├── .gitignore ├── .travis.yml ├── .vscode └── .browse.VC.db ├── AUTHORS.md ├── BasisBootstrapping.cmake ├── BasisProject.cmake ├── CMakeLists.txt ├── COPYING.txt ├── CTestConfig.cmake ├── ChangeLog.txt ├── INSTALL.md ├── LICENSE ├── README.md ├── config ├── CTestCustom.cmake.in ├── Components.cmake ├── Config.cmake.in ├── ConfigSettings.cmake ├── ConfigUse.cmake.in ├── ConfigVersion.cmake.in ├── Depends.cmake ├── FRI_Client_SDK_Cpp.cmake ├── FindEigen3.cmake ├── FindFlatBuffers.cmake ├── FindLibDL.cmake ├── FindROS.cmake ├── FindZeroMQ.cmake ├── Package.cmake ├── ScriptConfig.cmake.in └── Settings.cmake ├── data ├── CMakeLists.txt ├── FRI-Client-SDK_Cpp.patch ├── FemurSegmentation26_Smoothed_PixelSizeDec0.5.stl ├── FemurSegmentation26_VeryLowRes.stl ├── KUKA_Inverse_Kinematics(Following_Path).ttt ├── KUKA_Milling.ttt ├── KUKAreflexxesMotionLibraryType4Demo.ttt └── RoboneSimulation.ttt ├── doc ├── CMakeLists.txt ├── apidoc.rst ├── apidoc │ ├── apidoc.dox │ ├── classlist.rst │ ├── doxygen_extra.css.in │ ├── doxygen_footer.html.in │ ├── doxygen_header.html.in │ ├── files.rst │ ├── modules.rst │ └── namespaces.rst ├── changelog.rst ├── contents.rst ├── download.rst ├── features.rst ├── help.rst ├── howto.rst ├── howto │ ├── FRI-Client-SDK_Cpp.png │ ├── IPAddresses.rst │ ├── MillingSimulationOfBoneShapedObject.rst │ ├── MillingSimulationOfSimpleObject_IntegrateSimulations.rst │ ├── Ports_JAVA_FRI_KONI.jpg │ ├── RunInDocker.rst │ ├── iiwaKukaRobotSetup.rst │ └── vrep.rst ├── index.rst ├── install.rst ├── intro.rst ├── manual.rst ├── people.rst ├── quickstart.rst ├── reference.rst ├── sidebar.rst └── static │ └── logo.svg ├── example ├── CMakeLists.txt ├── fusionTrackExample.cpp └── v_repExtPluginSkeleton │ ├── CMakeLists.txt │ ├── makefile │ ├── v_repExtPluginSkeleton.cpp │ ├── v_repExtPluginSkeleton.h │ ├── v_repExtPluginSkeleton.vcproj │ ├── v_repExtPluginSkeleton.vcxproj │ └── v_repLib.cpp ├── include ├── grl │ ├── AzmqFlatbuffer.hpp │ ├── DoubleClock.hpp │ ├── TimeEvent.hpp │ ├── cisst │ │ ├── GrlVFController.hpp │ │ └── VrepVFController.hpp │ ├── concepts │ │ ├── DeviceCommand.hpp │ │ ├── DeviceState.hpp │ │ ├── Kinematics.hpp │ │ └── OpenChain.hpp │ ├── core │ │ └── OpenChainStates.hpp │ ├── exception.hpp │ ├── flatbuffer │ │ ├── ArmControlState.fbs │ │ ├── Euler.fbs │ │ ├── FusionTrack.fbs │ │ ├── Geometry.fbs │ │ ├── JointState.fbs │ │ ├── KUKAiiwa.fbs │ │ ├── LinkObject.fbs │ │ ├── LogKUKAiiwaFusionTrack.fbs │ │ ├── Time.fbs │ │ ├── VrepControlPoint.fbs │ │ ├── VrepPath.fbs │ │ └── flatbuffer.hpp │ ├── kuka │ │ ├── Kuka.hpp │ │ ├── KukaDriver.hpp │ │ ├── KukaFRI.hpp │ │ ├── KukaFRIalgorithm.hpp │ │ ├── KukaFRIdriver.hpp │ │ ├── KukaJAVAdriver.hpp │ │ └── KukaNanopb.hpp │ ├── periodic.hpp │ ├── realtime.hpp │ ├── ros │ │ └── KukaLBRiiwaROSPlugin.hpp │ ├── rtree_graph_planner.hpp │ ├── sensor │ │ ├── FusionTrack.hpp │ │ ├── FusionTrackLogAndTrack.hpp │ │ ├── FusionTrackToEigen.hpp │ │ └── FusionTrackToFlatbuffer.hpp │ ├── stattimer.hpp │ ├── tags.hpp │ ├── time.hpp │ ├── vector_ostream.hpp │ └── vrep │ │ ├── AtracsysFusionTrackVrepPlugin.hpp │ │ ├── Eigen.hpp │ │ ├── HandEyeCalibrationVrepPlugin.hpp │ │ ├── InverseKinematicsVrepPlugin.hpp │ │ ├── KukaLBRiiwaVrepPlugin.hpp │ │ ├── OpticalTrackerVrepPlugin.hpp │ │ ├── PivotCalibrationVrepPlugin.hpp │ │ ├── SpaceVecAlg.hpp │ │ ├── UniversalRobotsVrepPlugin.hpp │ │ ├── Vrep.hpp │ │ ├── VrepRobotArmDriver.hpp │ │ └── VrepRobotArmJacobian.hpp └── thirdparty │ ├── camodocal │ └── include │ │ └── camodocal │ │ ├── EigenUtils.h │ │ └── calib │ │ ├── DualQuaternion.h │ │ ├── HandEyeCalibration.h │ │ └── QuaternionMapping.h │ ├── cartographer │ └── include │ │ └── cartographer │ │ └── common │ │ ├── port.h │ │ └── time.h │ └── vrep │ └── include │ ├── extApi.h │ ├── extApiInternal.h │ ├── extApiPlatform.h │ ├── luaFunctionData.h │ ├── luaFunctionDataItem.h │ ├── scriptFunctionData.h │ ├── scriptFunctionDataItem.h │ ├── socketInConnection.h │ ├── socketOutConnection.h │ ├── v_repConst.h │ ├── v_repLib.h │ └── v_repTypes.h ├── src ├── CMakeLists.txt ├── bash │ ├── SymbolicLinksVREP.sh │ └── docker │ │ ├── Dockerfile │ │ ├── InstallDocker.sh │ │ ├── README.md │ │ ├── build.sh │ │ ├── pre-conf.sh │ │ ├── run.sh │ │ └── startup.sh ├── java │ └── grl │ │ ├── .classpath │ │ ├── .project │ │ ├── .settings │ │ └── org.eclipse.jdt.core.prefs │ │ ├── Third Party Libraries │ │ └── JeroMQ │ │ │ └── jeromq-0.3.5.jar │ │ └── src │ │ ├── RoboticsAPI.config.xml │ │ ├── RoboticsAPI.data.ProcessDataExample.xml │ │ ├── RoboticsAPI.data.xml │ │ └── grl │ │ ├── FRIMode.java │ │ ├── ProcessDataManager.java │ │ ├── StartStopSwitchUI.java │ │ ├── TeachMode.java │ │ ├── UDPManager.java │ │ ├── UpdateConfiguration.java │ │ ├── ZMQManager.java │ │ ├── driver │ │ ├── FRIHoldsPosition_Command.java │ │ ├── GRL_Driver.java │ │ ├── GRL_HandGuiding.java │ │ ├── GRL_TeachMode.java │ │ ├── TeachModeTest.java │ │ ├── ZMQ_SmartServoFRI.java │ │ └── ZMQ_SmartServoJSCommand.java │ │ ├── flatBufferTesting │ │ ├── FlatBuffer_Receive.java │ │ ├── FlatBuffer_Send.java │ │ ├── ZMQ_Receive.java │ │ └── ZMQ_Send.java │ │ └── flatbuffer │ │ ├── ArmControlSeries.java │ │ ├── ArmControlState.java │ │ ├── ArmState.java │ │ ├── CartesianImpedenceControlMode.java │ │ ├── Disabled.java │ │ ├── EClientCommandMode.java │ │ ├── EConnectionQuality.java │ │ ├── EControlMode.java │ │ ├── EDriveState.java │ │ ├── EOperationMode.java │ │ ├── EOverlayType.java │ │ ├── ESafetyState.java │ │ ├── ESessionState.java │ │ ├── EulerOrder.java │ │ ├── EulerPose.java │ │ ├── EulerPoseParams.java │ │ ├── EulerRotation.java │ │ ├── EulerRotationParams.java │ │ ├── EulerTranslationParams.java │ │ ├── EulerXYZd.java │ │ ├── FRI.java │ │ ├── Frame.java │ │ ├── Inertia.java │ │ ├── JointImpedenceControlMode.java │ │ ├── JointState.java │ │ ├── KUKAiiwaArmConfiguration.java │ │ ├── KUKAiiwaInterface.java │ │ ├── KUKAiiwaMonitorConfiguration.java │ │ ├── KUKAiiwaMonitorState.java │ │ ├── KUKAiiwaState.java │ │ ├── KUKAiiwaStates.java │ │ ├── LinkObject.java │ │ ├── MoveArmCartesianServo.java │ │ ├── MoveArmJointServo.java │ │ ├── MoveArmTrajectory.java │ │ ├── PauseArm.java │ │ ├── Pose.java │ │ ├── ProcessData.java │ │ ├── Quaternion.java │ │ ├── ShutdownArm.java │ │ ├── SmartServo.java │ │ ├── StartArm.java │ │ ├── StopArm.java │ │ ├── TeachArm.java │ │ ├── Time.java │ │ ├── Vector3d.java │ │ ├── VrepControlPoint.java │ │ ├── VrepPath.java │ │ └── Wrench.java ├── lua │ ├── grl.lua │ ├── matrix.lua │ └── robone.lua ├── ros │ ├── CMakeLists.txt │ ├── grl_kuka_ros_driver.cpp │ └── kuka_ros_test_command.sh ├── v_rep │ ├── CMakeLists.txt │ ├── luaFunctionData.cpp │ ├── luaFunctionDataItem.cpp │ ├── remoteApi │ │ ├── extApi.cpp │ │ └── extApiPlatform.cpp │ ├── scriptFunctionData.cpp │ ├── scriptFunctionDataItem.cpp │ ├── socketInConnection.cpp │ ├── socketOutConnection.cpp │ └── v_repLib.cpp ├── v_repExtAtracsysFusionTrack │ ├── CMakeLists.txt │ ├── v_repExtAtracsysFusionTrack.cpp │ └── v_repExtAtracsysFusionTrack.h ├── v_repExtGrlCisstInverseKinematics │ ├── CMakeLists.txt │ ├── v_repExtGrlInverseKinematics.cpp │ └── v_repExtGrlInverseKinematics.h ├── v_repExtGrlInverseKinematics │ ├── CMakeLists.txt │ ├── v_repExtGrlInverseKinematics.cpp │ └── v_repExtGrlInverseKinematics.h ├── v_repExtHandEyeCalibration │ ├── CMakeLists.txt │ ├── camodocal │ │ └── HandEyeCalibration.cpp │ ├── v_repExtHandEyeCalibration.cpp │ └── v_repExtHandEyeCalibration.h ├── v_repExtKukaLBRiiwaPlugin │ ├── CMakeLists.txt │ ├── v_repExtKukaLBRiiwa.cpp │ └── v_repExtKukaLBRiiwa.h ├── v_repExtPivotCalibration │ ├── CMakeLists.txt │ ├── v_repExtPivotCalibration.cpp │ └── v_repExtPivotCalibration.h └── v_repExtUniversalRobotsPlugin │ ├── CMakeLists.txt │ ├── v_repExtUniversalRobots.cpp │ └── v_repExtUniversalRobots.h └── test ├── CMakeLists.txt ├── HandEyeCalibration_test.cpp ├── ICP.h ├── KukaFRITest.cpp ├── KukaLBRiiwaVrepPluginTest.cpp ├── fusionTrackTest.cpp ├── internal └── CMakeLists.txt ├── 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