├── .gitignore ├── CMakeLists.txt ├── README.md ├── config ├── gazebo_adjustable_ft_demo_controllers.yaml ├── gazebo_all_ft_demo_controllers.yaml ├── gazebo_ati_nano17_ft_demo_controllers.yaml ├── gazebo_block_ft_demo_controllers.yaml ├── gazebo_bottle_ft_demo_controllers.yaml ├── gazebo_hex9904_07mm_ft_demo_controllers.yaml ├── gazebo_hex9904_10mm_ft_demo_controllers.yaml ├── gazebo_hex9904_20mm_ft_demo_controllers.yaml ├── gazebo_pushing_box_ft_demo_controllers.yaml ├── printed_ft.rviz └── tams_printed_ft_demo.rviz ├── doc ├── datasheets │ ├── ITR8307_ENG_TDS.pdf │ ├── ITR9904_ENG_TDS.pdf │ ├── Sharp-GP1S93.pdf │ ├── Vishay-TCST1103-datasheet.pdf │ └── Vishay-VCNL3040.pdf ├── images │ ├── 2dof-sensor-module.jpg │ ├── adjustable-base-ring.jpg │ ├── block-ft-on-pa10.jpg │ ├── bottle-ft-exploded.png │ ├── bottle-ft-pouring.jpg │ ├── foot.jpg │ ├── pushing-box.jpg │ ├── screen-rviz-printed-ft-all-sensors.png │ └── teaser.jpg └── patterns │ ├── grayscale-0.png │ ├── jfig_rectangular_sensor_plate_v5.png │ └── rectangular_sensor_plate_v5.pdf ├── firmware ├── 00readme.txt ├── ft-big-octo-1103 │ └── ft-big-octo-1103.ino ├── ft-block-octo-8307 │ └── ft-block-octo-8307.ino ├── ft-bottle-ft │ └── ft-bottle-ft.ino ├── ft-pushing-box-nano │ └── ft-pushing-box-nano.ino ├── ft-spacemouse-hex-1103-teensy │ └── ft-spacemouse-hex-1103-teensy.ino └── screwdriver_v3_8x │ ├── arduino_secrets.h │ └── screwdriver_v3_8x.ino ├── launch ├── gazebo_adjustable_ft_demo.launch ├── gazebo_all_demo.launch ├── gazebo_ati_nano17_ft_demo.launch ├── gazebo_block_ft_demo.launch ├── gazebo_bottle_ft_demo.launch ├── gazebo_hex9904_07mm_ft_demo.launch ├── gazebo_hex9904_10mm_ft_demo.launch ├── gazebo_hex9904_20mm_ft_demo.launch └── gazebo_pushing_box_ft_demo.launch ├── meshes ├── 00readme.txt ├── adjustable_ft_base_ring.dae ├── adjustable_ft_upper_ring.dae ├── ati_nano17.dae ├── ati_nano17.stl ├── block_ft_base_and_elastic.dae ├── block_ft_cover_ring_and_pattern_plate.dae ├── block_ft_sunrise_mounting_plate_74x10.dae ├── bottle-six-axis-ft-v2-base-ring-h15.dae ├── bottle-six-axis-ft-v2-grasp-handle-70mm.dae ├── bottle-six-axis-ft-v2-upper-ring-sensor-modules-arduino.dae ├── bottle-six-axis-ft-v2-upper-ring-w-carriers.dae ├── bottle_500ml.dae ├── bottle_500ml.stl ├── hex9904_baseplate_groundplate.dae ├── hex9904_hat_05mm.dae ├── hex9904_hat_07mm.dae ├── hex9904_hat_10mm.dae ├── hex9904_hat_20mm.dae ├── pushing-box-coins-holder.dae ├── pushing-box-complete-without-probe.dae ├── six-axis-9904-v3-baseplate-sensors-and-groundplate.dae ├── six-axis-9904-v3-with-fins-10mm-thick.dae ├── six-axis-9904-v3-with-fins-15mm-thick.dae └── six-axis-9904-v3-with-fins-7mm5-thick.dae ├── nodes ├── 00readme.txt ├── block_ft.py └── pushing_ft.py ├── openscad ├── 00readme.txt ├── 2DOF_soldering_tool.png ├── 2DOF_soldering_tool.scad ├── adjustable-ft-v1.png ├── adjustable-ft-v1.scad ├── block-ft.png ├── block-ft.scad ├── bottle-six-axis-ft-v2.scad ├── breadboard.scad ├── electronics.scad ├── ft-pushing-box.png ├── ft-pushing-box.scad ├── optokoppler.png ├── optokoppler.scad ├── scripts │ ├── export-adjustable-ft.sh │ ├── export-block-ft.sh │ └── export-pushing-box-v2.sh ├── spacemouse-9904.png ├── spacemouse-9904.scad ├── stl │ ├── 2DOF_soldering_tool.stl │ ├── adjustable-ft-v1-base-ring.stl │ ├── adjustable-ft-v1-distance-ring-2mm.stl │ ├── adjustable-ft-v1-distance-ring.stl │ ├── adjustable-ft-v1-fin-ring.stl │ ├── adjustable-ft-v1-upper-ring.stl │ ├── block-ft-base-holder.stl │ ├── block-ft-base-plate.stl │ ├── block-ft-cover-ring-40-height-10.stl │ ├── block-ft-cover-ring-40-height-8.stl │ ├── block-ft-cover-ring-40-height-9.stl │ ├── block-ft-fake-pcb-40.stl │ ├── block-ft-m3207-adapter-outer.stl │ ├── block-ft-pattern-plate-40.stl │ ├── block-ft-x-07-10-11-y-07-9-z-06-10-6.stl │ ├── block-ft-x-07-10-13-y-07-7-z-06-10-4.stl │ ├── block-ft-x-07-10-15-y-07-7-z-06-10-6.stl │ ├── block-ft-x-07-10-9-y-07-10-z-06-10-8.stl │ ├── bottle-six-axis-ft-v2-base-ring-h12.stl │ ├── bottle-six-axis-ft-v2-base-ring-h15.stl │ ├── bottle-six-axis-ft-v2-grasp-handle-70mm.stl │ ├── bottle-six-axis-ft-v2-grasp-handle.stl │ ├── bottle-six-axis-ft-v2-pa10-adapter.stl │ ├── bottle-six-axis-ft-v2-upper-ring-sensor-modules-arduino.stl │ ├── bottle-six-axis-ft-v2-upper-ring-w-carriers.stl │ ├── ft-pushing-box-bottom-plate.stl │ ├── ft-pushing-box-coins-holder.stl │ ├── ft-pushing-box-complete-without-probe.stl │ ├── ft-pushing-box-fin-carrier.stl │ ├── ft-pushing-box-sensor-carrier.stl │ ├── ft-pushing-box-spring-block-v2.stl │ ├── ft-pushing-box-spring-block-v3.stl │ └── ft-pushing-box-spring-block.stl └── sunrise.scad ├── package.xml └── urdf ├── adjustable_ft.xacro ├── adjustable_ft_demo.xacro ├── ati_nano17_ft.xacro ├── ati_nano17_ft_demo.xacro ├── block_ft.xacro ├── block_ft_demo.xacro ├── bottle_ft.xacro ├── bottle_ft_demo.xacro ├── ft_payload.xacro ├── ft_sensor.xacro ├── gazebo_all_ft_demo.xacro ├── hex1103_ft.xacro ├── 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