├── .gitignore ├── LICENSE ├── README.md ├── blogs └── 线缆仿真 │ ├── media │ ├── Fusion_design.png │ ├── dynamic_illustration.mp4 │ ├── igus_triflex.mp4 │ ├── kuka_igus_sim.mp4 │ └── positional_control.mp4 │ └── mujoco 机械臂线缆仿真.md ├── examples ├── kr20_cable_example.py ├── lidar_plt_example.py ├── manipulation_movej_example.py ├── multithread_example.py └── spiningBall_example.py ├── manipulation ├── __init__.py ├── configs │ └── ur10e.yaml ├── joint_utils.py └── motion_generator.py ├── model ├── ball.xml ├── franka_emika_panda │ ├── assets │ │ ├── finger_0.obj │ │ ├── finger_1.obj │ │ ├── hand.stl │ │ ├── hand_0.obj │ │ ├── hand_1.obj │ │ ├── hand_2.obj │ │ ├── hand_3.obj │ │ ├── hand_4.obj │ │ ├── link0.stl │ │ ├── link0_0.obj │ │ ├── link0_1.obj │ │ ├── link0_10.obj │ │ ├── link0_11.obj │ │ ├── link0_2.obj │ │ ├── link0_3.obj │ │ ├── link0_4.obj │ │ ├── link0_5.obj │ │ ├── link0_7.obj │ │ ├── link0_8.obj │ │ ├── link0_9.obj │ │ ├── link1.obj │ │ ├── link1.stl │ │ ├── link2.obj │ │ ├── link2.stl │ │ ├── link3.stl │ │ ├── link3_0.obj │ │ ├── link3_1.obj │ │ ├── link3_2.obj │ │ ├── link3_3.obj │ │ ├── link4.stl │ │ ├── link4_0.obj │ │ ├── link4_1.obj │ │ ├── link4_2.obj │ │ ├── link4_3.obj │ │ ├── link5_0.obj │ │ ├── link5_1.obj │ │ ├── link5_2.obj │ │ ├── link5_collision_0.obj │ │ ├── link5_collision_1.obj │ │ ├── link5_collision_2.obj │ │ ├── link6.stl │ │ ├── link6_0.obj │ │ ├── link6_1.obj │ │ ├── link6_10.obj │ │ ├── link6_11.obj │ │ ├── link6_12.obj │ │ ├── link6_13.obj │ │ ├── link6_14.obj │ │ ├── link6_15.obj │ │ ├── link6_16.obj │ │ ├── link6_2.obj │ │ ├── link6_3.obj │ │ ├── link6_4.obj │ │ ├── link6_5.obj │ │ ├── link6_6.obj │ │ ├── link6_7.obj │ │ ├── link6_8.obj │ │ ├── link6_9.obj │ │ ├── link7.stl │ │ ├── link7_0.obj │ │ ├── link7_1.obj │ │ ├── link7_2.obj │ │ ├── link7_3.obj │ │ ├── link7_4.obj │ │ ├── link7_5.obj │ │ ├── link7_6.obj │ │ └── link7_7.obj │ └── panda.xml ├── kuka_kr20 │ ├── assets │ │ ├── base_link.stl │ │ ├── link_1_1.stl │ │ ├── link_2_1.stl │ │ ├── link_3_1.stl │ │ ├── link_4_1.stl │ │ ├── link_5_1.stl │ │ └── link_6_1.stl │ ├── kuka_kr20.xml │ └── kuka_kr20_cable.xml ├── lidar_example.xml ├── scene.xml └── universal_robots_ur10e │ ├── assets │ ├── base_0.obj │ ├── base_1.obj │ ├── forearm_0.obj │ ├── forearm_1.obj │ ├── forearm_2.obj │ ├── forearm_3.obj │ ├── shoulder_0.obj │ ├── shoulder_1.obj │ ├── shoulder_2.obj │ ├── upperarm_0.obj │ ├── upperarm_1.obj │ ├── upperarm_2.obj │ ├── upperarm_3.obj │ ├── wrist1_0.obj │ ├── wrist1_1.obj │ ├── wrist1_2.obj │ ├── wrist2_0.obj │ ├── wrist2_1.obj │ ├── wrist2_2.obj │ └── wrist3.obj │ └── ur10e.xml ├── mujoco_viewer ├── __init__.py ├── callbacks.py └── mujoco_viewer.py ├── requirements.txt ├── utils ├── __init__.py ├── geoUtils.py ├── logUtils.py ├── pltUtils.py ├── sensorUtils.py ├── tests │ ├── __init__.py │ ├── test_geoUtils.py │ ├── test_laserScan.py │ ├── test_rangeFinder.py │ └── test_sensorNames.py └── vizUtils.py └── view_model.py /.gitignore: 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