├── .gitignore ├── README.md ├── direct_transcription_method.ipynb ├── imgs ├── augmented_lagrangian.png ├── dominoes.gif ├── kuka_follows_circle.gif └── kuka_mocap.gif ├── mujoco_basic.ipynb ├── optimization.ipynb ├── robot └── robot_arms │ ├── franka_emika_panda │ ├── LICENSE │ ├── README.md │ ├── 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 │ ├── hand.xml │ ├── panda.png │ ├── panda.xml │ ├── panda_nohand.xml │ └── scene.xml │ ├── kuka_iiwa_14 │ ├── LICENSE │ ├── README.md │ ├── assets │ │ ├── band.obj │ │ ├── kuka.obj │ │ ├── link_0.obj │ │ ├── link_1.obj │ │ ├── link_2_grey.obj │ │ ├── link_2_orange.obj │ │ ├── link_3.obj │ │ ├── link_4_grey.obj │ │ ├── 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