
+        target_w_area = IM_EXTRACT_SMALL_SIDE_PIXELS
+
+    points_grid = []
+
+    for marker in list_corners:
+        points_grid.append(marker.get_center())
+    points_grid = np.array(points_grid, dtype=np.float32)
+    final_pts = np.array(
+        [[0, 0], [target_w_area - 1, 0],
+         [target_w_area - 1, target_h_area - 1], [0, target_h_area - 1]],
+        dtype=np.float32)
+    transfo_matrix = cv2.getPerspectiveTransform(points_grid, final_pts)
+    # print transfo_matrix
+    # print np.linalg.det(transfo_matrix)
+    area_im = cv2.warpPerspective(img, transfo_matrix, (target_w_area, target_h_area))
+    return area_im
+
+
+def draw_markers(img, workspace_ratio=1.0):
+    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+
+    img_thresh = cv2.adaptiveThreshold(gray, maxValue=255, adaptiveMethod=cv2.ADAPTIVE_THRESH_MEAN_C,
+                                       thresholdType=cv2.THRESH_BINARY, blockSize=15, C=32)
+
+    list_good_candidates = find_markers_from_img_thresh(img_thresh)
+    if not list_good_candidates:
+        return False, img
+    im_draw = img.copy()
+    for marker in list_good_candidates:
+        cx, cy = marker.get_center()
+        radius = marker.get_radius()
+        cv2.circle(im_draw, (cx, cy), radius, (0, 0, 255), 2)
+    if len(list_good_candidates) > 6:
+        return False, im_draw
+
+    if len(list_good_candidates) == 4:
+        list_good_candidates = sort_markers_detection(list_good_candidates)
+    else:
+        list_good_candidates = complicated_sort_markers(list_good_candidates, workspace_ratio=workspace_ratio)
+        if list_good_candidates is None:
+            return False, im_draw
+
+    for i, marker in enumerate(list_good_candidates[:4]):
+        cx, cy = marker.get_center()
+        radius = marker.get_radius()
+        cv2.circle(im_draw, (cx, cy), radius, (0, 200, 0), 2)
+        cv2.putText(im_draw, "{}".format(i + 1),
+                    (cx + 5, cy - 15), cv2.FONT_HERSHEY_SIMPLEX, 0.9, (0, 0, 0), 3)
+        cv2.putText(im_draw, "{}".format(i + 1),
+                    (cx + 5, cy - 15), cv2.FONT_HERSHEY_SIMPLEX, 0.9, (0, 200, 0), 2)
+    return True, im_draw
+
+
+class PotentialMarker:
+    def __init__(self, center, radius, cnt):
+        self.center = center
+        self.x = center[0]
+        self.y = center[1]
+        self.radius = radius
+        self.contour = cnt
+        self.is_merged = False
+
+    def get_center(self):
+        return self.center
+
+    def __str__(self):
+        return "{} - {} - {}".format(self.x, self.y, self.radius)
+
+    def __repr__(self):
+        return self.__str__()
+
+
+class Marker:
+    def __init__(self, potential_marker):
+        self.list_centers = [potential_marker.get_center()]
+        self.list_radius = [potential_marker.radius]
+        self.list_contours = [potential_marker.contour]
+        self.cx = self.list_centers[0][0]
+        self.cy = self.list_centers[0][1]
+        self.radius = potential_marker.radius
+        self.identifiant = None
+        self.value_for_id = None
+
+    def get_radius(self):
+        return self.radius
+
+    def get_center(self):
+        return self.cx, self.cy
+
+    def add_circle(self, obj_potential_marker):
+        self.list_centers.append(obj_potential_marker.get_center())
+        self.list_radius.append(obj_potential_marker.radius)
+        obj_potential_marker.is_merged = True
+
+        (x, y) = np.mean(self.list_centers, axis=0)
+        self.cx, self.cy = int(round(x)), int(round(y))
+
+        self.radius = int(round(max(self.list_radius)))
+
+    def nb_circles(self):
+        return len(self.list_centers)
+
+    def get_id_from_slice(self, img_thresh):
+        x, y, w, h = self.cx - 1, self.cy - 1, 3, 3
+        self.value_for_id = np.mean(img_thresh[y:y + h, x:x + w])
+        # return value_for_id
+        if self.value_for_id > 200:
+            self.identifiant = "A"
+        else:
+            self.identifiant = "B"
+
+        return self.identifiant
+        # return value_for_id
+
+    def __str__(self):
+        return "{} - {}".format(self.nb_circles(), self.list_centers)
+
+    def __repr__(self):
+        return self.__str__()
+
+
+def sort_markers_detection(list_markers):
+    def rotate_list(list_, n):
+        return list_[n:] + list_[:n]
+
+    list_sort_y = sorted(list_markers, key=lambda m: m.cy)
+
+    top1, top2, bottom1, bottom2 = list_sort_y
+
+    if top1.cx < top2.cx:
+        top_left = top1
+        top_right = top2
+    else:
+        top_left = top2
+        top_right = top1
+
+    if bottom1.cx < bottom2.cx:
+        bottom_left = bottom1
+        bottom_right = bottom2
+    else:
+        bottom_left = bottom2
+        bottom_right = bottom1
+
+    list_markers_unsorted = [top_left, top_right, bottom_right, bottom_left]
+    list_id = [marker.identifiant for marker in list_markers_unsorted]
+
+    if list_id.count("A") == 1:
+        list_corners_sorted = rotate_list(list_markers_unsorted, n=list_id.index("A"))
+    elif list_id.count("B") == 1:
+        list_corners_sorted = rotate_list(list_markers_unsorted, n=list_id.index("B"))
+    else:
+        return list_markers_unsorted
+
+    return list_corners_sorted
+
+
+def complicated_sort_markers(list_markers, workspace_ratio):
+    import itertools
+
+    if workspace_ratio >= 1.0:
+        target_w_area = int(round(workspace_ratio * 200))
+        target_h_area = 200
+    else:
+        ratio_w_h = 1.0 / workspace_ratio
+        target_h_area = int(round(ratio_w_h * 200))
+        target_w_area = 200
+    list_id = [marker.identifiant for marker in list_markers]
+    count_type_a = list_id.count("A")
+    count_type_b = list_id.count("B")
+    if count_type_a < 3 > count_type_b:
+        return None
+    if count_type_a < count_type_b:
+        id_first_marker = "A"
+        id_second_marker = "B"
+    else:
+        id_first_marker = "B"
+        id_second_marker = "A"
+    list_combinaisons = []
+    list_marker_1 = [marker for marker in list_markers if marker.identifiant == id_first_marker]
+    list_marker_2 = [marker for marker in list_markers if marker.identifiant == id_second_marker]
+    if list_marker_1:
+        list_combinaisons_marker_2 = itertools.combinations(list_marker_2, 3)
+        for marker1 in list_marker_1:
+            for combi_markers2 in list_combinaisons_marker_2:
+                combin = [marker1] + list(combi_markers2)
+
+                list_combinaisons.append(sort_markers_detection(combin))
+    else:
+        for combinaison in itertools.combinations(list_marker_2, 4):
+            list_combinaisons.append(combinaison)
+    if not list_combinaisons:
+        return None
+
+    final_pts = np.array(
+        [[0, 0], [target_w_area - 1, 0],
+         [target_w_area - 1, target_h_area - 1], [0, target_h_area - 1]],
+        dtype=np.float32)
+    list_det_transfo_matrix = []
+    for combin in list_combinaisons:
+        points_grid = np.array([[mark.cx, mark.cy] for mark in combin], dtype=np.float32)
+
+        transfo_matrix = cv2.getPerspectiveTransform(points_grid, final_pts)
+        list_det_transfo_matrix.append(np.linalg.det(transfo_matrix))
+
+    best_combin_ind = np.argmin(abs(np.array(list_det_transfo_matrix) - 1))
+    best_markers = list_combinaisons[best_combin_ind]
+    return best_markers
+
+
+def find_markers_from_img_thresh(img_thresh, max_dist_between_centers=3, min_radius_circle=4,
+                                 max_radius_circle=35, min_radius_marker=7):
+    contours = cv2.findContours(img_thresh, cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE)[-2]
+    list_potential_markers = []
+    for cnt in contours:
+        (x, y), radius = cv2.minEnclosingCircle(cnt)
+        if not min_radius_circle < radius < max_radius_circle:
+            continue
+        center = (int(round(x)), int(round(y)))
+        radius = int(radius)
+        list_potential_markers.append(PotentialMarker(center, radius, cnt))
+
+    list_potential_markers = sorted(list_potential_markers, key=lambda m: m.x)
+    list_good_candidates = []
+
+    for i, potential_marker in enumerate(list_potential_markers):
+        if potential_marker.is_merged:
+            continue
+        marker1 = Marker(potential_marker)
+        center_marker = marker1.get_center()
+
+        for potential_marker2 in list_potential_markers[i + 1:]:
+            if potential_marker.is_merged:
+                continue
+            center_potential = potential_marker2.get_center()
+            if center_potential[0] - center_marker[0] > max_dist_between_centers:
+                break
+            dist = euclidean_dist_2_pts(center_marker, center_potential)
+            if dist <= max_dist_between_centers:
+                marker1.add_circle(potential_marker2)
+                center_marker = marker1.get_center()
+
+        if marker1.nb_circles() > 2 and marker1.radius >= min_radius_marker:
+            list_good_candidates.append(marker1)
+            marker1.get_id_from_slice(img_thresh)
+
+    return list_good_candidates
diff --git a/niryo_robot_vision/src/niryo_robot_vision/math_functions.py b/niryo_robot_vision/src/niryo_robot_vision/math_functions.py
new file mode 100644
index 000000000..99de0627a
--- /dev/null
+++ b/niryo_robot_vision/src/niryo_robot_vision/math_functions.py
@@ -0,0 +1,45 @@
+#!/usr/bin/env python
+import math
+
+
+def get_angle_2_points(x1, y1, x2, y2):
+    """
+    angle of the line starting at (x1,y1) and finishing at (x2,y2), according to repere trigonometrique
+    :param x1: x position of the first point
+    :param y1: y position of the first point
+    :param x2: x position of the second point
+    :param y2: y position of the second point
+    :return: angle in radians
+    """
+    dy = float(y2) - float(y1)
+    dx = float(x2) - float(x1)
+    if dx == 0:
+        # return 90 if dy > 0 else -90
+        return math.pi / 2 if dy > 0 else -math.pi / 2
+
+    else:
+        return math.atan2(dy, dx)
+
+
+def euclidean_dist(x1, y1, x2, y2):
+    """
+    Return euclidean distance between 2 points
+    :param x1: x position of the first point
+    :param y1: y position of the first point
+    :param x2: x position of the second point
+    :param y2: y position of the second point
+    :return: distance in the same metrics as the points
+    """
+    return math.sqrt((float(x1) - float(x2)) ** 2 + (float(y1) - float(y2)) ** 2)
+
+
+def euclidean_dist_2_pts(p1, p2):
+    """
+    Return euclidean distance between 2 points
+    :param p1: tuple(X,Y) of the first point's coordinates
+    :param p2: tuple(X,Y) of the second point's coordinates
+    :return: distance in the same metrics as the points
+    """
+    x1, y1 = p1
+    x2, y2 = p2
+    return math.sqrt((float(x1) - float(x2)) ** 2 + (float(y1) - float(y2)) ** 2)
diff --git a/niryo_robot_vision/srv/DebugColorDetection.srv b/niryo_robot_vision/srv/DebugColorDetection.srv
new file mode 100644
index 000000000..ef88578c8
--- /dev/null
+++ b/niryo_robot_vision/srv/DebugColorDetection.srv
@@ -0,0 +1,3 @@
+string color
+---
+sensor_msgs/CompressedImage img
diff --git a/niryo_robot_vision/srv/DebugMarkers.srv b/niryo_robot_vision/srv/DebugMarkers.srv
new file mode 100644
index 000000000..6908615ca
--- /dev/null
+++ b/niryo_robot_vision/srv/DebugMarkers.srv
@@ -0,0 +1,3 @@
+---
+bool markers_detected
+sensor_msgs/CompressedImage img
diff --git a/niryo_robot_vision/srv/ObjDetection.srv b/niryo_robot_vision/srv/ObjDetection.srv
new file mode 100644
index 000000000..b905a6762
--- /dev/null
+++ b/niryo_robot_vision/srv/ObjDetection.srv
@@ -0,0 +1,13 @@
+string obj_type
+string obj_color
+float32 workspace_ratio
+bool ret_image
+---
+int32 status
+
+niryo_robot_msgs/ObjectPose obj_pose
+
+string obj_type
+string obj_color
+
+sensor_msgs/CompressedImage img
diff --git a/niryo_robot_vision/srv/TakePicture.srv b/niryo_robot_vision/srv/TakePicture.srv
new file mode 100644
index 000000000..d84ab0a03
--- /dev/null
+++ b/niryo_robot_vision/srv/TakePicture.srv
@@ -0,0 +1,3 @@
+string path
+---
+bool success
diff --git a/sphinx_doc/Makefile b/sphinx_doc/Makefile
new file mode 100644
index 000000000..f9b261e2a
--- /dev/null
+++ b/sphinx_doc/Makefile
@@ -0,0 +1,19 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line.
+SPHINXOPTS    =
+SPHINXBUILD   = python2 -m sphinx
+SOURCEDIR     = .
