├── MuJoCo_impedance_control ├── 10.定点阻抗特性仿真实验 │ ├── .DS_Store │ ├── 888utils.py │ ├── __pycache__ │ │ ├── cartesian_ipd.cpython-38.pyc │ │ ├── func.cpython-38.pyc │ │ ├── func_mj.cpython-38.pyc │ │ ├── joint_ipd.cpython-38.pyc │ │ └── utils.cpython-38.pyc │ ├── cartesian_ipd.py │ ├── func.py │ ├── func_mj.py │ ├── ikfastpy.pyx │ ├── ikfastpy.so │ ├── joint_ipd.py │ ├── main.py │ ├── pgtest.py │ ├── ur5.xml │ ├── ur5 │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ └── utils.py ├── 3mujoco_FK │ ├── .DS_Store │ ├── func_mj.py │ ├── main.py │ ├── ur5.xml │ └── ur5 │ │ ├── collision │ │ ├── base.stl │ │ ├── forearm.stl │ │ ├── shoulder.stl │ │ ├── upperarm.stl │ │ ├── wrist1.stl │ │ ├── wrist2.stl │ │ └── wrist3.stl │ │ └── visual │ │ ├── base.dae │ │ ├── forearm.dae │ │ ├── shoulder.dae │ │ ├── upperarm.dae │ │ ├── wrist1.dae │ │ ├── wrist2.dae │ │ └── wrist3.dae ├── 4.MuJoCo机器人动力学计算 │ ├── .DS_Store │ ├── func_mj.py │ ├── ur5.xml │ └── ur5 │ │ ├── collision │ │ ├── base.stl │ │ ├── forearm.stl │ │ ├── shoulder.stl │ │ ├── upperarm.stl │ │ ├── wrist1.stl │ │ ├── wrist2.stl │ │ └── wrist3.stl │ │ └── visual │ │ ├── base.dae │ │ ├── forearm.dae │ │ ├── shoulder.dae │ │ ├── upperarm.dae │ │ ├── wrist1.dae │ │ ├── wrist2.dae │ │ └── wrist3.dae ├── 5.PyKDL动力学计算 │ ├── .DS_Store │ ├── __pycache__ │ │ ├── func_kdl.cpython-38.pyc │ │ ├── func_mj.cpython-38.pyc │ │ └── utils.cpython-38.pyc │ ├── func_kdl.py │ ├── func_mj.py │ ├── kdl │ │ ├── .DS_Store │ │ ├── CMakeLists.txt │ │ ├── build │ │ │ ├── CATKIN_IGNORE │ │ │ ├── CMakeCache.txt │ │ │ ├── CMakeFiles │ │ │ │ ├── 3.16.3 │ │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ │ ├── CompilerIdC │ │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ │ └── a.out │ │ │ │ │ └── CompilerIdCXX │ │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ │ └── a.out │ │ │ │ ├── 3.22.4 │ │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ │ ├── CompilerIdC │ │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ │ └── a.out │ │ │ │ │ └── CompilerIdCXX │ │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ │ └── a.out │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── CMakeError.log │ │ │ │ ├── CMakeOutput.log │ │ │ │ ├── CMakeRuleHashes.txt │ │ │ │ ├── Makefile.cmake │ │ │ │ ├── Makefile2 │ │ │ │ ├── Progress │ │ │ │ │ ├── 9 │ │ │ │ │ └── count.txt │ │ │ │ ├── TargetDirectories.txt │ │ │ │ ├── _catkin_empty_exported_target.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── compiler_depend.make │ │ │ │ │ ├── compiler_depend.ts │ │ │ │ │ └── progress.make │ │ │ │ ├── clean_test_results.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── compiler_depend.make │ │ │ │ │ ├── compiler_depend.ts │ │ │ │ │ └── progress.make │ │ │ │ ├── cmake.check_cache │ │ │ │ ├── download_extra_data.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── compiler_depend.make │ │ │ │ │ ├── compiler_depend.ts │ │ │ │ │ └── progress.make │ │ │ │ ├── doxygen.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── compiler_depend.make │ │ │ │ │ ├── compiler_depend.ts │ │ │ │ │ └── progress.make │ │ │ │ ├── parser.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── compiler_depend.make │ │ │ │ │ ├── compiler_depend.ts │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ └── progress.make │ │ │ │ ├── progress.marks │ │ │ │ ├── run_tests.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── compiler_depend.make │ │ │ │ │ ├── compiler_depend.ts │ │ │ │ │ └── progress.make │ │ │ │ └── tests.