├── .gitignore ├── README ├── kuka_IK ├── CMakeLists.txt ├── Makefile ├── README ├── include │ └── friComm.h ├── kuka_ik-gnulinux.pc ├── manifest.xml └── src │ ├── KukaLWR_Kinematics.cpp │ ├── KukaLWR_Kinematics.hpp │ ├── kuka_IK-component.cpp │ └── kuka_IK-component.hpp ├── lwr_fri ├── CMakeLists.txt ├── Makefile ├── deploy │ ├── .tb_history │ ├── FRIComponentOnly.xml │ ├── cpf │ │ ├── FRIServer.cpf │ │ ├── nAxesGeneratorPos.cpf │ │ └── reporter_naxes.cpf │ ├── run.sh │ └── test_LWR_naxes.xml ├── mainpage.dox ├── manifest.xml ├── readme.txt └── src │ ├── FRIComponent.cpp │ ├── FRIComponent.hpp │ ├── FRIDiagnostics.cpp │ └── FRIDiagnostics.hpp ├── poseToOrocos ├── CMakeLists.txt ├── Makefile ├── README ├── mainpage.dox ├── manifest.xml ├── nodes │ └── posePub.py └── src │ ├── jntPosLoop.cpp │ ├── jntPosSingle.cpp │ ├── poseLoop.cpp │ ├── poseSingle.cpp │ ├── poseStampedLoop.cpp │ └── poseStampedLoopSafe.cpp ├── re_kuka ├── CMakeLists.txt ├── Makefile ├── description │ ├── calibration │ │ └── cob3-1.urdf.xacro │ ├── gazebo │ │ └── gazebo.urdf.xacro │ ├── meshes │ │ ├── lbr_v0 │ │ │ ├── cone.stl │ │ │ ├── convex │ │ │ │ ├── lbr1.dae │ │ │ │ ├── lbr1.obj │ │ │ │ ├── lbr1.xml │ │ │ │ ├── lbr1_convex.iv │ │ │ │ ├── lbr1_convex.obj │ │ │ │ ├── lbr1_convex.stla │ │ │ │ ├── lbr1_convex.stlb │ │ │ │ ├── lbr2.dae │ │ │ │ ├── lbr2.obj │ │ │ │ ├── lbr2.xml │ │ │ │ ├── lbr2_convex.iv │ │ │ │ ├── lbr2_convex.obj │ │ │ │ ├── lbr2_convex.stla │ │ │ │ ├── lbr2_convex.stlb │ │ │ │ ├── lbr3.dae │ │ │ │ ├── lbr3.obj │ │ │ │ ├── lbr3.xml │ │ │ │ ├── lbr3_convex.iv │ │ │ │ ├── lbr3_convex.obj │ │ │ │ ├── lbr3_convex.stla │ │ │ │ ├── lbr3_convex.stlb │ │ │ │ ├── lbr4.dae │ │ │ │ ├── lbr4.obj │ │ │ │ ├── lbr4.xml │ │ │ │ ├── lbr4_convex.iv │ │ │ │ ├── lbr4_convex.obj │ │ │ │ ├── lbr4_convex.stla │ │ │ │ ├── lbr4_convex.stlb │ │ │ │ ├── lbr5.dae │ │ │ │ ├── lbr5.obj │ │ │ │ ├── lbr5.xml │ │ │ │ ├── lbr5_convex.iv │ │ │ │ ├── lbr5_convex.obj │ │ │ │ ├── lbr5_convex.stla │ │ │ │ ├── lbr5_convex.stlb │ │ │ │ ├── lbr6.dae │ │ │ │ ├── lbr6.obj │ │ │ │ ├── lbr6.xml │ │ │ │ ├── lbr6_convex.iv │ │ │ │ ├── lbr6_convex.obj │ │ │ │ ├── lbr6_convex.stla │ │ │ │ ├── lbr6_convex.stlb │ │ │ │ ├── lbr7.dae │ │ │ │ ├── lbr7.obj │ │ │ │ ├── lbr7.xml │ │ │ │ ├── lbr7_convex.iv │ │ │ │ ├── lbr7_convex.obj │ │ │ │ ├── lbr7_convex.stla │ │ │ │ └── lbr7_convex.stlb │ │ │ ├── iv │ │ │ │ ├── lbr1.iv │ │ │ │ ├── lbr2.iv │ │ │ │ ├── lbr3.iv │ │ │ │ ├── lbr4.iv │ │ │ │ ├── lbr5.iv │ │ │ │ ├── lbr6.iv │ │ │ │ └── lbr7.iv │ │ │ ├── lbr1.stl │ │ │ ├── lbr2.stl │ │ │ ├── lbr3.stl │ │ │ ├── lbr4.stl │ │ │ ├── lbr5.stl │ │ │ ├── lbr6.stl │ │ │ ├── lbr7.stl │ │ │ └── lbr_offsets.txt │ │ └── sdh_v0 │ │ │ ├── convex │ │ │ ├── finger.dae │ │ │ ├── finger.obj │ │ │ ├── finger.xml │ │ │ ├── finger_convex.iv │ │ │ ├── finger_convex.obj │ │ │ ├── finger_convex.stla │ │ │ ├── finger_convex.stlb │ │ │ ├── finger_tip.dae │ │ │ ├── finger_tip.obj │ │ │ ├── finger_tip.xml │ │ │ ├── finger_tip_convex.iv │ │ │ ├── finger_tip_convex.obj │ │ │ ├── finger_tip_convex.stla │ │ │ ├── finger_tip_convex.stlb │ │ │ ├── knuckle.dae │ │ │ ├── knuckle.obj │ │ │ ├── knuckle.xml │ │ │ ├── knuckle_convex.iv │ │ │ ├── knuckle_convex.obj │ │ │ ├── knuckle_convex.stla │ │ │ ├── knuckle_convex.stlb │ │ │ ├── palm.dae │ │ │ ├── palm.obj │ │ │ ├── palm.xml │ │ │ ├── palm_convex.iv │ │ │ ├── palm_convex.obj │ │ │ ├── palm_convex.stla │ │ │ └── palm_convex.stlb │ │ │ ├── finger.stl │ │ │ ├── finger_tip.stl │ │ │ ├── iv │ │ │ ├── finger.iv │ │ │ ├── finger_tip.iv │ │ │ ├── knuckle.iv │ │ │ └── palm.iv │ │ │ ├── knuckle.stl │ │ │ └── palm.stl │ ├── robots │ │ ├── arm_sdh.urdf.xacro │ │ ├── cabinet.urdf.xacro │ │ ├── lbr.urdf.xacro │ │ ├── lbr_pin.urdf.xacro │ │ ├── lbr_pin_cabinet.urdf.xacro │ │ └── lbr_sdh.urdf.xacro │ └── urdf │ │ ├── cabinet_v0 │ │ ├── cabinet.gazebo.xacro │ │ ├── cabinet.transmission.xacro │ │ └── cabinet.urdf.xacro │ │ ├── common.xacro │ │ ├── handle_v0 │ │ ├── handle.gazebo.xacro │ │ └── handle.urdf.xacro │ │ ├── lbr_v0 │ │ ├── lbr.gazebo.xacro │ │ ├── lbr.transmission.xacro │ │ └── lbr.urdf.xacro │ │ ├── materials.urdf.xacro │ │ ├── pin_v0 │ │ └── pin.urdf.xacro │ │ └── sdh_v0 │ │ ├── sdh.gazebo.xacro │ │ ├── sdh.transmission.xacro │ │ └── sdh.urdf.xacro ├── launch │ ├── config_CartesianGenerator.vcg │ ├── config_TrajectoryGenerator.vcg │ └── visualize.launch ├── mainpage.dox ├── manifest.xml └── scripts │ ├── getCurrentPose.py │ └── test_ik_trajectory.py └── trajectory_generator ├── CMakeLists.txt ├── Makefile ├── README ├── deploy ├── CartesianGeneratorReal_cartPosInput.xml ├── CartesianGeneratorSim_cartPosInput.xml ├── FRIServer.xml ├── README ├── TrajectoryGeneratorReal_cartPosInput.xml ├── TrajectoryGeneratorReal_jntPosInput.xml ├── TrajectoryGeneratorSim_cartPosInput.xml ├── TrajectoryGeneratorSim_jntPosInput.xml ├── cpf │ ├── FRIServer.cpf │ ├── FRIServer_cm4.cpf │ ├── cartesianGeneratorReal.cpf │ ├── cartesianGeneratorSim.cpf │ ├── reportingCartReal.cpf │ ├── 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