+BUILDDIR      = _build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
diff --git a/sphinx_doc/README.md b/sphinx_doc/README.md
new file mode 100644
index 000000000..0c15c789a
--- /dev/null
+++ b/sphinx_doc/README.md
@@ -0,0 +1,28 @@
+# Ned Doc
+## Préambule
+Pour modifier la doc, vous aurez tout d'abord besoin de Sphinx, de la template d'affichage 
+et d'une librairie Python pour la génération des messages :
+
+`pip install -r requirements_docs.txt`
+
+ou si ça ne fonctionne pas
+
+`pip install Sphinx sphinx_rtd_theme sphinxcontrib-ros`
+
+## Génération
+Placez vous à la racine de votre dossier sphinx
+
+Pour générer le html, utilisez : 
+
+`make html`
+
+Le fichier à ouvrir est : **_build/html/index.html**
+
+Command clean + make + open : 
+
+`make clean; make html ; google-chrome _build/html/index.html`
+
+## Ressources
+### Spinxcontrib
+
+http://otamachan.github.io/sphinxcontrib-ros/index.html
diff --git a/sphinx_doc/_static/favicon32.ico b/sphinx_doc/_static/favicon32.ico
new file mode 100644
index 000000000..0ece81b1b
Binary files /dev/null and b/sphinx_doc/_static/favicon32.ico differ
diff --git a/sphinx_doc/_static/logo.png b/sphinx_doc/_static/logo.png
new file mode 100644
index 000000000..99c9fdf4f
Binary files /dev/null and b/sphinx_doc/_static/logo.png differ
diff --git a/sphinx_doc/_static/override.css b/sphinx_doc/_static/override.css
new file mode 100644
index 000000000..d1f4b48e9
--- /dev/null
+++ b/sphinx_doc/_static/override.css
@@ -0,0 +1,245 @@
+@import url("https://use.typekit.net/tsj7mzy.css");
+
+/* Centre le texte dans les row-headers de tableau */
+th.head {
+    text-align: center;
+}
+
+/* Centre le texte dans les non row-headers de tableau */
+td {
+    text-align: center;
+}
+
+body {
+    font-family:open-sans, helvetica, sans-serif;
+}
+/* SIDE-NAV */
+.wy-side-nav-search .icon-home {
+    font-size:0px;
+    user-select: none;
+    -moz-user-select: none;
+}
+.wy-nav-side {
+    background:#203567;
+    padding-bottom:0px;
+    box-shadow: 3px 0px 10px rgba(0,0,0,0.2);
+}
+.wy-side-nav-search a:hover {
+ background:none;
+}
+.wy-side-nav-search {
+    display:flex;
+    flex-direction:column;
+    background-color: white;
+    position: sticky;
+    top: 0;
+    width: auto;
+    margin: 0 15px 0 12px;
+    border-radius: 0 0 20px 20px;
+    box-shadow: 0 0 8px rgba(0,0,0,0.5);
+}
+.wy-side-nav-search .wy-dropdown>a img.logo, .wy-side-nav-search>a img.logo {
+    width:70%;
+}
+.wy-side-nav-search {
+    background-color:white;
+}
+.wy-side-nav-search>div.version{
+    color:#203567;
+    font-size:10px;
+    margin-top:10px;
+}
+.wy-side-nav-search>div.version::before{
+    content:"v";
+}
+.wy-side-nav-search input[type=text] {
+border:none;
+padding: 3% 5%;
+font-size: 1em;
+box-shadow: inset 0px 0px 4px #d8d8d8;
+transition: box-shadow 0.3s ease;
+}
+.wy-side-nav-search input[type=text]:focus {
+    box-shadow: inset 2px 2px 5px #d8d8d8;
+}
+p.caption span {
+    font-size:1.4em;
+    color:white;
+    border-bottom:1px solid white;
+    display:block;
+
+}
+.wy-menu-vertical p.caption {
+    margin-bottom:0px;
+    font-family:semplicitapro, helvetica, sans-serif;
+    height:unset;
+    white-space: break-spaces;
+}
+.wy-menu-vertical a {
+    font-size:16px;
+    color:rgba(255,255,255,0.8);
+}
+li.toctree-l1:first-child a{
+    margin-top:0px;
+}
+li.toctree-l1 a {
+    transition: background-color 0.3s ease-in;
+}
+li.toctree-l1 a:hover {
+    background-color:rgba(255,255,255,0.05);
+}
+.wy-menu-vertical ul:last-of-type{
+    margin-bottom:30px;
+}
+.toctree-l1.current ul a {
+font-size:12px;
+}
+.toctree-l1.current ul a span::before {
+    font-size:14px;
+    transform:translateX(-7px);
+}
+.toctree-l2.current ul {
+    margin-bottom:0;
+}
+/* TOP-NAV */
+div[role="navigation"] hr {
+    display:none;
+}
+.wy-breadcrumbs {
+    background:white;
+    padding:12px;
+    border-radius: 50px;
+    box-shadow: 0 0 7px rgba(0,0,0,0.3);
+}
+.wy-nav-top {
+    background:#203567;
+    font-size:1.5em;
+    font-family:semplicitapro, helvetica, sans-serif;
+}
+.wy-breadcrumbs li:first-child {
+    padding:5px 12px;
+}
+.wy-breadcrumbs li:last-child {
+    border-radius:50px;
+    color:white;
+    background:#203567;
+    padding:5px 12px;
+    border: 1px solid #203567;
+    transition: background-color 0.3s ease;
+}
+li.wy-breadcrumbs-aside a, li.wy-breadcrumbs-aside a:visited {
+    color:white;
+    transition: color 0.3s ease;
+    padding:0;
+}
+li.wy-breadcrumbs-aside:hover {
+    background:rgba(0,0,0,0);
+}
+li.wy-breadcrumbs-aside:hover a {
+color:#203567;
+}
+
+/*CONTENT*/
+.wy-breadcrumbs li:first-child a:first-child {
+    color: #203567;
+}
+.wy-nav-content {
+    max-width:100%;
+    margin-right:0;
+    background:#f8f8f8;
+}
+div.document  a, div.document a:visited {
+    color:#2451bb;
+    transition: color 0.2s ease;
+}
+div.document a:hover {
+    color:#0b2f83;
+}
+div.document span {
+    overflow:visible;
+}
+
+h1 {
+    text-align: center;
+    margin-top:30px;
+}
+h1, h2, h3 {
+    font-family:semplicitapro, helvetica, sans-serif;
+    color: #203567;
+}
+h2{
+    border-bottom:2px solid #203567;
+}
+h3 {
+    margin-left:15px;
+}
+div.section {
+    text-align: justify;
+}
+.highlight-default {
+    border-radius: 10px !important;
+}
+div.admonition.note, div.admonition.important, div.admonition.attention, div.admonition.hint, div.admonition.danger {
+    border-radius: 10px;
+    overflow:hidden;
+    box-shadow: 0 0 10px rgba(0,0,0,0.3);
+}
+div.figure a img {
+    border-radius:20px;
+    box-shadow: 0 0 10px rgba(0,0,0,0.2);
+}
+div.figure p.caption span {
+    color: black;
+    font-style: normal;
+    border:none;
+    padding: 5px;
+    font-size:1em;
+    font-family: semplicitapro, helvetica, sans-serif;
+}
+.rst-footer-buttons a.btn {
+    border-radius:50px;
+    color:white !important;
+    border:1px solid #203567;
+    background-color: #203567 !important;
+    padding-top:8px;
+    box-shadow:unset;
+}
+code {
+    border-radius:5px;
+    border:none !important;
+}
+dl.class, dl.function {
+    border-left : 3px solid #6ab0de;
+}
+dl.class dt, dl.function dt {
+    border-radius: 0 0 12px 0;
+}
+dl.method {
+    border-left:3px solid #CCC;
+}
+dl.method dt {
+    border-left:none !important;
+    border-radius: 0 0 12px 0;
+}
+
+/* SEARCH */
+#search-results .search li a {
+    font-family: semplicitapro, helvetica, sans-serif;
+    font-weight: 700;
+    color:#203567;
+    margin-bottom:0px;
+}
+#search-results .search .highlighted {
+    background-color: #d8d8d8;
+    box-shadow: unset;
+    color:black;
+}
+#search-results .search li {
+    border:0px !important;
+    background:white;
+    padding: 15px 20px 15px 20px;
+    border-radius: 15px;
+}
+#search-results .search li div.context {
+margin-top: 10px;
+}
diff --git a/sphinx_doc/conf.py b/sphinx_doc/conf.py
new file mode 100644
index 000000000..927c33a45
--- /dev/null
+++ b/sphinx_doc/conf.py
@@ -0,0 +1,219 @@
+# -*- coding: utf-8 -*-
+#
+# Configuration file for the Sphinx documentation builder.
+#
+# This file does only contain a selection of the most common options. For a
+# full list see the documentation:
+# http://www.sphinx-doc.org/en/master/config
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+import os
+import sys
+
+sys.path.insert(0, os.path.abspath('../niryo_robot_python_ros_wrapper/src/'))
+
+# -- Project information -----------------------------------------------------
+
+project = u'Ned Doc'
+copyright = u'2020, Niryo'
+author = u'Niryo Software Team'
+
+# The short X.Y version
+version = u'1.0'
+# The full version, including alpha/beta/rc tags
+release = u'1.0.0a'
+
+# -- General configuration ---------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#
+# needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+    'sphinx.ext.autodoc',
+    'sphinx.ext.autosectionlabel',
+    'sphinx.ext.intersphinx',
+    'sphinx.ext.viewcode',
+    'sphinx.ext.githubpages',
+    'sphinx.ext.extlinks',
+    'sphinx.ext.todo',
+]
+
+# SpinxContribROS
+extensions += ['sphinxcontrib.ros']
+
+# Display todos by setting to True
+todo_include_todos = True
+todo_emit_warnings = True
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# The suffix(es) of source filenames.
+# You can specify multiple suffix as a list of string:
+#
+# source_suffix = ['.rst', '.md']
+source_suffix = '.rst'
+
+# The master toctree document.
+master_doc = 'index'
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#
+# This is also used if you do content translation via gettext catalogs.
+# Usually you set "language" from the command line for these cases.
+language = None
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = [u'_build', 'Thumbs.db', '.DS_Store']
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = None
+
+# If true, the current module name will be prepended to all description
+# unit titles (such as .. function::).
+add_module_names = False
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+# html_theme = 'alabaster'
+html_theme = 'sphinx_rtd_theme'
+
+html_logo = "_static/logo.png"
+html_favicon = "_static/favicon32.ico"
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further.  For a list of options available for each theme, see the
+# documentation.
+#
+# html_theme_options = {}
+html_context = {
+    # "display_github": True,
+    # "github_user": "ros-planning",
+    # "github_repo": "moveit_tutorials",
+    # "github_version": "kinetic-devel",
+    # "conf_py_path": "",
+    # "source_suffix": source_suffix,
+    "css_files": ['_static/override.css'],
+    # "favicon": "favicon.ico",
+    # "logo": "logo.png"
+}
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ['_static']
+
+# Custom sidebar templates, must be a dictionary that maps document names
+# to template names.
+#
+# The default sidebars (for documents that don't match any pattern) are
+# defined by theme itself.  Builtin themes are using these templates by
+# default: ``['localtoc.html', 'relations.html', 'sourcelink.html',
+# 'searchbox.html']``.
+#
+# html_sidebars = {}
+
+
+# -- Options for HTMLHelp output ---------------------------------------------
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = 'NedDoc'
+
+# -- Options for LaTeX output ------------------------------------------------
+
+latex_elements = {
+    # The paper size ('letterpaper' or 'a4paper').
+    #
+    # 'papersize': 'letterpaper',
+
+    # The font size ('10pt', '11pt' or '12pt').
+    #
+    # 'pointsize': '10pt',
+
+    # Additional stuff for the LaTeX preamble.
+    #
+    # 'preamble': '',
+
+    # Latex figure (float) alignment
+    #
+    # 'figure_align': 'htbp',
+}
+
+# Grouping the document tree into LaTeX files. List of tuples
+# (source start file, target name, title,
+#  author, documentclass [howto, manual, or own class]).
+latex_documents = [
+    (master_doc, 'NedDoc.tex', u'Ned Doc Documentation',
+     u'Niryo', 'manual'),
+]
+
+# -- Options for manual page output ------------------------------------------
+
+# One entry per manual page. List of tuples
+# (source start file, name, description, authors, manual section).
+man_pages = [
+    (master_doc, 'neddoc', u'Ned Doc Documentation',
+     [author], 1)
+]
+
+# -- Options for Texinfo output ----------------------------------------------
+
+# Grouping the document tree into Texinfo files. List of tuples
+# (source start file, target name, title, author,
+#  dir menu entry, description, category)
+texinfo_documents = [
+    (master_doc, 'NedDoc', u'Ned Doc Documentation',
+     author, 'NedDoc', 'One line description of project.',
+     'Miscellaneous'),
+]
+
+# -- Options for Epub output -------------------------------------------------
+
+# Bibliographic Dublin Core info.
+epub_title = project
+
+# The unique identifier of the text. This can be a ISBN number
+# or the project homepage.
+#
+# epub_identifier = ''
+
+# A unique identification for the text.
+#
+# epub_uid = ''
+
+# A list of files that should not be packed into the epub file.
+epub_exclude_files = ['search.html']
+
+# -- Extension configuration -------------------------------------------------
+
+# -- Options for intersphinx extension ---------------------------------------
+
+# Example configuration for intersphinx: refer to the Python standard library.
+intersphinx_mapping = {'https://docs.python.org/': None}
+
+# Links
+ros_distro = 'melodic'
+extlinks = {
+    'rosdocs': ('http://docs.ros.org/' + ros_distro + '/api/%s', ''),
+    'tf2': ('http://docs.ros.org/' + ros_distro + '/api/tf2_ros/html/c++/classtf2__ros_1_1%s.html', ''),
+
+    'msgs_index': ('http://docs.ros.org/' + ros_distro + '/api/%s/html/index-msg.html', ''),
+    'moveit_msgs': ('http://docs.ros.org/' + ros_distro + '/api/moveit_msgs/html/msg/%s.html', 'moveit_msgs/'),
+    'sensor_msgs': ('http://docs.ros.org/' + ros_distro + '/api/sensor_msgs/html/msg/%s.html', 'sensor_msgs/'),
+    'std_msgs': ('http://docs.ros.org/' + ros_distro + '/api/std_msgs/html/msg/%s.html', 'sensor_msgs/'),
+    'wiki_ros': ('http://wiki.ros.org/%s', ''),
+}
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diff --git a/sphinx_doc/images/visu_rviz_ros.jpg b/sphinx_doc/images/visu_rviz_ros.jpg
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diff --git a/sphinx_doc/images/visu_rviz_trackbar.jpg b/sphinx_doc/images/visu_rviz_trackbar.jpg
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diff --git a/sphinx_doc/index.rst b/sphinx_doc/index.rst
new file mode 100644
index 000000000..3ea98b16a
--- /dev/null
+++ b/sphinx_doc/index.rst
@@ -0,0 +1,112 @@
+.. Ned Doc documentation master file, created by
+   sphinx-quickstart on Thu Jul 23 10:15:29 2020.
+
+#####################################
+Ned ROS Documentation
+#####################################
+
+| This documentation contains everything you need to understand Ned's
+ functioning & how to control it through ROS.
+| It is made as well for users who are
+ using the "physic" robot as those who want to use a virtual version
+
+.. list-table::
+   :header-rows: 0
+   :widths: auto
+   :align: center
+
+   *  -  .. image:: images/ros_logo.png
+                  :alt: ROS Logo
+                  :width: 300px
+                  :align: center
+      -  .. image:: images/niryo_ned_front.jpg
+                     :alt: Ned
+                     :width: 300px
+                     :align: center
+
+
+**************
+Preamble
+**************
+
+Before diving into the software documentation, you can learn more about the robot development
+in the :doc:`Overwiew <source/overview>` section
+
+Also, if you want to use a simulated version of Ned
+, browse the :doc:`Simulation <source/simulation>` section
+
+****************************
+Ned Control via ROS
+****************************
+
+Ned is fully based on ROS
+
+ROS Direct Control
+---------------------------------
+
+.. important::
+   To control the robot directly with ROS, you will need either to be connected in SSH
+   to the physic robot, or to use the simulation.
+
+ROS is the more direct way to control the robot. It allows :
+
+- to send command via the terminal in order to call services, trigger action, ...
+- to write a entire Python/C++ node in a script to realize a full process
+
+See :doc:`ROS <source/ros>` section to see all Topic & Services available
+
+Python ROS Wrapper
+---------------------------------
+.. important::
+   To use Python ROS Wrapper, you will need either to be connected in SSH
+   to the physic robot, or to use the simulation.
+
+The Python ROS Wrapper is build on top of ROS to allow faster development than ROS.
+Programs are run directly on the robot which allows to trigger them with the robot's button
+once a computer is no longer needed
+
+See :doc:`Python ROS Wrapper <source/ros_wrapper>` to see which functions are accessible and examples on
+how to use them
+
+More ways
+---------------------------------
+
+Other methods are available to control the robot allowing the user
+to code and run programs outside his terminal
+
+Learn more on this :doc:`section <source/more>`
+
+
+.. toctree::
+   :hidden:
+   :maxdepth: 2
+   :caption: Introduction
+
+   source/overview
+   source/simulation
+
+.. toctree::
+   :hidden:
+   :maxdepth: 2
+   :caption: Documentation Sections
+
+   source/ros
+   source/stack_hardware
+   source/ros_wrapper
+
+
+.. toctree::
+   :hidden:
+   :maxdepth: 2
+   :caption: Go Further
+
+   source/tcp_server
+   source/more
+
+****************************
+Indices and tables
+****************************
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`
diff --git a/sphinx_doc/make.bat b/sphinx_doc/make.bat
new file mode 100644
index 000000000..7893348a1
--- /dev/null
+++ b/sphinx_doc/make.bat
@@ -0,0 +1,35 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+	set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=.
+set BUILDDIR=_build
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+	echo.
+	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+	echo.installed, then set the SPHINXBUILD environment variable to point
+	echo.to the full path of the 'sphinx-build' executable. Alternatively you
+	echo.may add the Sphinx directory to PATH.
+	echo.
+	echo.If you don't have Sphinx installed, grab it from
+	echo.http://sphinx-doc.org/
+	exit /b 1
+)
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS%
+
+:end
+popd
diff --git a/sphinx_doc/requirements_docs.txt b/sphinx_doc/requirements_docs.txt
new file mode 100644
index 000000000..2fe7d63f3
--- /dev/null
+++ b/sphinx_doc/requirements_docs.txt
@@ -0,0 +1,3 @@
+sphinxcontrib-ros
+Sphinx
+sphinx_rtd_theme
diff --git a/sphinx_doc/source/more.rst b/sphinx_doc/source/more.rst
new file mode 100644
index 000000000..d5e8098f2
--- /dev/null
+++ b/sphinx_doc/source/more.rst
@@ -0,0 +1,21 @@
+More ways to control Ned
+========================================
+
+There is even more ways to control Ned.
