├── ControlSim1.mat ├── ControlSim2.mat ├── Library ├── Ad.m ├── Animate_MB_RE.m ├── Body.m ├── Coss_ODE.m ├── FDM_MB_RE.m ├── F_Flex_MB_BCS.m ├── Flex_Dyn.m ├── Flex_MB_BCS.m ├── IDM_MB_RE.m ├── Joint.m ├── MB_Flex_ID.m ├── Pos_MB_RE.m ├── Rigid_Kin.m ├── adj.m ├── defPaperSample_1.m ├── defPaperSample_2.m ├── expm3.m ├── hat.m └── unhat.m ├── Multi-Branch ├── Library │ ├── Ad.m │ ├── Animate_Grasp.m │ ├── Animate_MB_RE.m │ ├── Body.m │ ├── Coss_ODE.m │ ├── FDM_MB_RE.m │ ├── F_Flex_MB_BCS.m │ ├── Flex_Dyn.m │ ├── Flex_MB_BCS.m │ ├── Flex_MultiBranch_BCS.m │ ├── IDM_MB_RE.m │ ├── IDM_MultiBranch.m │ ├── Joint.m │ ├── MB_Flex_ID.m │ ├── Pos_MB_RE.m │ ├── Pos_SB_RE.m │ ├── Rigid_Kin.m │ ├── adj.m │ ├── def2Body.m │ ├── defMultiBranch.m │ ├── defMultiBranch_Paper.m │ ├── defMultiBranch_Paper_Test.m │ ├── defSingleBranch.m │ ├── defSingleBranch_Paper_Test.m │ ├── defSingleDampBranch.m │ ├── expm3.m │ ├── hat.m │ └── unhat.m ├── RunMe_InvDyn_MultiBranch.m └── TestPaper_Multi.gif ├── 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