├── .gitignore ├── .travis.yml ├── LICENSE ├── README.md ├── kuka_lwr ├── CMakeLists.txt └── package.xml ├── lwr_controllers ├── .gitignore ├── CMakeLists.txt ├── README.md ├── include │ ├── lwr_controllers │ │ ├── KinematicChainControllerBase.h │ │ ├── PIDKinematicChainControllerBase.h │ │ ├── arm_state_controller.h │ │ ├── backstepping_controller.h │ │ ├── cartesian_impedance_controller.h │ │ ├── computed_torque_controller.h │ │ ├── dynamic_sliding_mode_controller.h │ │ ├── dynamic_sliding_mode_controller_task_space.h │ │ ├── gravity_compensation.h │ │ ├── inverse_dynamics_controller.h │ │ ├── joint_impedance_controller.h │ │ ├── minimum_effort_inverse_dynamics.h │ │ ├── multi_task_priority_inverse_dynamics.h │ │ ├── multi_task_priority_inverse_kinematics.h │ │ ├── one_task_inverse_dynamics_jl.h │ │ └── one_task_inverse_kinematics.h │ └── utils │ │ ├── pseudo_inversion.h │ │ └── skew_symmetric.h ├── launch │ ├── controllers │ │ ├── backstepping_controller.launch │ │ ├── computed_torque_controller.launch │ │ ├── dynamic_sliding_mode_controller.launch │ │ ├── dynamic_sliding_mode_task_space_controller.launch │ │ ├── inverse_dynamics_controller.launch │ │ ├── joint_effort_position_controller.launch │ │ ├── joint_effort_trajectory_controller.launch │ │ ├── joint_impedance_controller.launch │ │ ├── joint_position_position_controller.launch │ │ ├── joint_position_trajectory_controller.launch │ │ ├── joint_state_controller.launch │ │ ├── minimum_effort_inverse_dynamics_controller.launch │ │ ├── multi_task_priority_inverse_dynamics_controller.launch │ │ ├── multi_task_priority_inverse_kinematics_controller.launch │ │ ├── one_task_inverse_dynamics_jl_controller.launch │ │ └── one_task_inverse_kinematics_controller.launch │ └── load_controller.launch ├── lwr_controllers_plugins.xml ├── msg │ ├── ArmState.msg │ ├── CartesianImpedancePoint.msg │ ├── MultiPriorityTask.msg │ ├── PoseRPY.msg │ ├── RPY.msg │ └── Stiffness.msg ├── package.xml ├── src │ ├── KinematicChainControllerBase.cpp │ ├── arm_state_controller.cpp │ ├── backstepping_controller.cpp │ ├── cartesian_command_vito.cpp │ ├── cartesian_gains_mat.txt │ ├── cartesian_impedance_controller.cpp │ ├── computed_torque_controller.cpp │ ├── dynamic_sliding_mode_controller.cpp │ ├── dynamic_sliding_mode_controller_task_space.cpp │ ├── gravity_compensation.cpp │ ├── inverse_dynamics_controller.cpp │ ├── joint_impedance_controller.cpp │ ├── minimum_effort_inverse_dynamics.cpp │ ├── multi_task_priority_inverse_dynamics.cpp │ ├── multi_task_priority_inverse_kinematics.cpp │ ├── one_task_inverse_dynamics_jl.cpp │ └── one_task_inverse_kinematics.cpp └── srv │ └── SetCartesianImpedanceCommand.srv ├── lwr_description ├── CMakeLists.txt ├── meshes │ └── lwr4plus │ │ ├── collision │ │ └── README.md │ │ └── visual │ │ ├── base.STL │ │ ├── link_1.STL │ │ ├── link_2.STL │ │ ├── link_3.STL │ │ ├── link_4.STL │ │ ├── link_5.STL │ │ ├── link_6.STL │ │ └── link_7.STL ├── model │ ├── kuka_lwr.gazebo.xacro │ ├── kuka_lwr.transmission.xacro │ ├── kuka_lwr.urdf.xacro │ ├── kuka_materials.xacro │ └── utils.xacro └── package.xml ├── lwr_hw ├── CMakeLists.txt ├── doc │ └── KUKA_FRI_from_WS_Proceedings_ICRA2010.pdf ├── include │ ├── cartesian_hardware_interface │ │ ├── cartesian_command_interface.h │ │ └── cartesian_state_interface.h │ ├── fri │ │ ├── friComm.h │ │ ├── friremote.h │ │ └── friudp.h │ └── lwr_hw │ │ ├── lwr_hw.h │ │ ├── lwr_hw_fri.hpp │ │ ├── lwr_hw_fril.hpp │ │ └── lwr_hw_gazebo.hpp ├── krl │ ├── ros_control.dat │ └── ros_control.src ├── launch │ └── lwr_hw.launch ├── package.xml └── src │ ├── fri │ ├── friremote.cpp │ └── friudp.cpp │ ├── lwr_hw.cpp │ ├── lwr_hw_fri_node.cpp │ ├── lwr_hw_fril_node.cpp │ └── lwr_hw_gazebo_plugin.cpp └── single_lwr_example ├── README.md ├── single_lwr_example ├── CMakeLists.txt └── package.xml ├── single_lwr_launch ├── CMakeLists.txt ├── launch │ ├── rviz_config.rviz │ └── single_lwr.launch └── package.xml ├── single_lwr_moveit ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── controllers.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ └── single_lwr_robot.srdf ├── default_warehouse_mongo_db │ └── .gitignore ├── launch │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_planning_execution.launch │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── run_benchmark_ompl.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── single_lwr_robot_moveit_controller_manager.launch.xml │ ├── single_lwr_robot_moveit_sensor_manager.launch.xml │ ├── trajectory_execution.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml └── package.xml └── single_lwr_robot ├── CMakeLists.txt ├── config ├── 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