+
+| If you are a beginner, look at :ref:`Blockly <Blockly>` section to understand the programming fundamentals.
+| If you want to go further, maybe experience your own image processing, multi_robot, AI
+ ,... you can look at :ref:`PyNiryo`
+
+Blockly
+---------------------
+
+Check out Niryo Studio
+
+PyNiryo
+----------------------------
+As explain in the page :ref:`Use Ned TCP Server`, a TCP Server is running on Ned,
+which allows it to receive commands from any external device.
+
+PyNiryo is a Python package available on Pip which allows to command the Niryo Robots
+with easy Python Binding
diff --git a/sphinx_doc/source/overview.rst b/sphinx_doc/source/overview.rst
new file mode 100644
index 000000000..7d46251f1
--- /dev/null
+++ b/sphinx_doc/source/overview.rst
@@ -0,0 +1,16 @@
+ROS Stack overview
+=========================================
+
+Ned is a robot based on Raspberry, Arduino & ROS. It uses ROS to
+make the interface between Hardware and high-level bindings.
+
+On the following figure, you will see an global overview of the Niryo Robot Software
+in order to understand where are placed each part of the software.
+
+
+.. figure:: ../images/ros/ros_stack_global_overview.jpg
+   :alt: Niryo Robot v3 Software
+   :width: 1200px
+   :align: center
+
+   Niryo Robot v3 Software
diff --git a/sphinx_doc/source/python_ros_wrapper/before_running.rst b/sphinx_doc/source/python_ros_wrapper/before_running.rst
new file mode 100644
index 000000000..d37494c3d
--- /dev/null
+++ b/sphinx_doc/source/python_ros_wrapper/before_running.rst
@@ -0,0 +1,36 @@
+Before Running your Programs
+====================================================
+
+The variable PYTHONPATH
+---------------------------------
+The Python interpreter needs to have all used packages in the environment variable **PYTHONPATH**,
+to do that, you need to have sourced your ROS environment :
+
+- If you are coding directly on your robot, it is made directly in every terminal
+- If your are using simulation, be sure to have followed the setup from
+  :ref:`Setup Ned ROS Environment`
+
+
+Required piece of code
+-------------------------------
+
+To run, your program will need some imports & initialisation. We give you below the piece
+of code you must use to make Python ROS Wrapper work ::
+
+    #!/usr/bin/env python
+
+    # Imports
+    from niryo_robot_python_ros_wrapper import *
+    import rospy
+
+    # Initializing ROS node
+    rospy.init_node('niryo_ned_example_python_ros_wrapper')
+
+    niryo_robot = NiryoRosWrapper()
+
+    # -- YOUR CODE HERE -- #
+
+
+You have now everything you need to control the robot through its Python ROS Wrapper. To run
+a script, simply use the command ``python my_script.py``
+
diff --git a/sphinx_doc/source/python_ros_wrapper/examples_basics.rst b/sphinx_doc/source/python_ros_wrapper/examples_basics.rst
new file mode 100644
index 000000000..07e2334c2
--- /dev/null
+++ b/sphinx_doc/source/python_ros_wrapper/examples_basics.rst
@@ -0,0 +1,149 @@
+Examples: Basics
+==========================
+
+In this file, two short programs are implemented & commented in order to
+help you understand the philosophy behind the Python ROS Wrapper
+
+.. danger::
+    If you are using the real robot, make sure the environment around is clear
+
+
+Your first move joint
+---------------------------
+
+The following example shows a first use case.
+It's a simple MoveJ. ::
+
+    #!/usr/bin/env python
+
+    # Imports
+    from niryo_robot_python_ros_wrapper import *
+    import rospy
+
+    # Initializing ROS node
+    rospy.init_node('niryo_ned_example_python_ros_wrapper')
+
+    # Connecting to the ROS Wrapper & calibrating if needed
+    niryo_robot = NiryoRosWrapper()
+    niryo_robot.calibrate_auto()
+
+    # Moving joint
+    niryo_robot.move_joints(0.1, -0.2, 0.0, 1.1, -0.5, 0.2)
+
+
+Code Details - First Move J
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+First of all, we indicate to the shell that we are running a Python Script ::
+
+    #!/usr/bin/env python
+
+Then, We import the API package to be able to access functions ::
+
+    from niryo_robot_python_ros_wrapper import *
+
+Then, we instantiate a ROS Node in order to communicate with ROS master ::
+
+    import rospy
+
+    # Initializing ROS node
+    rospy.init_node('niryo_ned_example_python_ros_wrapper')
+
+We start a :class:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper` instance ::
+
+    niryo_robot = NiryoRosWrapper()
+
+Once the connection is done, we calibrate the robot using its
+:meth:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper.calibrate_auto` function ::
+
+    niryo_robot.calibrate_auto()
+
+As the robot is now calibrated, we can do a Move Joints by giving the 6 axis positions
+in radians ! To do so, we use :meth:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper.move_joints` ::
+
+    niryo_robot.move_joints(0.1, -0.2, 0.0, 1.1, -0.5, 0.2)
+
+
+Your first pick and place
+-------------------------------
+For our second example, we are going to develop an algorithm of
+pick and place ::
+
+    #!/usr/bin/env python
+
+    # Imports
+    from niryo_robot_python_ros_wrapper import *
+    import rospy
+
+    # Initializing ROS node
+    rospy.init_node('niryo_robot_example_python_ros_wrapper')
+
+    # Connecting to the ROS Wrapper & calibrating if needed
+    niryo_robot = NiryoRosWrapper()
+    niryo_robot.calibrate_auto()
+
+    # Updating tool
+    niryo_robot.update_tool()
+
+    # Opening Gripper/Pushing Air
+    niryo_robot.release_with_tool()
+    # Going to pick pose
+    niryo_robot.move_pose(0.2, 0.1, 0.14, 0.0, 1.57, 0)
+    # Picking
+    niryo_robot.grasp_with_tool()
+    # Moving to place pose
+    niryo_robot.move_pose(0.2, -0.1, 0.14, 0.0, 1.57, 0)
+    # Placing !
+    niryo_robot.release_with_tool()
+
+Code Details - First Pick And Place
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+First of all, we do the imports and start a ROS Node ::
+
+    #!/usr/bin/env python
+
+    from niryo_robot_python_ros_wrapper import *
+    import rospy
+
+    rospy.init_node('niryo_robot_example_python_ros_wrapper')
+
+Then, create a :class:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper` instance
+& calibrate the robot ::
+
+    niryo_robot = NiryoRosWrapper()
+    niryo_robot.calibrate_auto()
+
+
+Then, we equip the tool
+with :meth:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper.update_tool` ::
+
+    niryo_robot.update_tool()
+
+Now that our initialization is done, we can open the gripper (or push air from the vacuum)
+with :meth:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper.release_with_tool`,
+go to the picking pose via :meth:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper.move_pose`
+& then catch an object
+with :meth:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper.grasp_with_tool` ! ::
+
+    # Opening Gripper/Pushing Air
+    niryo_robot.release_with_tool()
+    # Going to pick pose
+    niryo_robot.move_pose(0.2, 0.1, 0.14, 0.0, 1.57, 0)
+    # Picking
+    niryo_robot.grasp_with_tool()
+
+We now get to the place pose, and place the object ::
+
+    # Moving to place pose
+    niryo_robot.move_pose(0.2, -0.1, 0.14, 0.0, 1.57, 0)
+    # Placing !
+    niryo_robot.release_with_tool()
+
+
+Notes - Basics Examples
+---------------------------
+| You may not have fully understood how to move the robot and use
+ tools of Ned and that is totally fine because you will find
+ more details on another examples page !
+| The important thing to remember from this page is how to import the library & connect
+ to the robot
diff --git a/sphinx_doc/source/python_ros_wrapper/examples_conveyor.rst b/sphinx_doc/source/python_ros_wrapper/examples_conveyor.rst
new file mode 100644
index 000000000..c981868ad
--- /dev/null
+++ b/sphinx_doc/source/python_ros_wrapper/examples_conveyor.rst
@@ -0,0 +1,70 @@
+Examples: Conveyor
+========================
+
+This document shows how to use Ned's conveyor belt
+
+| If you want see more about Ned's conveyor belt functions, you can look at :ref:`API - Conveyor<Conveyor>`
+
+.. note::
+    Imports & initialisation aren't mentioned, but you shouldn't forget it !
+
+Simple Conveyor control
+-------------------------------
+This short example show how to connect a conveyor, activating connection and
+launch his motor : ::
+
+    niryo_robot = NiryoRosWrapper()
+
+    # Activating connexion with conveyor and storing ID
+    conveyor_id = niryo_robot.set_conveyor()
+
+    # Running conveyor at 50% of its maximum speed, in Forward direction
+    niryo_robot.control_conveyor(conveyor_id, True, 100, ConveyorDirection.FORWARD)
+
+    # Stopping robot motor
+    niryo_robot.control_conveyor(conveyor_id, True, 0, ConveyorDirection.FORWARD)
+
+    # Deactivating connexion with conveyor
+    niryo_robot.unset_conveyor(conveyor_id)
+
+
+Advanced Conveyor control
+-------------------------------
+This example shows how to do a certain amount of pick & place by using
+the conveyor with the infrared sensor ::
+
+
+    def run_conveyor(robot, conveyor):
+        robot.control_conveyor(conveyor, bool_control_on=True,
+                               speed=50, direction=ConveyorDirection.FORWARD)
+
+    # -- Setting variables
+    sensor_pin_id = PinID.GPIO_1A
+
+    catch_nb = 5
+
+    # The pick pose
+    pick_pose = [0.25, 0., 0.15, 0., 1.57, 0.0]
+    # The Place pose
+    place_pose = [0.0, -0.25, 0.1, 0., 1.57, -1.57]
+
+    # -- MAIN PROGRAM
+
+    niryo_robot = NiryoRosWrapper()
+
+    # Activating connexion with conveyor
+    conveyor_id = niryo_robot.set_conveyor()
+
+    for i in range(catch_nb):
+        run_conveyor(niryo_robot, conveyor_id)
+        while niryo_robot.digital_read(sensor_pin_id) == PinState.LOW:
+            niryo_robot.wait(0.1)
+
+        # Stopping robot motor
+        niryo_robot.control_conveyor(conveyor_id, True, 0, ConveyorDirection.FORWARD)
+        # Making a pick & place
+        niryo_robot.pick_and_place(pick_pose, place_pose)
+
+    # Deactivating connexion with conveyor
+    niryo_robot.unset_conveyor(conveyor_id)
+
diff --git a/sphinx_doc/source/python_ros_wrapper/examples_movement.rst b/sphinx_doc/source/python_ros_wrapper/examples_movement.rst
new file mode 100644
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+Examples: Movement
+=========================
+
+This document shows how to control Ned in order to make Move Joints & Move Pose.
+
+If you want see more, you can look at :ref:`API - Joints & Pose<Joints & Pose>`
+
+.. danger::
+    If you are using the real robot, make sure the environment around is clear
+
+Joints
+-------------------
+
+To do a moveJ, you should pass 6 floats : (j1, j2, j3, j4, j5, j6) to the
+method :meth:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper.move_joints` : ::
+
+    #!/usr/bin/env python
+
+    # Imports
+    from niryo_robot_python_ros_wrapper import *
+    import rospy
+
+    # Initializing ROS node
+    rospy.init_node('niryo_ned_example_python_ros_wrapper')
+
+    niryo_robot = NiryoRosWrapper()
+    niryo_robot.move_joints(0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+
+To get joints, we use :meth:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper.get_joints`  ::
+
+    joints = niryo_robot.get_joints()
+    j1, j2, j3, j4, j5, j6 = joints
+
+Pose
+-------------------
+
+To do a moveP, you should pass 6 floats : (x, y, z, roll, pitch, yaw) to the
+method :meth:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper.move_pose`
+
+See on this example ::
+
+    #!/usr/bin/env python
+
+    # Imports
+    from niryo_robot_python_ros_wrapper import *
+    import rospy
+
+    # Initializing ROS node
+    rospy.init_node('niryo_ned_example_python_ros_wrapper')
+
+    niryo_robot = NiryoRosWrapper()
+    niryo_robot.move_pose(0.25, 0.0, 0.25, 0.0, 0.0, 0.0)
+
+To get pose, we use :meth:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper.get_pose`  ::
+
+    x, y, z, roll, pitch, yaw = niryo_robot.get_pose()
+
+
diff --git a/sphinx_doc/source/python_ros_wrapper/examples_tool_action.rst b/sphinx_doc/source/python_ros_wrapper/examples_tool_action.rst
new file mode 100644
index 000000000..16b43e01b
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+Examples: Tool Action
+========================
+
+This page shows how to control Ned's tools via the Python ROS Wrapper
+
+If you want see more, you can look at :ref:`API - Tools<Tools>`
+
+.. danger::
+    If you are using the real robot, make sure the environment around it is clear
+
+Tool control
+-------------------
+
+Equip Tool
+^^^^^^^^^^^^
+
+In order to use a tool, it should be plugged mechanically to the robot but also
+connected software wise.
+
+To do that, we should use the function
+:meth:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper.update_tool`
+which take no argument. It will scan motor connections and set the new tool !