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── compiler_depend.make │ │ │ │ │ ├── compiler_depend.ts │ │ │ │ │ └── progress.make │ │ │ ├── CTestConfiguration.ini │ │ │ ├── CTestCustom.cmake │ │ │ ├── CTestTestfile.cmake │ │ │ ├── Makefile │ │ │ ├── atomic_configure │ │ │ │ ├── .rosinstall │ │ │ │ ├── _setup_util.py │ │ │ │ ├── env.sh │ │ │ │ ├── local_setup.bash │ │ │ │ ├── local_setup.sh │ │ │ │ ├── local_setup.zsh │ │ │ │ ├── setup.bash │ │ │ │ ├── setup.sh │ │ │ │ └── setup.zsh │ │ │ ├── catkin │ │ │ │ └── catkin_generated │ │ │ │ │ └── version │ │ │ │ │ └── package.cmake │ │ │ ├── catkin_generated │ │ │ │ ├── env_cached.sh │ │ │ │ ├── generate_cached_setup.py │ │ │ │ ├── installspace │ │ │ │ │ ├── .rosinstall │ │ │ │ │ ├── _setup_util.py │ │ │ │ │ ├── env.sh │ │ │ │ │ ├── local_setup.bash │ │ │ │ │ ├── local_setup.sh │ │ │ │ │ ├── local_setup.zsh │ │ │ │ │ ├── setup.bash │ │ │ │ │ ├── setup.sh │ │ │ │ │ └── setup.zsh │ │ │ │ ├── setup_cached.sh │ │ │ │ └── stamps │ │ │ │ │ └── kdl │ │ │ │ │ ├── _setup_util.py.stamp │ │ │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ │ │ └── package.xml.stamp │ │ │ ├── cmake_install.cmake │ │ │ ├── devel │ │ │ │ ├── .catkin │ │ │ │ ├── .rosinstall │ │ │ │ ├── _setup_util.py │ │ │ │ ├── cmake.lock │ │ │ │ ├── env.sh │ │ │ │ ├── local_setup.bash │ │ │ │ ├── local_setup.sh │ │ │ │ ├── local_setup.zsh │ │ │ │ ├── setup.bash │ │ │ │ ├── setup.sh │ │ │ │ └── setup.zsh │ │ │ └── gtest │ │ │ │ ├── CMakeFiles │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ └── progress.marks │ │ │ │ ├── CTestTestfile.cmake │ │ │ │ ├── Makefile │ │ │ │ ├── cmake_install.cmake │ │ │ │ ├── googlemock │ │ │ │ ├── CMakeFiles │ │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ │ ├── gmock.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── compiler_depend.make │ │ │ │ │ │ ├── compiler_depend.ts │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ ├── flags.make │ │ │ │ │ │ ├── link.txt │ │ │ │ │ │ └── progress.make │ │ │ │ │ ├── gmock_main.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── compiler_depend.make │ │ │ │ │ │ ├── compiler_depend.ts │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ ├── flags.make │ │ │ │ │ │ ├── link.txt │ │ │ │ │ │ └── progress.make │ │ │ │ │ └── progress.marks │ │ │ │ ├── CTestTestfile.cmake │ │ │ │ ├── Makefile │ │ │ │ └── cmake_install.cmake │ │ │ │ └── googletest │ │ │ │ ├── CMakeFiles │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── gtest.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── compiler_depend.make │ │ │ │ │ ├── compiler_depend.ts │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ └── progress.make │ │ │ │ ├── gtest_main.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── compiler_depend.make │ │ │ │ │ ├── compiler_depend.ts │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ └── progress.make │ │ │ │ └── progress.marks │ │ │ │ ├── CTestTestfile.cmake │ │ │ │ ├── Makefile │ │ │ │ └── cmake_install.cmake │ │ └── src │ │ │ ├── parser.cpp │ │ │ └── ur5.urdf │ ├── main.py │ ├── ur5.xml │ ├── ur5 │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ └── utils.py ├── 6.IKFastPy逆运动学 │ ├── .DS_Store │ ├── __pycache__ │ │ └── utils.cpython-38.pyc │ ├── func_kdl.py │ ├── ikfast │ │ ├── ikfast │ │ ├── ikfast.h │ │ ├── ikfast61.cpp │ │ ├── ur5.dae │ │ └── ur5.urdf │ ├── ikfastpy.pyx │ ├── ikfastpy.so │ ├── main.py │ ├── ur5.xml │ ├── ur5 │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ └── utils.py ├── 8.关节空间阻抗控制器 │ ├── .DS_Store │ ├── func_kdl.py │ ├── ikfastpy.pyx │ ├── ikfastpy.so │ ├── joint_ipd.py │ └── utils.py └── 9.笛卡尔空间阻抗控制器 │ ├── .DS_Store │ ├── cartesian_ipd.py │ ├── func.py │ └── utils.py └── README.md /MuJoCo_impedance_control/10.定点阻抗特性仿真实验/.DS_Store: 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