+
+The line to equip a new tool is ::
+
+    niryo_robot.update_tool()
+
+
+
+Grasping
+^^^^^^^^^^^^
+
+To grasp with any tool, you can use the function
+:meth:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper.grasp_with_tool`. This action correspond to :
+
+ - Close gripper for Grippers
+ - Pull Air for Vacuum pump
+ - Activate for Electromagnet
+
+The code to grasp is ::
+
+    #!/usr/bin/env python
+
+    # Imports
+    from niryo_robot_python_ros_wrapper import *
+    import rospy
+
+    # Initializing ROS node
+    rospy.init_node('niryo_ned_example_python_ros_wrapper')
+
+    # Connecting to the ROS Wrapper & calibrating if needed
+    niryo_robot = NiryoRosWrapper()
+    niryo_robot.calibrate_auto()
+
+    # Updating tool
+    niryo_robot.update_tool()
+
+    # Grasping
+    niryo_robot.grasp_with_tool()
+
+
+To grasp by specifying parameters ::
+
+    #!/usr/bin/env python
+
+    # Imports
+    from niryo_robot_python_ros_wrapper import *
+    import rospy
+
+    # Initializing ROS node
+    rospy.init_node('niryo_ned_example_python_ros_wrapper')
+
+    # Connecting to the ROS Wrapper & calibrating if needed
+    niryo_robot = NiryoRosWrapper()
+    niryo_robot.calibrate_auto()
+
+    # Updating tool
+    tool_used = ToolID.XXX
+    niryo_robot.update_tool()
+
+    if tool_used in [ToolID.GRIPPER_1, ToolID.GRIPPER_2, ToolID.GRIPPER_3, ToolID.GRIPPER_4]:
+        niryo_robot.close_gripper(speed=500)
+    elif tool_used == ToolID.ELECTROMAGNET_1:
+        pin_electromagnet = PinID.XXX
+        niryo_robot.setup_electromagnet(pin_electromagnet)
+        niryo_robot.activate_electromagnet(pin_electromagnet)
+    elif tool_used == ToolID.VACUUM_PUMP_1:
+        niryo_robot.pull_air_vacuum_pump()
+
+
+Releasing
+^^^^^^^^^^^^
+
+To release with any tool, you can use the function
+:meth:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper.release_with_tool`. This action correspond to:
+
+  - Open gripper for Grippers
+  - Push Air for Vacuum pump
+  - Deactivate for Electromagnet
+
+The line to release is ::
+
+    niryo_robot.release_with_tool()
+
+To release by specifying parameters ::
+
+    #!/usr/bin/env python
+
+    # Imports
+    from niryo_robot_python_ros_wrapper import *
+    import rospy
+
+    # Initializing ROS node
+    rospy.init_node('niryo_ned_example_python_ros_wrapper')
+
+    # Connecting to the ROS Wrapper & calibrating if needed
+    niryo_robot = NiryoRosWrapper()
+    niryo_robot.calibrate_auto()
+
+    # Updating tool
+    tool_used = ToolID.XXX
+    niryo_robot.update_tool()
+
+    if tool_used in [ToolID.GRIPPER_1, ToolID.GRIPPER_2, ToolID.GRIPPER_3, ToolID.GRIPPER_4]:
+        niryo_robot.open_gripper(speed=500)
+    elif tool_used == ToolID.ELECTROMAGNET_1:
+        pin_electromagnet = PinID.XXX
+        niryo_robot.setup_electromagnet(pin_electromagnet)
+        niryo_robot.deactivate_electromagnet(pin_electromagnet)
+    elif tool_used == ToolID.VACUUM_PUMP_1:
+        niryo_robot.push_air_vacuum_pump(tool_used)
+
+
+
+Pick & Place with tools
+-------------------------
+
+There is a plenty of ways to realise a pick and place with the ROS Wrapper. Methods will
+be presented from the lowest to highest level
+
+Code used will be ::
+
+    # Imports
+    from niryo_robot_python_ros_wrapper import *
+    
+    gripper_used = ToolID.XXX  # Tool used for picking
+
+    # The pick pose
+    pick_pose = (0.25, 0., 0.15, 0., 1.57, 0.0)
+    # The Place pose
+    place_pose = (0., -0.25, 0.1, 0., 1.57, -1.57)
+    
+    def pick_n_place_version_x(niryo_ned):
+        # -- SOME CODE -- #
+    
+    if __name__ == '__main__':
+        niryo_robot = NiryoRosWrapper()
+        niryo_robot.calibrate_auto()
+        pick_n_place_version_x(niryo_robot)
+    
+
+First Solution : the heaviest
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Everything is done by hand ::
+
+    def pick_n_place_version_1(niryo_ned):
+        height_offset = 0.05  # Offset according to Z-Axis to go over pick & place poses
+        gripper_speed = 400
+    
+        # Going Over Object
+        niryo_ned.move_pose(pick_pose[0], pick_pose[1], pick_pose[2] + height_offset,
+                            pick_pose[3], pick_pose[4], pick_pose[5])
+        # Opening Gripper
+        niryo_ned.open_gripper(gripper_speed)
+        # Going to picking place and closing gripper
+        niryo_ned.move_pose(pick_pose[0], pick_pose[1], pick_pose[2],
+                            pick_pose[3], pick_pose[4], pick_pose[5])
+        niryo_ned.close_gripper(gripper_speed)
+    
+        # Raising
+        niryo_ned.move_pose(pick_pose[0], pick_pose[1], pick_pose[2] + height_offset,
+                            pick_pose[3], pick_pose[4], pick_pose[5])
+    
+        # Going Over Place pose
+        niryo_ned.move_pose(place_pose[0], place_pose[1], place_pose[2] + height_offset,
+                            place_pose[3], place_pose[4], place_pose[5])
+        # Going to Place pose
+        niryo_ned.move_pose(place_pose[0], place_pose[1], place_pose[2],
+                            place_pose[3], place_pose[4], place_pose[5])
+        # Opening Gripper
+        niryo_ned.open_gripper(gripper_speed)
+        # Raising
+        niryo_ned.move_pose(place_pose[0], place_pose[1], place_pose[2] + height_offset,
+                            place_pose[3], place_pose[4], place_pose[5])
+
+
+Second Solution : Pick from pose & Place from pose functions
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+We use predefined functions ::
+
+    def pick_n_place_version_3(niryo_ned):
+        # Pick
+        niryo_ned.pick_from_pose(*pick_pose)
+        # Place
+        niryo_ned.place_from_pose(*place_pose)
+
+Third Solution : All in one
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+We use THE predifined function ::
+
+    def pick_n_place_version_4(niryo_ned):
+        # Pick & Place
+        niryo_ned.pick_and_place(pick_pose, place_pose)
+
diff --git a/sphinx_doc/source/python_ros_wrapper/examples_vision.rst b/sphinx_doc/source/python_ros_wrapper/examples_vision.rst
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index 000000000..c77376948
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+Examples: Vision
+========================
+This document shows how to use Ned's vision set
+
+If you want see more about Ned's vision functions, you can look at :ref:`API - Vision<Vision>`
+
+Beforehand
+-------------------------------
+To realize the following examples, you need to have
+create a workspace
+
+As the examples start always the same, there is the code you need to
+add at the beginning of all of them ::
+
+    #!/usr/bin/env python
+
+    # Imports
+    from niryo_robot_python_ros_wrapper import *
+    import rospy
+
+    # Initializing ROS node
+    rospy.init_node('niryo_ned_example_python_ros_wrapper')
+
+    niryo_robot = NiryoRosWrapper()
+
+    # - Constants
+    workspace_name = "workspace_1"  # Robot's Workspace Name
+
+    # The observation pose
+    observation_pose = (0.18, 0., 0.35, 0., 1.57, -0.2)
+    # The Place pose
+    place_pose = (0., -0.25, 0.1, 0., 1.57, -1.57)
+    
+    # - Main Program
+    # Calibrate robot if robot needs calibration
+    niryo_robot.calibrate_auto()
+    # Changing tool
+    niryo_robot.update_tool()
+
+
+Simple Vision Pick
+-------------------------------
+This short example show how to do your first vision pick : ::
+
+    niryo_robot.move_pose(*observation_pose)
+    # Trying to pick target using camera
+    ret = niryo_robot.vision_pick(workspace_name,
+                                  height_offset=0.0,
+                                  shape=ObjectShape.ANY,
+                                  color=ObjectColor.ANY)
+    obj_found, shape_ret, color_ret = ret
+    if obj_found:
+        niryo_robot.place_from_pose(*place_pose)
+
+    niryo_robot.set_learning_mode(True)
+
+Multi Reference Conditioning
+-------------------------------
+
+Conditioning with Conveyor
+-------------------------------
diff --git a/sphinx_doc/source/python_ros_wrapper/ros_wrapper_doc.rst b/sphinx_doc/source/python_ros_wrapper/ros_wrapper_doc.rst
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index 000000000..4dd4ae8a4
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+Python ROS Wrapper Documentation
+=====================================
+
+This file presents the different Functions, Classes & Enums available with the API
+
+.. contents::
+   :local:
+   :depth: 1
+
+API Functions
+------------------------------------
+
+| This class allows you to control the robot via internal API
+| By controlling, we mean
+
+- Moving the robot
+- Using Vision
+- Controlling Conveyors
+- Playing with Hardware
+
+List of functions subsections:
+
+.. contents::
+   :local:
+   :depth: 1
+
+.. automodule:: niryo_robot_python_ros_wrapper.ros_wrapper
+   :members: NiryoRosWrapper
+
+Main purpose functions
+^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. autoclass:: NiryoRosWrapper
+    :members: calibrate_auto, calibrate_manual, get_learning_mode, set_learning_mode,
+              set_arm_max_velocity
+    :member-order: bysource
+
+Joints & Pose
+^^^^^^^^^^^^^
+
+.. autoclass:: NiryoRosWrapper
+    :members: get_joints, get_pose, get_pose_as_list, move_joints, move_to_sleep_pose, move_pose,
+              shift_pose, move_linear_pose,
+              set_jog_use_state, jog_joints_shift, jog_pose_shift,
+              forward_kinematics, inverse_kinematics
+    :member-order: bysource
+
+Saved Poses
+^^^^^^^^^^^^^
+
+.. autoclass:: NiryoRosWrapper
+    :members: move_pose_saved, get_pose_saved, save_pose, delete_pose, get_saved_pose_list
+    :member-order: bysource
+
+Pick & Place
+^^^^^^^^^^^^^
+
+.. autoclass:: NiryoRosWrapper
+    :members: pick_from_pose, place_from_pose, pick_and_place
+    :member-order: bysource
+
+Trajectories
+^^^^^^^^^^^^^
+
+.. autoclass:: NiryoRosWrapper
+    :members: execute_trajectory_from_poses, execute_trajectory_saved, get_trajectory_saved,
+              save_trajectory, delete_trajectory, get_saved_trajectory_list
+    :member-order: bysource
+
+Tools
+^^^^^^^^^^^^^
+
+.. autoclass:: NiryoRosWrapper
+    :members: get_current_tool_id, update_tool, grasp_with_tool,release_with_tool,
+              open_gripper, close_gripper, pull_air_vacuum_pump, push_air_vacuum_pump,
+              setup_electromagnet, activate_electromagnet, deactivate_electromagnet
+    :member-order: bysource
+
+Hardware
+^^^^^^^^^^^^^
+
+.. autoclass:: NiryoRosWrapper
+    :members: set_pin_mode, digital_write, digital_read,
+              get_hardware_status, get_digital_io_state
+    :member-order: bysource
+
+Conveyor
+^^^^^^^^^^^^^
+
+.. autoclass:: NiryoRosWrapper
+    :members: set_conveyor, unset_conveyor, control_conveyor
+    :member-order: bysource
+
+Vision
+^^^^^^^^^^^^^
+
+.. autoclass:: NiryoRosWrapper
+    :members: get_compressed_image, get_target_pose_from_rel, get_target_pose_from_cam,
+              vision_pick_w_obs_joints, vision_pick_w_obs_pose, vision_pick, move_to_object, detect_object, get_camera_intrinsics,
+              save_workspace_from_poses, save_workspace_from_points,
+              delete_workspace, get_workspace_ratio, get_workspace_list, get_workspace_poses
+    :member-order: bysource
+
+
+Enums
+------------------------------------
+
+.. automodule:: niryo_robot_python_ros_wrapper.ros_wrapper_enums
+    :members:
+    :undoc-members:
+    :exclude-members: CommandEnum
+    :member-order: bysource
diff --git a/sphinx_doc/source/ros.rst b/sphinx_doc/source/ros.rst
new file mode 100644
index 000000000..d8669666a
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+++ b/sphinx_doc/source/ros.rst
@@ -0,0 +1,38 @@
+ROS Stack Documentation
+=========================================
+
+.. figure:: ../images/ros_logo.png
+   :alt: ROS Logo
+   :width: 300px
+   :align: center
+
+   ROS Logo
+
+ROS (Robot Operating System) is an Open-Source Robotic Framework which
+allows to ease robot software development. The framework is used
+in almost each part of Ned software.
+
+The high-level packages (motion planner, vision, ...) are coded in Python to give
+good readability whereas communication with Hardware is developed in C++ to ensure speed
+
+.. note::
+   To learn more about ROS, go on `Official ROS Wiki <http://wiki.ros.org/>`_
+
+In this section, you will have access to all information about each Niryo Robot's ROS packages
+
+.. toctree::
+   :maxdepth: 2
+   :caption: ROS Documentation Sections
+
+   ros/niryo_robot_bringup
+   ros/niryo_robot_commander
+   ros/niryo_robot_description
+   ros/niryo_robot_gazebo
+   ros/niryo_robot_msgs
+   ros/niryo_robot_poses_handlers
+   ros/niryo_robot_programs_manager
+   ros/niryo_robot_rpi
+   ros/niryo_robot_tools
+   ros/niryo_robot_unit_tests
+   ros/niryo_robot_user_interface
+   ros/niryo_robot_vision
diff --git a/sphinx_doc/source/ros/niryo_robot_bringup.rst b/sphinx_doc/source/ros/niryo_robot_bringup.rst
new file mode 100644
index 000000000..90f831bda
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@@ -0,0 +1,65 @@
+Niryo Robot Bringup Package
+==============================
+This packages provides config and launch files to start Ned and ROS packages with various parameters.
+
+Launch files are placed in the *launch* folder. Only files with **.launch** extension can be executed
+
+
+.. figure:: ../../images/ros/brinup_organization.png
+   :alt: Bringup organization
+   :height: 300px
+   :align: center
+
+   Bring Up Launch Files' organization
+
+On RPI
+-------------------------
+
+Ned
+^^^^^^^^^^^^^^^^^^
+
+| The file **niryo_ned_robot.launch** allows to launch ROS on a Raspberry Pi 4.
+| This file is automatically launched when Ned boots (Ned RPi4B image).
+
+Command to launch Ned's ROS Stack::
+
+ roslaunch niryo_robot_bringup niryo_ned_robot.launch
+
+On Desktop (Simulation)
+-------------------------
+
+As the simulation happens on a computer, the hardware-related stuff is not used.
+
+For both of following launch files, you can set :
+ - *gui* to "false" in order to disable graphical interface
+
+Gazebo Simulation
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Run Gazebo simulation. The robot can do everything that is not hardware-related :
+ - move, get_pose
+ - use the camera (to disable it, set "camera" parameter to 'false')
+ - use the Gripper 1 (to disable it, set "simu_gripper" parameter to 'false')
+ - save/run programs, go to saved pose, ...
+
+Command to launch the simulation ::
+
+ roslaunch niryo_robot_bringup desktop_gazebo_simulation.launch
+
+To disable camera & gripper ::
+
+ roslaunch niryo_robot_bringup desktop_gazebo_simulation.launch gripper_n_camera:=false
+
+Rviz Simulation
+^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Run Rviz simulation. You can access same features as Gazebo except Camera & Gripper.
+
+To run it, use the command ::
+
+ roslaunch niryo_robot_bringup desktop_rviz_simulation.launch
+
+Notes - Ned Bringup
+------------------------------
+*niryo_robot_base* files setup many rosparams,
+these files should be launched before any other package.
diff --git a/sphinx_doc/source/ros/niryo_robot_commander.rst b/sphinx_doc/source/ros/niryo_robot_commander.rst
new file mode 100644
index 000000000..b355ec3a7
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@@ -0,0 +1,188 @@
+Niryo Robot Commander Package
+========================================
+
+| This package is the one dealing with all commander related stuff.
+| It is composed of only one node, which is running separately the arm commander and the tool commander
+
+
+Commander Node
+--------------------------
+The ROS Node is made to interact with :
+ - The Arm through MoveIt!
+ - The tolls through the tool controller
+
+All commands are firstly received on the actionlib server which
+ * Handles concurrent requests
+ * Checks if the command can't be processed due to other factors (ex: learning mode)
+ * Validates parameters
+ * Calls required controllers and returns appropriate status and message
+
+The namespace used is : |namespace_emphasize|
+
+Parameters - Commander
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. list-table:: Commander's Parameters
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Description
+   *  -  ``reference_frame``
+      -  | Reference frame used by MoveIt! for moveP.
+         | Default : 'world'
+   *  -  ``move_group_commander_name``
+      -  Name of the group that MoveIt is controlling. By default : "arm"
+   *  -  ``jog_timer_rate_sec``
+      -  Publish rate for jog controller
+   *  -  ``simu_gripper``
+      -  If you are using the simulated gripper and want to control the gripper
+
+
+Action Server - Commander
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. list-table:: Commander Package Action Servers
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Message Type
+      -  Description
+   *  -  ``robot_action``
+      -  :ref:`RobotMove<RobotMove (Action)>`
+      -  Command the arm and tools through an action server
+
+Services - Commander
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. list-table:: Commander Package Services
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Message Type
+      -  Description
+   *  -  ``is_active``
+      -  :ref:`GetBool`
+      -  Indicate whereas a command is actually running or not
+   *  -  ``stop_command``
+      -  :ref:`Trigger`
+      -  Stop the actual command
+   *  -  ``set_max_velocity_scaling_factor``
+      -  :ref:`SetInt`
+      -  Set a percentage of maximum speed
+   *  -  ``/niryo_robot/kinematics/forward``
+      -  :ref:`GetFK<GetFK (Service)>`
+      -  Compute a Forward Kinematic
+   *  -  ``/niryo_robot/kinematics/inverse``
+      -  :ref:`GetIK<GetIK (Service)>`
+      -  Compute a Inverse Kinematic
+
+Messages - Commander
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. list-table:: Commander Package Messages
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Description
+   *  -  :ref:`ArmMoveCommand<ArmMoveCommand (Message)>`
+      -  Message to command the arm
+   *  -  :ref:`RobotCommand<RobotCommand (Message)>`
+      -  Message to command the robot (arm + tool)
+   *  -  :ref:`ShiftPose<ShiftPose (Message)>`
+      -  Message for shifting pose
+   *  -  :ref:`PausePlanExecution<PausePlanExecution (Message)>`
+      -  Pause movement execution
+
+All these services are available as soon as the node is started
+
+Dependencies - Commander
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+- :wiki_ros:`actionlib`
+- :msgs_index:`actionlib_msgs`
+- :msgs_index:`control_msgs`
+- :msgs_index:`geometry_msgs`
+- `MoveIt! <https://moveit.ros.org/>`_
+- :msgs_index:`moveit_msgs`
+- :ref:`niryo_robot_msgs <Niryo Robot Messages Package>`
+- :ref:`niryo_robot_tools <Niryo Robot Tools Package>`
+- `python-numpy <https://numpy.org/>`_
+- :wiki_ros:`ros_controllers`
+- :wiki_ros:`rosbridge_server`
+- :msgs_index:`sensor_msgs`
+- :msgs_index:`std_msgs`
+- :wiki_ros:`tf2_web_republisher`
+- :msgs_index:`trajectory_msgs`
+
+
+Action, Services & Messages files - Commander
+------------------------------------------------------
+
+RobotMove (Action)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_commander/action/RobotMove.action
+   :language: rostype
+
+GetFK (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_commander/srv/GetFK.srv
+   :language: rostype
+
+GetIK (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_commander/srv/GetIK.srv
+   :language: rostype
+
+JogShift (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_commander/srv/JogShift.srv
+   :language: rostype
+
+ArmMoveCommand (Message)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_commander/msg/ArmMoveCommand.msg
+   :language: rostype
+
+
+PausePlanExecution (Message)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_commander/msg/PausePlanExecution.msg
+   :language: rostype
+
+
+RobotCommand (Message)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_commander/msg/RobotCommand.msg
+   :language: rostype
+
+
+ShiftPose (Message)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_commander/msg/ShiftPose.msg
+   :language: rostype
+
+
+
+.. |namespace| replace:: /niryo_robot_commander/
+.. |namespace_emphasize| replace:: ``/niryo_robot_commander/``
+.. |package_path| replace:: ../../../niryo_robot_commander
diff --git a/sphinx_doc/source/ros/niryo_robot_description.rst b/sphinx_doc/source/ros/niryo_robot_description.rst
new file mode 100644
index 000000000..372dd9235
--- /dev/null
+++ b/sphinx_doc/source/ros/niryo_robot_description.rst
@@ -0,0 +1,12 @@
+Niryo Robot Description Package
+========================================
+
+This package contains URDF files and meshes (collada + stl) for Ned.
+
+To display Ned on Rviz ::
+
+ roslaunch niryo_robot_description display.launch
+
+
+**Note** : 3D visualization is not available on Ned Raspberry Pi4 image.
+To use the following commands, you must have setup Ned ros stack on your computer.
diff --git a/sphinx_doc/source/ros/niryo_robot_gazebo.rst b/sphinx_doc/source/ros/niryo_robot_gazebo.rst
new file mode 100644
index 000000000..ff7ff70a6
--- /dev/null
+++ b/sphinx_doc/source/ros/niryo_robot_gazebo.rst
@@ -0,0 +1,32 @@
+Niryo Robot Gazebo Package
+========================================
+
+
+.. figure:: ../../images/ros/gazebo_logo.png
+   :alt: Gazebo logo
+   :height: 200px
+   :align: center
+
+   Gazebo
+
+Usage
+----------
+This package contains models, materials & Gazebo worlds.
+
+When launching the Gazebo version of the ROS Stack, the file
+**niryo_robot_gazebo_world.launch.xml** will be called to generate the Gazebo world
+
+
+Create your own World
+---------------------------------
+
+Create your world's file and put it on the folder *worlds*. Once it done,
+you have to change the parameter **world_name** in the file
+**niryo_robot_gazebo_world.launch.xml**.
+
+You can take a look at the Gazebo world by launching it without robot by precising
+the world name in the arg *world_name* ::
+
+ roslaunch niryo_robot_gazebo niryo_gazebo_world.launch world_name:=niryo_cube_world
+
+
diff --git a/sphinx_doc/source/ros/niryo_robot_msgs.rst b/sphinx_doc/source/ros/niryo_robot_msgs.rst
new file mode 100644
index 000000000..8b2d6cbfa
--- /dev/null
+++ b/sphinx_doc/source/ros/niryo_robot_msgs.rst
@@ -0,0 +1,151 @@
+Niryo Robot Messages Package
+===========================================================
+
+This package contains standard messages which can be used by all other packages.
+
+
+Niryo Messages
+---------------------
+
+.. list-table:: Ned Messages
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Description
+   *  -  :ref:`CommandStatus`
+      -  Enum-wise message for status code
+   *  -  :ref:`ObjectPose`
+      -  x, y, z, roll, pitch, yaw
+   *  -  :ref:`RobotState`
+      -  position, rpy, quaternion
+   *  -  :ref:`RPY`
+      -  roll, pitch, yaw
+   *  -  :ref:`HardwareStatus`
+      -  several hardware informations 
+   *  -  :ref:`SoftwareVersion`
+      -  several software version 
+
+Niryo Services
+----------------------
+
+.. list-table:: Ned Services
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Description
+   *  -  :ref:`GetBool`
+      -  Return a bool
+   *  -  :ref:`GetInt`
+      -  Return a integer
+   *  -  :ref:`GetStringList`
+      -  Return a list of string
+   *  -  :ref:`SetBool`
+      -  Set a bool and return status
+   *  -  :ref:`SetInt`
+      -  Set a integer and return status
+   *  -  :ref:`SetString`
+      -  Set a string and return status
+   *  -  :ref:`Trigger`
+      -  Trigger a task
+
+
+Niryo Message Dependencies
+-----------------------------------
+
+- :msgs_index:`geometry_msgs`
+
+Niryo Message files
+-----------------------------------
+
+CommandStatus
+^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_msgs/msg/CommandStatus.msg
+   :language: rostype
+
+ObjectPose
+^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_msgs/msg/ObjectPose.msg
+   :language: rostype
+
+RobotState
+^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_msgs/msg/RobotState.msg
+   :language: rostype
+
+RPY
+^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_msgs/msg/RPY.msg
+   :language: rostype
+
+HardwareStatus
+^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_msgs/msg/HardwareStatus.msg
+   :language: rostype
+
+SoftwareVersion
+^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_msgs/msg/SoftwareVersion.msg
+   :language: rostype
+
+Niryo Service files
+---------------------------
+
+GetBool
+^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_msgs/srv/GetBool.srv
+   :language: rostype
+
+GetInt
+^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_msgs/srv/GetInt.srv
+   :language: rostype
+
+GetNameDescriptionList
+^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_msgs/srv/GetNameDescriptionList.srv
+   :language: rostype
+
+GetStringList
+^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_msgs/srv/GetStringList.srv
+   :language: rostype
+
+SetBool
+^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_msgs/srv/SetBool.srv
+   :language: rostype
+
+SetInt
+^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_msgs/srv/SetInt.srv
+   :language: rostype
+
+SetString
+^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_msgs/srv/SetString.srv
+   :language: rostype
+
+Trigger
+^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_msgs/srv/Trigger.srv
+   :language: rostype
diff --git a/sphinx_doc/source/ros/niryo_robot_poses_handlers.rst b/sphinx_doc/source/ros/niryo_robot_poses_handlers.rst
new file mode 100644
index 000000000..9396aa603
--- /dev/null
+++ b/sphinx_doc/source/ros/niryo_robot_poses_handlers.rst
@@ -0,0 +1,214 @@
+Niryo Robot Poses Handlers Package
+======================================================
+
+This package is in charge of dealing with transforms, workspace, grips and
+trajectories.
+
+
+Poses Handlers Node
+--------------------------
+
+Description - Poses Handlers
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+The ROS Node is made of several services to deal with transforms, workspace, grips and
+trajectories.
+
+The namespace used is : |namespace_emphasize|
+
+Workspaces
+"""""""""""""
+
+A workspace is defined by 4 markers that form a rectangle. With the help of the robot's calibration
+tip, the marker positions are learnt. The camera returns poses (x, y, yaw) relative to the workspace.
+We can then infer the absolute object pose in robot coordinates.
+
+Grips
+"""""""""
+
+When we know the object pose in robot coordinates, we can't directly send this pose to the robot because
+we specify the target pose of the tool_link and not of the actual TCP (tool center point). Therefore
+we introduce the notion of grip. Each end effector has its own grip that specifies where to place the
+robot with respect to the object. Currently, the notion of grip is not part of the python/tcp/blockly
+interface because it would add an extra layer of complexity that is not really necessary for the moment.
+Therefore we have a default grip for all tools that is selected automatically based on the current
+tool id. However, everything is ready if you want to define custom grips, e.g. for custom tools or
+for custom grip positions.
+
+The vision pick loop
+""""""""""""""""""""""""""""""
+
+1. Camera detects object relative to markers and sends x<sub>rel</sub>, y<sub>rel</sub>, yaw<sub>rel</sub>
+2. The object is placed on the workspace, revealing the object pose in robot coordinates x, y, z, roll, pitch, yaw
+3. The grip is applied on the absolute object pose and gives the pose the robot should move to.
+
+Poses & Trajectories
+""""""""""""""""""""""""""""""""""
+
+List of Poses
+
+Parameters - Poses Handlers
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+.. list-table:: Poses Handlers' Parameters
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Description
+   *  -  ``workspace_dir``
+      -  Path to the Workspace storage mother folder
+   *  -  ``grip_dir``
+      -  Path to the Grip storage mother folder
+   *  -  ``poses_dir``
+      -  Path to the Poses storage mother folder
+   *  -  ``trajectories_dir``
+      -  Path to the Trajectory storage mother folder
+
+Services - Poses Handlers
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. list-table:: Poses Handlers' Services
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Message Type
+      -  Description
+
+   *  -  ``manage_workspace``
+      -  :ref:`ManageWorkspace<ManageWorkspace (Service)>`
+      -  Save/Delete a workspace
+   *  -  ``get_workspace_ratio``
+      -  :ref:`GetWorkspaceRatio<GetWorkspaceRatio (Service)>`
+      -  Get ratio of a workspace
+   *  -  ``get_workspace_list``
+      -  :ref:`GetNameDescriptionList`
+      -  Get list of workspaces' name & description
+   *  -  ``get_workspace_poses``
+      -  :ref:`GetWorkspaceRobotPoses<GetWorkspaceRobotPoses (Service)>`
+      -  Get workspace's robot poses
+
+   *  -  ``get_target_pose``
+      -  :ref:`GetTargetPose<GetTargetPose (Service)>`
+      -  Get saved programs' name
+
+   *  -  ``manage_pose``
+      -  :ref:`ManagePose<ManagePose (Service)>`
+      -  Save/Delete a Pose
+   *  -  ``get_pose``
+      -  :ref:`GetPose<GetPose (Service)>`
+      -  Get Pose
+   *  -  ``get_pose_list``
+      -  :ref:`GetNameDescriptionList`
+      -  Get list of poses' name & description
+
+   *  -  ``manage_trajectory``
+      -  :ref:`ManageTrajectory<ManageTrajectory (Service)>`
+      -  Save/Delete a Trajectory
+   *  -  ``get_trajectory``
+      -  :ref:`GetTrajectory<GetTrajectory (Service)>`
+      -  Get Trajectory
+   *  -  ``get_trajectory_list``
+      -  :ref:`GetNameDescriptionList`
+      -  Get list of trajectories' name & description
+
+
+All these services are available as soon as the node is started
+
+Dependencies - Poses Handlers
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+- :msgs_index:`geometry_msgs`
+- :msgs_index:`moveit_msgs`
+- :ref:`niryo_robot_msgs <Niryo Robot Messages Package>`
+- :wiki_ros:`tf`
+
+
+Services & Messages files - Poses Handlers
+----------------------------------------------
+
+GetPose (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_poses_handlers/srv/GetPose.srv
+   :language: rostype
+
+
+GetTargetPose (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_poses_handlers/srv/GetTargetPose.srv
+   :language: rostype
+
+
+GetTrajectory (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_poses_handlers/srv/GetTrajectory.srv
+   :language: rostype
+
+
+GetWorkspaceRatio (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_poses_handlers/srv/GetWorkspaceRatio.srv
+   :language: rostype
+
+
+GetWorkspaceRobotPoses (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_poses_handlers/srv/GetWorkspaceRobotPoses.srv
+   :language: rostype
+
+
+ManagePose (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_poses_handlers/srv/ManagePose.srv
+   :language: rostype
+
+
+ManageTrajectory (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_poses_handlers/srv/ManageTrajectory.srv
+   :language: rostype
+
+
+ManageWorkspace (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_poses_handlers/srv/ManageWorkspace.srv
+   :language: rostype
+
+
+NiryoPose (Message)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_poses_handlers/msg/NiryoPose.msg
+   :language: rostype
+
+
+Trajectory (Message)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_poses_handlers/msg/Trajectory.msg
+   :language: rostype
+
+
+Workspace (Message)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_poses_handlers/msg/Workspace.msg
+   :language: rostype
+
+
+
+.. |namespace| replace:: /niryo_robot_poses_handlers/
+.. |namespace_emphasize| replace:: ``/niryo_robot_poses_handlers/``
+.. |package_path| replace:: ../../../niryo_robot_poses_handlers
diff --git a/sphinx_doc/source/ros/niryo_robot_programs_manager.rst b/sphinx_doc/source/ros/niryo_robot_programs_manager.rst
new file mode 100644
index 000000000..e0c676aa6
--- /dev/null
+++ b/sphinx_doc/source/ros/niryo_robot_programs_manager.rst
@@ -0,0 +1,152 @@
+Niryo Robot Programs Manager Package
+======================================================
+
+This package is in charge of interpreting/running/saving programs.
+It is used by Niryo Studio.
+
+
+Programs Manager Node
+--------------------------
+The ROS Node is made of several services to deal with the storage and running of
+programs
+
+Call are not available from the Python ROS Wrapper, as it made to run its programs
+with the Python ROS Wrapper
+
+The namespace used is : |namespace_emphasize|
+
+Parameters - Programs Manager
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+.. list-table:: Programs Manager's Parameters
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Description
+   *  -  ``autorun_file_name``
+      -  Name of the file containing auto run infos
+   *  -  ``programs_dir``
+      -  Path to the Program storage mother folder
+
+Services - Programs Manager
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. list-table:: Programs manager Services
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Message Type
+      -  Description
+   *  -  ``execute_program``
+      -  :ref:`ExecuteProgram<ExecuteProgram (Service)>`
+      -  Execute a program
+   *  -  ``execute_program_autorun``
+      -  :ref:`Trigger`
+      -  Execute autorun program
+   *  -  ``get_program``
+      -  :ref:`GetProgram<GetProgram (Service)>`
+      -  Retrieve saved program
+   *  -  ``get_program_autorun_infos``
+      -  :ref:`GetProgramAutorunInfos<GetProgramAutorunInfos (Service)>`
+      -  Get autorun settings
+   *  -  ``get_program_list``
+      -  :ref:`GetProgramList<GetProgramList (Service)>`
+      -  Get saved programs' name
+   *  -  ``manage_program``
+      -  :ref:`ManageProgram<ManageProgram (Service)>`
+      -  Save and Delete programs
+   *  -  ``set_program_autorun``
+      -  :ref:`SetProgramAutorun<SetProgramAutorun (Service)>`
+      -  Set autorun settings
+   *  -  ``stop_program``
+      -  :ref:`Trigger`
+      -  Stop the current running program
+
+
+All these services are available as soon as the node is started
+whereas on standalone mode or not
+
+Dependencies - Programs Manager
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+- :ref:`niryo_robot_commander <Niryo Robot Commander Package>`
+- :ref:`niryo_robot_msgs <Niryo Robot Messages Package>`
+- `python-yaml <https://pyyaml.org/wiki/PyYAMLDocumentation/>`_
+- :msgs_index:`std_msgs`
+
+
+Services & Messages files - Programs Manager
+----------------------------------------------
+
+ExecuteProgram (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_programs_manager/srv/ExecuteProgram.srv
+   :language: rostype
+
+
+GetProgram (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_programs_manager/srv/GetProgram.srv
+   :language: rostype
+
+
+GetProgramAutorunInfos (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_programs_manager/srv/GetProgramAutorunInfos.srv
+   :language: rostype
+
+
+GetProgramList (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_programs_manager/srv/GetProgramList.srv
+   :language: rostype
+
+
+ManageProgram (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_programs_manager/srv/ManageProgram.srv
+   :language: rostype
+
+
+SetProgramAutorun (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_programs_manager/srv/SetProgramAutorun.srv
+   :language: rostype
+
+
+ProgramLanguage (Message)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_programs_manager/msg/ProgramLanguage.msg
+   :language: rostype
+
+
+ProgramLanguageList (Message)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_programs_manager/msg/ProgramLanguageList.msg
+   :language: rostype
+
+
+ProgramList (Message)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_programs_manager/msg/ProgramList.msg
+   :language: rostype
+
+
+
+.. |namespace| replace:: /niryo_robot_programs_manager/
+.. |namespace_emphasize| replace:: ``/niryo_robot_programs_manager/``
+.. |package_path| replace:: ../../../niryo_robot_programs_manager
diff --git a/sphinx_doc/source/ros/niryo_robot_rpi.rst b/sphinx_doc/source/ros/niryo_robot_rpi.rst
new file mode 100644
index 000000000..8725cf1d7
--- /dev/null
+++ b/sphinx_doc/source/ros/niryo_robot_rpi.rst
@@ -0,0 +1,141 @@
+Niryo Robot RPI Package
+========================================
+
+This package deals with raspberry pi related stuff (Button, fans, I/O, leds, ...)
+
+
+RPI Node
+--------------------------
+The ROS Node manages the following components:
+- Physical top button: executes actions when the button is pressed.
+- Digital I/O panel : gets commands and sends the current state of digital I/Os. Also controls tools like the electromagnet.
+- Robot fans
+- Led : sets the LED color.
+- ROS log : can remove all previous logs on startup to prevent a lack of disk space in the long run (SD cards do not have infinite storage).
+
+The namespace used is : |namespace_emphasize|
+
+**Note that this package should not be used when you are using Ned ROS stack on your computer, in simulation mode.**executes actions when the button is pressed.**
+
+Publisher - RPI
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. list-table:: RPI Package's Publishers
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Message Type
+      -  Description
+   *  -  ``pause_state``
+      -  :ref:`PausePlanExecution<PausePlanExecution (Message)>`
+      -  Publish the current execution state launched when button is pressed
+   *  -  ``/niryo_robot/blockly/save_current_point``
+      -  :std_msgs:`std_msgs/Int32<Int32>`
+      -  Publish current point when user is in blockly page to save block by pressing button
+   *  -  ``/niryo_robot/rpi/is_button_pressed``
+      -  :std_msgs:`std_msgs/Bool<Bool>`
+      -  Publish the button state (true if pressed)
+   *  -  ``digital_io_state``
+      -  :ref:`DigitalIOState<DigitalIOState (Service)>`
+      -  Publish the I/Os state by giving for each it's pin / name / mode / state
+   *  -  ``/niryo_robot/rpi/led_state``
+      -  :std_msgs:`std_msgs/Int8<Int8>`
+      -  Publish the current led color
+   *  -  ``ros_log_status``
+      -  :ref:`LogStatus<LogStatus (Service)>`
+      -  Publish the current log status (log size / available disk / boolean if should delete ros log on startup)
+
+Services - RPI
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. list-table:: RPI Services
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Message Type
+      -  Description
+   *  -  ``shutdown_rpi``
+      -  :ref:`SetInt<SetInt>`
+      -  Shutdown the raspberry pi
+   *  -  ``/niryo_robot/rpi/change_button_mode``
+      -  :ref:`SetInt<SetInt>`
+      -  Change top button mode (autorun program, blockly, nothing, ...)
+   *  -  ``get_digital_io``
+      -  :ref:`GetDigitalIO<GetDigitalIO (Service)>`
+      -  Get digital IO state list
+   *  -  ``set_digital_io_mode``
+      -  :ref:`SetDigitalIO<SetDigitalIO (Service)>`
+      -  Set a digital IO to the mode given
+   *  -  ``set_digital_io_state``
+      -  :ref:`SetDigitalIO<SetDigitalIO (Service)>`
+      -  Set a digital IO to the state given
+   *  -  ``set_led_state``
+      -  :ref:`std_msgs/SetInt<SetInt>`
+      -  Set led state
+   *  -  ``set_led_custom_blinker``
+      -  :ref:`LedBlinker<LedBlinker (Service)>`
+      -  Set the led in blink mode with the color given
+   *  -  ``purge_ros_logs``
+      -  :ref:`SetInt<SetInt>`
+      -  Purge ros log
+   *  -  ``set_purge_ros_log_on_startup``
+      -  :ref:`SetInt<SetInt>`
+      -  Modify the permanent settings that tells if robot should purge it's ros log at each boot
+
+Dependencies - RPI
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+- :msgs_index:`std_msgs`
+- :msgs_index:`actionlib_msgs`
+- :msgs_index:`sensor_msgs`
+- :ref:`niryo_robot_msgs <Niryo Robot Messages Package>`
+- :ref:`niryo_robot_commander <Niryo Robot Commander Package>`
+
+Services & Messages files - RPI
+----------------------------------------------
+
+ChangeMotorConfig (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_rpi/srv/ChangeMotorConfig.srv
+   :language: rostype
+
+
+GetDigitalIO (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_rpi/srv/GetDigitalIO.srv
+   :language: rostype
+
+LedBlinker (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_rpi/srv/LedBlinker.srv
+   :language: rostype
+
+SetDigitalIO (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_rpi/srv/SetDigitalIO.srv
+   :language: rostype
+
+DigitalIOState (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_rpi/msg/DigitalIOState.msg
+   :language: rostype
+
+LogStatus (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_rpi/msg/LogStatus.msg
+   :language: rostype
+
+.. |namespace| replace:: /niryo_robot_rpi/
+.. |namespace_emphasize| replace:: ``/niryo_robot_rpi/``
\ No newline at end of file
diff --git a/sphinx_doc/source/ros/niryo_robot_tools.rst b/sphinx_doc/source/ros/niryo_robot_tools.rst
new file mode 100644
index 000000000..3a0be5814
--- /dev/null
+++ b/sphinx_doc/source/ros/niryo_robot_tools.rst
@@ -0,0 +1,3 @@
+Niryo Robot Tools Package
+========================================
+
diff --git a/sphinx_doc/source/ros/niryo_robot_unit_tests.rst b/sphinx_doc/source/ros/niryo_robot_unit_tests.rst
new file mode 100644
index 000000000..989aa0833
--- /dev/null
+++ b/sphinx_doc/source/ros/niryo_robot_unit_tests.rst
@@ -0,0 +1,62 @@
+Niryo Robot Unit Tests Package
+========================================
+This packages provides config and launch files to start Ned unit tests.
+
+Currently, tested packages are :
+ - :ref:`Niryo Robot Poses Handlers Package`
+ - :ref:`Niryo Robot Programs Manager Package`
+ - :doc:`Python ROS Wrapper <../ros_wrapper>`
+
+
+Run tests With Launch File
+---------------------------------------------
+
+Using a launch file make the task easy as you do not have to bother about
+your current directory. Nevertheless, it starts a roscore, and so, the process 
+won't end as "/rosout" will be still alive.
+To overcome this issue, the test node is set as **required**, so do not worry
+if you see some red lines at the execution's end
+
+Launch File with Rviz
+^^^^^^^^^^^^^^^^^^^^^^^
+It will start the ROS Stack and Rviz, then run the tests ::
+
+ roslaunch niryo_robot_unit_tests simulation_rviz_tests.launch
+
+Launch File with Gazebo
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+It will start the ROS Stack and Gazebo, then run the tests.
+Gazebo add Physics, Gripper and Camera to the tests ::
+
+ roslaunch niryo_robot_unit_tests simulation_gazebo_tests.launch
+
+Launch File Headless
+^^^^^^^^^^^^^^^^^^^^^^^^
+It will start the ROS Stack then run the tests in a headless
+version (no display). It is very useful for CI purposes ::
+
+ roslaunch niryo_robot_unit_tests simulation_headless_tests.launch
+
+Run tests With Python File
+---------------------------------------------
+Using a python file implies to use the correct relative directory, but
+it also allows to get status code at the end of the script
+
+Python File with Rviz
+^^^^^^^^^^^^^^^^^^^^^^^
+::
+
+ python niryo_robot_unit_tests/scripts/script_test_rviz.py
+
+Python File with Gazebo
+^^^^^^^^^^^^^^^^^^^^^^^^^^
+::
+
+ python niryo_robot_unit_tests/scripts/script_test_gazebo.py
+
+Python File Headless
+^^^^^^^^^^^^^^^^^^^^^^^^
+::
+
+ python niryo_robot_unit_tests/scripts/script_test_headless.py
+
diff --git a/sphinx_doc/source/ros/niryo_robot_user_interface.rst b/sphinx_doc/source/ros/niryo_robot_user_interface.rst
new file mode 100644
index 000000000..a4ed98dda
--- /dev/null
+++ b/sphinx_doc/source/ros/niryo_robot_user_interface.rst
@@ -0,0 +1,8 @@
+Niryo Robot User Interface Package
+========================================
+
+This packages handles high-level user interface commands coming from
+MATLAB and TCP requests
+
+.. important::
+    WIP
diff --git a/sphinx_doc/source/ros/niryo_robot_vision.rst b/sphinx_doc/source/ros/niryo_robot_vision.rst
new file mode 100644
index 000000000..a028b577a
--- /dev/null
+++ b/sphinx_doc/source/ros/niryo_robot_vision.rst
@@ -0,0 +1,135 @@
+Niryo Robot Vision Package
+======================================
+
+This package is the one dealing with all vision related stuff.
+
+
+Vision Node
+--------------------------
+The ROS Node is made of several services to deal with video streaming, object detection.
+The node is working exactly the same way if you chose to use it on simulation or reality.
+
+This node can be launched locally in a standalone mode via the command ::
+
+ roslaunch niryo_robot_vision vision_node_local.launch
+
+Configuration (Frame Per Second, Camera Port, Video Resolution) can be
+edited in the config file :
+
+ - For "standard" Node : *niryo_robot_vision/config/video_server_setup.yaml*
+ - For local Node : *niryo_robot_vision/config/video_server_setup_local.yaml*
+
+The namespace used is : |namespace_emphasize|
+
+Parameters - Vision
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+.. list-table:: Vision Package's Parameters
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Description
+   *  -  ``frame_rate``
+      -  Stream frame rate
+   *  -  ``simulation_mode``
+      -  | Set to True if you are using the gazebo simulation.
+         | It will adapt how the node get its video steam
+   *  -  ``debug_compression_quality``
+      -  Debug Stream compression quality
+   *  -  ``stream_compression_quality``
+      -  Stream compression quality
+   *  -  ``subsampling``
+      -  Stream subsampling factor
+
+
+Publisher - Vision
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. list-table:: Vision Package's Publishers
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Message Type
+      -  Description
+   *  -  ``compressed_video_stream``
+      -  :sensor_msgs:`CompressedImage`
+      -  Publish the last image read as a compressed image
+
+Services - Vision
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. list-table:: Programs manager Services
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Message Type
+      -  Description
+   *  -  ``debug_colors``
+      -  :ref:`DebugColorDetection<DebugColorDetection (Service)>`
+      -  Return an annotated image to emphasize what happened with color detection
+   *  -  ``debug_markers``
+      -  :ref:`DebugMarkers<DebugMarkers (Service)>`
+      -  Return an annotated image to emphasize what happened with markers detection
+   *  -  ``obj_detection_rel``
+      -  :ref:`ObjDetection<ObjDetection (Service)>`
+      -  Object detection service
+   *  -  ``start_stop_video_streaming``
+      -  :ref:`SetBool`
+      -  Start or Stop video streaming
+   *  -  ``take_picture``
+      -  :ref:`TakePicture<TakePicture (Service)>`
+      -  Save a picture in the specified folder
+
+
+All these services are available as soon as the node is started
+
+
+Dependencies - Vision
+^^^^^^^^^^^^^^^^^^^^^^^^^^^
+* :ref:`niryo_robot_msgs <Niryo Robot Messages Package>`
+* :msgs_index:`sensor_msgs`
+
+
+Services files - Vision
+--------------------------
+
+DebugColorDetection (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_vision/srv/DebugColorDetection.srv
+   :language: rostype
+
+
+DebugMarkers (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_vision/srv/DebugMarkers.srv
+   :language: rostype
+
+
+ObjDetection (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_vision/srv/ObjDetection.srv
+   :language: rostype
+
+
+TakePicture (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_vision/srv/TakePicture.srv
+   :language: rostype
+
+
+
+.. |namespace| replace:: /niryo_robot_vision/
+.. |namespace_emphasize| replace:: ``/niryo_robot_vision/``
+.. |package_path| replace:: ../../../niryo_robot_vision
diff --git a/sphinx_doc/source/ros_wrapper.rst b/sphinx_doc/source/ros_wrapper.rst
new file mode 100644
index 000000000..97359e7e0
--- /dev/null
+++ b/sphinx_doc/source/ros_wrapper.rst
@@ -0,0 +1,50 @@
+Control with Python ROS Wrapper
+====================================================
+
+.. figure:: ../images/python_logo.png
+   :alt: Python Logo
+   :width: 400px
+   :align: center
+
+   Python Logo
+
+In order to control Ned more easily than calling each topics & services one by one,
+a Python ROS Wrapper has been built on top of ROS.
+
+For instance, a script realizing a moveJ via Python ROS Wrapper will look like : ::
+
+    niryo_robot = NiryoRosWrapper()
+    niryo_robot.move_joints(0.1, -0.2, 0.0, 1.1, -0.5, 0.2)
+
+
+What this code is doing in a hidden way :
+
+ - It generates a :ref:`RobotMove Action Goal<RobotMove (Action)>` and set
+   it as a joint command with the corresponding joints value
+ - Send goal to the Commander Action Server
+ - Wait for the Commander Action Server to set Action as Finished
+ - Check if action finished with a success
+
+
+In this section, we will give some examples on how to use the Python ROS Wrapper to control the
+Ned, as well as a complete documentation of the functions available in the
+Ned Python ROS Wrapper
+
+.. hint::
+    The Python ROS Wrapper forces the user to write his code directly in the robot, or, at least,
+    copy the code on the robot via a terminal command.
+    If you do not want that, and run code directly from your computer
+    you can use the python Package :ref:`PyNiryo`
+
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Section Contents:
+
+   python_ros_wrapper/before_running
+   python_ros_wrapper/examples_basics
+   python_ros_wrapper/examples_movement
+   python_ros_wrapper/examples_tool_action
+   python_ros_wrapper/examples_conveyor
+   python_ros_wrapper/examples_vision
+   python_ros_wrapper/ros_wrapper_doc
diff --git a/sphinx_doc/source/simulation.rst b/sphinx_doc/source/simulation.rst
new file mode 100644
index 000000000..878a6d01c
--- /dev/null
+++ b/sphinx_doc/source/simulation.rst
@@ -0,0 +1,233 @@
+*******************************************
+Use Niryo Robot through Simulation
+*******************************************
+
+The simulation allows to control a virtual Ned directly from
+your computer.
+
+.. figure:: ../images/simulation_gazebo_1.png
+    :alt: Ned in Gazebo Simulation
+
+    Ned in Gazebo Simulation
+
+In this tutorial, you will learn how to setup simulation on a computer
+
+Simulation Environment Installation
+=========================================
+
+.. attention::
+    The whole ROS Stack is developed and tested on ROS **Melodic** which requires
+    **Ubuntu 18.04** to run correctly. The using of another ROS version or OS
+    may lead to malfunctions of some packages
+
+To allow the simulation to run on your computer, you will need to install ROS and some
+packages
+
+Installation Index :
+
+.. contents::
+   :local:
+   :depth: 1
+
+Prepare Environment
+-------------------------
+.. note::
+    All terminal command listed are for Ubuntu users
+
+Place yourself in the folder of your choice and create a folder
+**catkin_ws_niryo_ned** as well as a sub-folder **src** ::
+
+    mkdir -p catkin_ws_niryo_ned/src
+
+Then go to the folder **catkin_ws_niryo_ned** and
+clone Ned repository in the folder **src**.
+For the future operation, be sure to stay in the **catkin_ws_niryo_ned** folder ::
+
+    cd catkin_ws_niryo_ned
+    git clone <repo_link> src
+
+.. todo::
+    Ajouter le lien du repo
+
+Install ROS Dependencies
+------------------------------------
+
+Install ROS
+^^^^^^^^^^^^^
+
+You firstly need to install ROS Melodic. To do so, follow the ROS official tutorial
+`here <http://wiki.ros.org/melodic/Installation/Ubuntu>`_ and chose the
+**Desktop-Full Install**
+
+Install Additional Packages
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+To ensure the functioning of all Ned's packages, you need to
+install several more packages :
+
+Method 1 : Quick install via ROSDep
+""""""""""""""""""""""""""""""""""""""
+For each packages, we have referenced all the dependencies in their respective
+*package.xml* file, which allow to install each dependency via *rosdep* command ::
+
+ rosdep update
+ rosdep install --from-paths src --ignore-src --default-yes --rosdistro melodic
+
+
+Method 2 : Full install
+""""""""""""""""""""""""""""""""
+
+ROS packages needed are :
+
+* build-essential
+* catkin
+* python-catkin-pkg
+* python-rosdistro
+* python-rospkg
+* python-rosdep-modules
+* python-rosinstall python-rosinstall-generator
+* python-wstool
+
+To install a package on Ubuntu : ::
+
+    sudo apt install <package_name>
+
+
+Melodic specific packages needed are :
+
+* moveit
+* control
+* controllers
+* tf2-web-republisher
+* rosbridge-server
+* joint-state-publisher-gui
+
+To install a ROS Melodic's package on Ubuntu : ::
+
+    sudo apt install ros-melodic-<package_name>
+
+
+Setup Ned ROS Environment
+--------------------------------
+
+.. note::
+    Be sure to be still placed in the **catkin_ws_niryo_ned** folder
+
+Then perform the **make** of Ned's ROS Stack via the command ::
+
+    catkin_make
+
+If no errors occurred during the **make** phase, the setup
+of your environment is almost complete!
+
+It is necessary to source the configuration file to add all Ned
+packages to ROS environment. To do so, run the command ::
+
+    source devel/setup.bash
+
+It is necessary to run this command each time you launch a new terminal.
+If you want to make this sourcing appends for all your futur terminals,
+you can add it to your **bashrc** file ::
+
+    echo "source $(pwd)/devel/setup.bash" >> ~/.bashrc
+    source ~/.bashrc
+
+Installation is now finished !
+
+
+Simulation Utilisation
+=========================================
+
+.. important::
+    - If you haven't follow the step of
+      :ref:`Simulation Environment Installation <Simulation Environment Installation>`,
+      you won't be able to use the simulation
+    - Hardware features won't be accessible
+
+| The simulation is a powerful tool which allow to test new programs directly on your computer
+ which prevent to transfer new code on the robot.
+| It also helps for developing purpose → no need to transfer code, compile and restart the robot
+ which is way slower than doing it on a desktop computer
+
+
+Without Physics - Visualization
+--------------------------------------
+
+The visualization happens with Rviz which is a powerful tool
+
+Control with Trackbar
+^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+This visualization allows an easy first control of the robot, and helps to understand
+joints disposal. You can access it by using the command ::
+
+    roslaunch niryo_robot_description display.launch
+
+Rviz should open with a window containing 6 trackbars. Each of these trackbars allows to control
+the corresponding joint
+
+.. figure:: ../images/visu_rviz_trackbar.jpg
+    :alt: Ned on Rviz
+
+    Example of trackbars use
+
+Control with ROS
+^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+| Not only Rviz can display the Robot, it can also be linked with ROS controllers to show robot's actions
+ from ROS commands !
+| This method can help you debugging ROS topics, services and also, API scripts.
+
+To run it : ::
+
+    roslaunch niryo_robot_bringup desktop_rviz_simulation.launch
+
+.. figure:: ../images/visu_rviz_ros.jpg
+    :alt: Ned on Rviz
+
+    Rviz Opening, with the robot ready to be controlled with ROS !
+
+With Physics - Simulation
+--------------------------------------
+
+For the simulation, Ned use Gazebo, a well known tool among the ROS community.
+It allows :
+
+* collision
+* world creation → An virtual environment in which the robot can deal with objects
+* Gripper & Camera using
+
+The Niryo Gripper 1 has been replicated in Gazebo.
+The Camera is also implemented
+
+.. note::
+    Gazebo also generates camera distortion, which brings the simulation even closer from the reality !
+
+Launch simulation
+^^^^^^^^^^^^^^^^^^^^^^^^^^
+A specific world has been created to use Ned in Gazebo with 2 workspaces.
+
+To run it : ::
+
+    roslaunch niryo_robot_bringup desktop_gazebo_simulation.launch
+
+.. figure:: ../images/simulation_gazebo_2.jpg
+    :alt: Ned on Gazebo
+
+    Gazebo view, with the robot ready to be controlled with ROS !
+
+.. note::
+    You can edit Gazebo world to do your own ! It's placed in the folder *worlds* of the package
+    niryo_robot_gazebo
+
+Simulation option
+^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+The user can disable 3 things by adding the specific string to the command line :
+
+* the Gazebo Graphical Interface : `gui:=false`
+* the camera & the grupper - Vision & Gripper wise functions won't be usable : `gripper_n_camera:=false`
+
+
+.. hint::
+    Gazebo can be very slow. If your tests do not need gripper and camera, consider using Rviz
+    to alleviate your CPU
diff --git a/sphinx_doc/source/stack_hardware.rst b/sphinx_doc/source/stack_hardware.rst
new file mode 100644
index 000000000..ce42f8ef0
--- /dev/null
+++ b/sphinx_doc/source/stack_hardware.rst
@@ -0,0 +1,34 @@
+Hardware ROS Stack Documentation
+=========================================
+
+.. figure:: ../images/ros_logo.png
+   :alt: ROS Logo
+   :width: 300px
+   :align: center
+
+   ROS Logo
+
+ROS (Robot Operating System) is an Open-Source Robotic Framework which
+allows to ease robot software development. The framework is used
+in almost each part of Ned's software.
+
+The high-level packages (motion planner, vision, ...) are coded in Python to give
+good readability whereas communication with Hardware is developed in C++ to ensure speed
+
+.. note::
+   To learn more about ROS, go on `Official ROS Wiki <http://wiki.ros.org/>`_
+
+In this section, you will have access to all information about each Niryo Robot's ROS hardware stack packages
+
+.. toctree::
+   :maxdepth: 2
+   :caption: ROS Documentation Sections
+
+   stack_hardware/niryo_robot_hardware_interface
+   stack_hardware/joints_interface
+   stack_hardware/conveyor_interface
+   stack_hardware/tools_interface
+   stack_hardware/cpu_interface
+   stack_hardware/fake_interface
+   stack_hardware/dynamixel_driver
+   stack_hardware/stepper_driver
\ No newline at end of file
diff --git a/sphinx_doc/source/stack_hardware/conveyor_interface.rst b/sphinx_doc/source/stack_hardware/conveyor_interface.rst
new file mode 100644
index 000000000..fede9f03e
--- /dev/null
+++ b/sphinx_doc/source/stack_hardware/conveyor_interface.rst
@@ -0,0 +1,99 @@
+Niryo Robot Conveyor Interface Package
+===========================================
+
+| This package handles Niryo's conveyor
+| You can control two conveyors
+
+Conveyor Interface Node
+--------------------------
+The ROS Node is made to :
+ - Initialize conveyor motor parameters
+ - Set and control conveyors
+ - Publish conveyors state
+
+The namespace used is : |namespace_emphasize|
+
+Parameters - Conveyor Interface
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. list-table:: Conveyor Interface's Parameters 
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Description
+   *  -  ``publish_frequency``
+      -  | Publish rate for conveyors state.
+         | Default : '2.0'
+
+Published Topics - Conveyor Interface
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. list-table:: Conveyor Interface's Published Topics
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Message Type
+      -  Description
+   *  -  ``feedback``
+      -  :ref:`ConveyorFeedbackArray<ConveyorFeedbackArray (Message)>`
+      -  Conveyors states
+
+Services - Conveyor Interface
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. list-table:: Conveyor Interface Package Services
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Message Type
+      -  Description
+   *  -  ``control_conveyor``
+      -  :ref:`ControlConveyor<ControlConveyor (Service)>`
+      -  Send a command to the desired conveyor
+   *  -  ``ping_and_set_conveyor``
+      -  :ref:`SetConveyor<SetConveyor (Service)>`
+      -  Scan and set a new conveyor
+
+Dependencies - Conveyor Interface
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+- :msgs_index:`std_msgs`
+- :ref:`stepper_driver <Niryo Robot Stepper Driver Package>`
+
+Services & Messages files - Conveyor Interface
+----------------------------------------------
+
+ControlConveyor (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_hardware_stack/conveyor_interface/srv/ControlConveyor.srv
+   :language: rostype
+
+SetConveyor (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_hardware_stack/conveyor_interface/srv/SetConveyor.srv
+   :language: rostype
+
+ConveyorFeedbackArray (Message)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_hardware_stack/conveyor_interface/msg/ConveyorFeedbackArray.msg
+   :language: rostype
+
+ConveyorFeedback (Message)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_hardware_stack/conveyor_interface/msg/ConveyorFeedback.msg
+   :language: rostype
+
+.. |namespace_emphasize| replace:: ``/niryo_robot/conveyor/``
diff --git a/sphinx_doc/source/stack_hardware/cpu_interface.rst b/sphinx_doc/source/stack_hardware/cpu_interface.rst
new file mode 100644
index 000000000..0c142c75b
--- /dev/null
+++ b/sphinx_doc/source/stack_hardware/cpu_interface.rst
@@ -0,0 +1,30 @@
+Niryo Robot CPU Interface Package
+=================================
+
+| This package handles CPU states
+
+CPU Interface Node
+--------------------------
+The ROS Node is made to :
+ - monitor CPU temperature
+
+Parameters - CPU Interface
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. list-table:: CPU Interface's Parameters 
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Description
+   *  -  ``read_rpi_diagnostics_frequency``
+      -  | Publish rate for CPU temperature
+         | Default : '0.25'
+   *  -  ``temperature_warn_threshold``
+      -  | CPU temperature [celsius] threshold before a warn message
+         | Default : '75'
+   *  -  ``temperature_shutdown_threshold``
+      -  | CPU temperature [celsius] threshold before shutdown the robot
+         | Default : '85'
diff --git a/sphinx_doc/source/stack_hardware/dynamixel_driver.rst b/sphinx_doc/source/stack_hardware/dynamixel_driver.rst
new file mode 100644
index 000000000..121c70d9a
--- /dev/null
+++ b/sphinx_doc/source/stack_hardware/dynamixel_driver.rst
@@ -0,0 +1,96 @@
+Niryo Robot Dynamixel Driver Package
+=====================================
+
+| This package handles dynamixel motors communication through dynamixel sdk 
+| It provides an interface to :wiki_ros:`dynamixel_sdk` 
+
+Dynamixel Driver Node
+--------------------------
+The ROS Node is made to :
+ - Send commands to dynamixel motor
+ - Receive dynamixel motors data
+
+Parameters - Dynamixel Driver
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. list-table:: Dynamixel Driver's Parameters 
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Description
+   *  -  ``dxl_hardware_control_loop_frequency``
+      -  | control loop frequency.
+         | Default : '100.0'
+   *  -  ``dxl_hardware_write_frequency``
+      -  | Write frequency.
+         | Default : '50.0'
+   *  -  ``dxl_hardware_read_data_frequency``
+      -  | Read frequency.
+         | Default : '15.0'
+   *  -  ``dxl_hardware_read_status_frequency``
+      -  | Read dynmixels status frequency.
+         | Default : '0.5'
+   *  -  ``dxl_hardware_check_connection_frequency``
+      -  | Check dynmixels connection frequency.
+         | Default : '2.0'
+   *  -  ``dxl_motor_id_list``
+      -  | list of dynmixels ID
+         | Default : '[2,3,6]'
+   *  -  ``dxl_motor_type_list``
+      -  | list of dynmixels type
+         | Default : '["xl430","xl430","xl320"]'
+
+Services - Dynamixel Driver
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. list-table:: Dynmixel Driver Package Services
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Message Type
+      -  Description
+   *  -  ``niryo_robot/dynamixel_driver/set_dxl_leds``
+      -  :ref:`SetInt`
+      -  Control dynmixel LED
+   *  -  ``niryo_robot/dynamixel_driver/send_custom_dxl_value``
+      -  :ref:`dynamixel_driver/SendCustomDxlValue<SendCustomDxlValue (Service)>`
+      -  Send a custom dynamixel command
+
+Dependencies - Dynamixel Driver
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+- :wiki_ros:`dynamixel_sdk` 
+- :ref:`niryo_robot_msgs <Niryo Robot Messages Package>`
+
+Services & Messages files - Dynamixel Driver
+--------------------------------------------------
+
+SendCustomDxlValue (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_hardware_stack/dynamixel_driver/srv/SendCustomDxlValue.srv
+   :language: rostype
+
+DxlMotorHardwareStatus (Message)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_hardware_stack/dynamixel_driver/msg/DxlMotorHardwareStatus.msg
+   :language: rostype
+
+DxlMotorCommand (Message)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_hardware_stack/dynamixel_driver/msg/DxlMotorCommand.msg
+   :language: rostype
+
+DxlArrayMotorHardwareStatus (Message)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_hardware_stack/dynamixel_driver/msg/DxlArrayMotorHardwareStatus.msg
+   :language: rostype
diff --git a/sphinx_doc/source/stack_hardware/fake_interface.rst b/sphinx_doc/source/stack_hardware/fake_interface.rst
new file mode 100644
index 000000000..7a4a5fecb
--- /dev/null
+++ b/sphinx_doc/source/stack_hardware/fake_interface.rst
@@ -0,0 +1,83 @@
+Niryo Robot Fake Interface Package
+===================================
+
+| This package provides fakes hardware interface when the robot is used in simulation 
+
+Fake Interface Node
+--------------------------
+The ROS Node is made to simulate :
+ - tools interface
+ - conveyor interface
+ - joints interface
+
+Published Topics - Fake Interface
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. list-table:: Fake Interface's Published Topics
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Message Type
+      -  Description
+   *  -  ``/niryo_robot/learning_mode/state``
+      -  :std_msgs:`Bool`
+      -  Learning mode state
+   *  -  ``/niryo_robot_hardware/tools/current_id``
+      -  :std_msgs:`Int32`
+      -  Current tool ID
+
+Services - Fake Interface
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. list-table:: Conveyor Interface Package Services
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Message Type
+      -  Description
+   *  -  ``/niryo_robot/joints_interface/calibrate_motors``
+      -  :ref:`SetInt`
+      -  Start motors calibration - value can be 1 for auto calibration, 2 for manual
+   *  -  ``/niryo_robot/joints_interface/request_new_calibration``
+      -  :ref:`Trigger`
+      -  Unset motors calibration
+   *  -  ``niryo_robot/learning_mode/activate``
+      -  :ref:`Trigger`
+      -  Either activate or deactivate learning mode
+   *  -  ``niryo_robot/tools/ping_and_set_dxl_tool``
+      -  :ref:`tools_interface/PingDxlTool<PingDxlTool (Service)>`
+      -  Scan and set for a tool plugged
+   *  -  ``niryo_robot/tools/open_gripper``
+      -  :ref:`tools_interface/OpenGripper<OpenGripper (Service)>`
+      -  Open a gripper tool
+   *  -  ``niryo_robot/tools/close_gripper``
+      -  :ref:`tools_interface/CloseGripper<CloseGripper (Service)>`
+      -  Close a gripper tool
+   *  -  ``niryo_robot/tools/pull_air_vacuum_pump``
+      -  :ref:`tools_interface/PullAirVacuumPump<PullAirVacuumPump (Service)>`
+      -  Pull vacuum pump tool
+   *  -  ``niryo_robot/tools/push_air_vacuum_pump``
+      -  :ref:`tools_interface/PushAirVacuumPump<PushAirVacuumPump (Service)>`
+      -  Push vacuum pump tool
+   *  -  ``/niryo_robot/conveyor/control_conveyor``
+      -  :ref:`ControlConveyor<ControlConveyor (Service)>`
+      -  Send a command to the desired conveyor
+   *  -  ``/niryo_robot/conveyor/ping_and_set_conveyor``
+      -  :ref:`SetConveyor<SetConveyor (Service)>`
+      -  Scan and set a new conveyor
+
+Dependencies - Fake Interface
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+- :msgs_index:`std_msgs`
+- :wiki_ros:`hardware_interface <hardware_interface>`
+- :wiki_ros:`controller_manager <controller_manager>`
+- :ref:`niryo_robot_msgs <Niryo Robot Messages Package>`
+- :ref:`tools_interface <Niryo Robot Tools Interface Package>`
+- :ref:`joints_interface <Niryo Robot Joints Interface Package>`
+- :ref:`conveyor_interface <Niryo Robot Conveyor Interface Package>` 
diff --git a/sphinx_doc/source/stack_hardware/joints_interface.rst b/sphinx_doc/source/stack_hardware/joints_interface.rst
new file mode 100644
index 000000000..8e99e908b
--- /dev/null
+++ b/sphinx_doc/source/stack_hardware/joints_interface.rst
@@ -0,0 +1,85 @@
+Niryo Robot Joints Interface Package
+====================================
+
+| This package handles packages related to the robot's joints controller.
+| It provides an interface to :wiki_ros:`ros_control` 
+
+Joints Interface Node
+--------------------------
+The ROS Node is made to :
+ - Interface robot's motors to joint trajectory controller, from :wiki_ros:`ros_control` package
+ - Create a controller manager, from :wiki_ros:`controller_manager` package, to provides the infrastructure to load, unload, start and stop controllers.
+ - Interface with motors calibration
+ - Initialize motors parameters
+
+
+Parameters - Joints Interface
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. list-table:: Joint Interface's Parameters 
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Description
+   *  -  ``ros_control_loop_frequency``
+      -  | control loop frequency.
+         | Default : '100.0'
+   *  -  ``publish_learning_mode_frequency``
+      -  | Publish rate for learning mode state.
+         | Default : '2.0'
+   *  -  ``calibration_timeout``
+      -  | Waiting time in ms between 2 commands during the calibration process.
+         | Default : '30'
+   *  -  ``calibration_file``
+      -  | File directory where is saved motors calibration value.
+         | Default : '/home/niryo/niryo_robot_saved_files/stepper_motor_calibration_offsets.txt'
+
+Published Topics - Joints Interface
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. list-table:: Joint Interface's Published Topics
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Message Type
+      -  Description
+   *  -  ``/niryo_robot/learning_mode/state``
+      -  :std_msgs:`Bool`
+      -  Learning mode state
+
+Services - Joints Interface
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. list-table:: Joint Interface Package Services
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Message Type
+      -  Description
+   *  -  ``/niryo_robot/joints_interface/calibrate_motors``
+      -  :ref:`SetInt`
+      -  Start motors calibration - value can be 1 for auto calibration, 2 for manual
+   *  -  ``/niryo_robot/joints_interface/request_new_calibration``
+      -  :ref:`Trigger`
+      -  Unset motors calibration
+   *  -  ``niryo_robot/learning_mode/activate``
+      -  :ref:`Trigger`
+      -  Either activate or deactivate learning mode
+
+Dependencies - Joints Interface
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+- :wiki_ros:`hardware_interface <hardware_interface>`
+- :wiki_ros:`controller_manager <controller_manager>`
+- :ref:`dynamixel_driver <Niryo Robot Dynamixel Driver Package>`
+- :ref:`stepper_driver <Niryo Robot Stepper Driver Package>`
+- :ref:`niryo_robot_msgs <Niryo Robot Messages Package>`
diff --git a/sphinx_doc/source/stack_hardware/niryo_robot_hardware_interface.rst b/sphinx_doc/source/stack_hardware/niryo_robot_hardware_interface.rst
new file mode 100644
index 000000000..a206ab138
--- /dev/null
+++ b/sphinx_doc/source/stack_hardware/niryo_robot_hardware_interface.rst
@@ -0,0 +1,95 @@
+Niryo Robot Hardware Interface Package
+=======================================
+
+| This package handles packages related to the robot's hardware.
+| It launches hardware interface nodes, motors communication and driver.  
+
+.. figure:: ../../images/ros/hardware_stack_nodes.png
+   :alt: hardware packages organization
+   :height: 500px
+   :align: center
+
+   Global overview of hardware stack packages organization
+
+Hardware Interface Node
+--------------------------
+The ROS Node is made to launch hardware interface and communication :
+ - Conveyor interface
+ - Joints interface
+ - Tools interface
+ - Fake interface
+ - Dynamixel driver
+ - Stepper driver
+
+The namespace used is : |namespace_emphasize|
+
+Parameters - Hardware Interface
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. list-table:: Hardware Interface's Parameters
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Description
+   *  -  ``publish_hw_status_frequency``
+      -  | Publish rate for hardware status.
+         | Default : '2.0'
+   *  -  ``publish_software_version_frequency``
+      -  | Publish rate for software status.
+         | Default : '2.0'
+
+Published Topics - Hardware Interface
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. list-table:: Hardware Interface's Published Topics
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Message Type
+      -  Description
+   *  -  ``hardware_status``
+      -  :ref:`niryo_robot_msgs/HardwareStatus<HardwareStatus>`
+      -  Motors, bus, joints and CPU status
+   *  -  ``software_version``
+      -  :ref:`niryo_robot_msgs/SoftwareVersion<SoftwareVersion>`
+      -  Raspberry and stepper software version
+
+Services - Hardware Interface
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. list-table:: Hardware Interface Package Services
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Message Type
+      -  Description
+   *  -  ``launch_motors_report``
+      -  :ref:`Trigger`
+      -  Start motors report
+   *  -  ``reboot_motors``
+      -  :ref:`Trigger`
+      -  Reboot motors
+   *  -  ``stop_motors_report``
+      -  :ref:`Trigger`
+      -  Stop motors report
+
+Dependencies - Hardware Interface
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+- :ref:`tools_interface <Niryo Robot Tools Interface Package>`
+- :ref:`joints_interface <Niryo Robot Joints Interface Package>`
+- :ref:`conveyor_interface <Niryo Robot Conveyor Interface Package>` 
+- :ref:`cpu_interface <Niryo Robot CPU Interface Package>`   
+- :ref:`fake_interface <Niryo Robot Fake Interface Package>`     
+- :ref:`niryo_robot_msgs <Niryo Robot Messages Package>`
+
+.. |namespace_emphasize| replace:: ``/niryo_robot_hardware_interface/``
diff --git a/sphinx_doc/source/stack_hardware/stepper_driver.rst b/sphinx_doc/source/stack_hardware/stepper_driver.rst
new file mode 100644
index 000000000..b8c9c5644
--- /dev/null
+++ b/sphinx_doc/source/stack_hardware/stepper_driver.rst
@@ -0,0 +1,62 @@
+Niryo Robot Stepper Driver Package
+===================================
+
+| This package handles stepper motors communication 
+
+Stepper Driver Node
+--------------------------
+The ROS Node is made to :
+ - Send commands to dynamixel motor
+ - Receive dynamixel motors data
+
+Parameters - Stepper Driver
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. list-table:: Dynamixel Driver's Parameters 
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Description
+   *  -  ``can_hardware_control_loop_frequency``
+      -  | control loop frequency.
+         | Default : '1500.0'
+   *  -  ``can_hw_write_frequency``
+      -  | Write frequency.
+         | Default : '50.0'
+   *  -  ``can_hw_check_connection_frequency``
+      -  | Check can connection frequency.
+         | Default : '2.0'
+   *  -  ``stepper_motor_id_list``
+      -  | list of steppers ID
+         | Default : '[1,2,3]'
+
+
+Dependencies - Stepper Driver
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+- `mcp_can_rpi <https://github.com/coryjfowler/MCP_CAN_lib>`_
+- :ref:`niryo_robot_msgs <Niryo Robot Messages Package>`
+
+Services & Messages files - Stepper Driver
+-------------------------------------------------
+
+StepperMotorHardwareStatus (Message)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_hardware_stack/stepper_driver/msg/StepperMotorHardwareStatus.msg
+   :language: rostype
+
+StepperMotorCommand (Message)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_hardware_stack/stepper_driver/msg/StepperMotorCommand.msg
+   :language: rostype
+
+StepperArrayMotorHardwareStatus (Message)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_hardware_stack/stepper_driver/msg/StepperArrayMotorHardwareStatus.msg
+   :language: rostype
diff --git a/sphinx_doc/source/stack_hardware/tools_interface.rst b/sphinx_doc/source/stack_hardware/tools_interface.rst
new file mode 100644
index 000000000..2ac0b71fa
--- /dev/null
+++ b/sphinx_doc/source/stack_hardware/tools_interface.rst
@@ -0,0 +1,115 @@
+Niryo Robot Tools Interface Package
+====================================
+
+| This package handles Niryo's conveyor
+| You can control two conveyors
+
+Tools Interface Node
+--------------------------
+The ROS Node is made to :
+ - Set and control tools
+ - Publish tool connection state
+
+Parameters - Tools Interface
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. list-table:: Tools Interface's Parameters 
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Description
+   *  -  ``check_tool_connection_frequency``
+      -  | Publish and control rate for tools connection state.
+         | Default : '2.0'
+   *  -  ``id_list``
+      -  | List of tools id
+         | Default : '[11,12,13,14,31]'
+   *  -  ``motor_type_list``
+      -  | List of motor tools type 
+         | Default : '["xl320","xl320","xl320","xl320","xl320"]'
+
+Published Topics - Tools Interface
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. list-table:: Tools Interface's Published Topics
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Message Type
+      -  Description
+   *  -  ``/niryo_robot_hardware/tools/current_id``
+      -  :std_msgs:`Int32`
+      -  Current tool ID
+
+Services - Tools Interface
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. list-table:: Tool Interface Package Services
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Message Type
+      -  Description
+   *  -  ``niryo_robot/tools/ping_and_set_dxl_tool``
+      -  :ref:`tools_interface/PingDxlTool<PingDxlTool (Service)>`
+      -  Scan and set for a tool plugged
+   *  -  ``niryo_robot/tools/open_gripper``
+      -  :ref:`tools_interface/OpenGripper<OpenGripper (Service)>`
+      -  Open a gripper tool
+   *  -  ``niryo_robot/tools/close_gripper``
+      -  :ref:`tools_interface/CloseGripper<CloseGripper (Service)>`
+      -  Close a gripper tool
+   *  -  ``niryo_robot/tools/pull_air_vacuum_pump``
+      -  :ref:`tools_interface/PullAirVacuumPump<PullAirVacuumPump (Service)>`
+      -  Pull vacuum pump tool
+   *  -  ``niryo_robot/tools/push_air_vacuum_pump``
+      -  :ref:`tools_interface/PushAirVacuumPump<PushAirVacuumPump (Service)>`
+      -  Push vacuum pump tool
+
+Dependencies - Tools Interface
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+- :msgs_index:`std_msgs`
+- :ref:`dynamixel_driver <Niryo Robot Dynamixel Driver Package>`
+
+Services & Messages files - Tools Interface
+----------------------------------------------
+
+PingDxlTool (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_hardware_stack/tools_interface/srv/PingDxlTool.srv
+   :language: rostype
+
+OpenGripper (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_hardware_stack/tools_interface/srv/OpenGripper.srv
+   :language: rostype
+
+CloseGripper (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_hardware_stack/tools_interface/srv/CloseGripper.srv
+   :language: rostype
+
+PullAirVacuumPump (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_hardware_stack/tools_interface/srv/PullAirVacuumPump.srv
+   :language: rostype
+
+PushAirVacuumPump (Service)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. literalinclude:: ../../../niryo_robot_hardware_stack/tools_interface/srv/PushAirVacuumPump.srv
+   :language: rostype
diff --git a/sphinx_doc/source/tcp_server.rst b/sphinx_doc/source/tcp_server.rst
new file mode 100644
index 000000000..eaded1eeb
--- /dev/null
+++ b/sphinx_doc/source/tcp_server.rst
@@ -0,0 +1,89 @@
+Use Ned TCP Server
+========================================
+
+Ned is permanently running a TCP Server to acquire requests.
+This server is built on top of the :doc:`Ned Python ROS Wrapper <ros_wrapper>`
+
+It offers a simple way for developers to create programs for robot
+to control them via remote communication on a computer, on a mobile
+or any device with network facilities.
+
+Programs can communicate through network TCP with the robots
+in any language available.
+
+
+Connection
+-------------
+To access the server, you will have to use to Robot's IP Adress and communicate 
+via the **port 40001**
+
+Communication
+-----------------
+Only one client can communicate with the server (reconnection effective but no multi clients).
+
+The server answer only after the command is done, so it cannot deal with multiple commands at the same time.
+
+Packet Convention
+-----------------------
+
+General format
+^^^^^^^^^^^^^^^^^^
+
+For easier usage and easier debugging, the communication is based on JSON format.
+
+Every package have this following shape : ``<json_packet_size>{<json_content>}<payload>``
+
+The JSON packet size is an unsigned short coded on 2 bytes
+
+The JSON contains command's name & params
+
+Payload contains *heavy* data like an image
+
+Request
+^^^^^^^^^^^^^^^^^^
+
+Format - Request
+""""""""""""""""""""""""""""
+
+As no function request a payload in input, requests have the following
+format : ``<json_packet_size>{'param_list': [<param_1>, <param_2>, ....], 'command': <command_str>}``
+
+Examples - Request
+""""""""""""""""""""""""""""
+Calibrate auto : ``{'param_list': ['AUTO'], 'command': 'CALIBRATE'}``
+
+Move joints : ``{'param_list': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 'command': 'MOVE_JOINTS'}``
+
+Answer
+^^^^^^^^^^^^^^^^^^
+
+Format - Answer
+""""""""""""""""""""""""""""
+
+Firstly, answers indicate to the user if its command has been well executed.
+This is indicated in the JSON by the parameter "status"
+
+A successful answer will have the format :
+
+``{'status': 'OK', 'list_ret_param': [<param_1>, <param_2>, ....], 'payload_size': <payload_size_int>, 'command': <command_str>}<payload_str>``
+
+An unsuccessful answer will have the format :
+``{'status': 'KO', 'message': <message_str>}``
+
+Examples - Answer
+""""""""""""""""""""""
+Calibrate Auto :
+``{'status': 'OK', 'list_ret_param': [], 'payload_size': 0, 'command': 'CALIBRATE'}``
+
+Get Pose:
+``{'status': 'OK', 'list_ret_param': [0.2, 0.15, 0.35, 0.5, -0.6, 0.1], 'payload_size': 0, 'command': 'GET_POSE'}``
+
+
+
+Commands enum for TCP Server
+-------------------------------
+.. automodule:: niryo_robot_python_ros_wrapper.ros_wrapper_enums
+    :members: CommandEnum
+    :undoc-members:
+    :exclude-members:
+    :member-order: bysource