├── .gitignore ├── README.md ├── Results_FLOPs.pdf ├── funtion_cpp_example ├── .gitignore ├── CMakeLists.txt ├── include │ └── casadi │ │ ├── casadi │ │ ├── casadi.hpp │ │ ├── casadi_c.h │ │ ├── config.h │ │ ├── core │ │ │ ├── calculus.hpp │ │ │ ├── callback.hpp │ │ │ ├── casadi_common.hpp │ │ │ ├── casadi_export.h │ │ │ ├── casadi_interrupt.hpp │ │ │ ├── casadi_limits.hpp │ │ │ ├── casadi_logger.hpp │ │ │ ├── casadi_meta.hpp │ │ │ ├── casadi_misc.hpp │ │ │ ├── casadi_types.hpp │ │ │ ├── code_generator.hpp │ │ │ ├── conic.hpp │ │ │ ├── core.hpp │ │ │ ├── dae_builder.hpp │ │ │ ├── dm.hpp │ │ │ ├── dm_fwd.hpp │ │ │ ├── dple.hpp │ │ │ ├── exception.hpp │ │ │ ├── expm.hpp │ │ │ ├── external.hpp │ │ │ ├── function.hpp │ │ │ ├── generic_expression.hpp │ │ │ ├── generic_matrix.hpp │ │ │ ├── generic_type.hpp │ │ │ ├── global_options.hpp │ │ │ ├── im.hpp │ │ │ ├── im_fwd.hpp │ │ │ ├── importer.hpp │ │ │ ├── integration_tools.hpp │ │ │ ├── integrator.hpp │ │ │ ├── interpolant.hpp │ │ │ ├── linsol.hpp │ │ │ ├── matrix_decl.hpp │ │ │ ├── matrix_fwd.hpp │ │ │ ├── mx.hpp │ │ │ ├── nlp_builder.hpp │ │ │ ├── nlp_tools.hpp │ │ │ ├── nlpsol.hpp │ │ │ ├── nonzeros.hpp │ │ │ ├── options.hpp │ │ │ ├── optistack.hpp │ │ │ ├── polynomial.hpp │ │ │ ├── printable.hpp │ │ │ ├── rootfinder.hpp │ │ │ ├── runtime │ │ │ │ ├── casadi_axpy.hpp │ │ │ │ ├── casadi_bfgs.hpp │ │ │ │ ├── casadi_bilin.hpp │ │ │ │ ├── casadi_bound_consistency.hpp │ │ │ │ ├── casadi_cache.hpp │ │ │ │ ├── casadi_clear.hpp │ │ │ │ ├── casadi_convexify.hpp │ │ │ │ ├── casadi_copy.hpp │ │ │ │ ├── casadi_cvx.hpp │ │ │ │ ├── casadi_de_boor.hpp │ │ │ │ ├── casadi_densify.hpp │ │ │ │ ├── casadi_dot.hpp │ │ │ │ ├── casadi_file_slurp.hpp │ │ │ │ ├── casadi_fill.hpp │ │ │ │ ├── casadi_finite_diff.hpp │ │ │ │ ├── casadi_flip.hpp │ │ │ │ ├── casadi_getu.hpp │ │ │ │ ├── casadi_iamax.hpp │ │ │ │ ├── casadi_interpn.hpp │ │ │ │ ├── casadi_interpn_grad.hpp │ │ │ │ ├── casadi_interpn_interpolate.hpp │ │ │ │ ├── casadi_interpn_weights.hpp │ │ │ │ ├── casadi_kron.hpp │ │ │ │ ├── casadi_ldl.hpp │ │ │ │ ├── casadi_low.hpp │ │ │ │ ├── casadi_lsqr.hpp │ │ │ │ ├── casadi_max_viol.hpp │ │ │ │ ├── casadi_minmax.hpp │ │ │ │ ├── casadi_mtimes.hpp │ │ │ │ ├── casadi_mv.hpp │ │ │ │ ├── casadi_mv_dense.hpp │ │ │ │ ├── casadi_nd_boor_dual_eval.hpp │ │ │ │ ├── casadi_nd_boor_eval.hpp │ │ │ │ ├── casadi_newton.hpp │ │ │ │ ├── casadi_nlp.hpp │ │ │ │ ├── casadi_norm_1.hpp │ │ │ │ ├── casadi_norm_2.hpp │ │ │ │ ├── casadi_norm_inf.hpp │ │ │ │ ├── casadi_norm_inf_mul.hpp │ │ │ │ ├── casadi_polyval.hpp │ │ │ │ ├── casadi_project.hpp │ │ │ │ ├── casadi_qp.hpp │ │ │ │ ├── casadi_qr.hpp │ │ │ │ ├── casadi_rank1.hpp │ │ │ │ ├── casadi_regularize.hpp │ │ │ │ ├── casadi_runtime.hpp │ │ │ │ ├── casadi_scal.hpp │ │ │ │ ├── casadi_sparsify.hpp │ │ │ │ ├── casadi_sqpmethod.hpp │ │ │ │ ├── casadi_sum_viol.hpp │ │ │ │ ├── casadi_swap.hpp │ │ │ │ ├── casadi_trans.hpp │ │ │ │ ├── casadi_tri_project.hpp │ │ │ │ ├── casadi_vfmax.hpp │ │ │ │ ├── casadi_vfmin.hpp │ │ │ │ └── shared.hpp │ │ │ ├── serializer.hpp │ │ │ ├── serializing_stream.hpp │ │ │ ├── shared_object.hpp │ │ │ ├── slice.hpp │ │ │ ├── sparsity.hpp │ │ │ ├── sparsity_interface.hpp │ │ │ ├── submatrix.hpp │ │ │ ├── sx.hpp │ │ │ ├── sx_elem.hpp │ │ │ ├── sx_fwd.hpp │ │ │ ├── timing.hpp │ │ │ ├── variable.hpp │ │ │ ├── xml_file.hpp │ │ │ └── xml_node.hpp │ │ └── mem.h │ │ ├── osqp │ │ ├── auxil.h │ │ ├── constants.h │ │ ├── cs.h │ │ ├── ctrlc.h │ │ ├── glob_opts.h │ │ ├── kkt.h │ │ ├── lin_alg.h │ │ ├── lin_sys.h │ │ ├── osqp.h │ │ ├── osqp_configure.h │ │ ├── polish.h │ │ ├── proj.h │ │ ├── scaling.h │ │ ├── types.h │ │ └── util.h │ │ └── qdldl │ │ ├── qdldl.h │ │ ├── qdldl_types.h │ │ └── qdldl_version.h ├── lib │ ├── URDF2CASADI │ │ ├── c │ │ │ ├── c_function_compile.txt │ │ │ ├── indy7_C.c │ │ │ ├── indy7_G.c │ │ │ ├── indy7_J_b.c │ │ │ ├── indy7_J_fd.c │ │ │ ├── indy7_J_id.c │ │ │ ├── indy7_J_s.c │ │ │ ├── indy7_M.c │ │ │ ├── indy7_Minv.c │ │ │ ├── indy7_fd.c │ │ │ ├── indy7_fk.c │ │ │ ├── indy7_fk_ee.c │ │ │ ├── indy7_fkrot_ee.c │ │ │ └── indy7_id.c │ │ ├── casadi │ │ │ ├── indy7_C.casadi │ │ │ ├── indy7_G.casadi │ │ │ ├── indy7_J_b.casadi │ │ │ ├── indy7_J_fd.casadi │ │ │ ├── indy7_J_id.casadi │ │ │ ├── indy7_J_s.casadi │ │ │ ├── indy7_M.casadi │ │ │ ├── indy7_Minv.casadi │ │ │ ├── indy7_fd.casadi │ │ │ ├── indy7_fk.casadi │ │ │ ├── indy7_fk_ee.casadi │ │ │ ├── indy7_fkrot_ee.casadi │ │ │ └── indy7_id.casadi │ │ ├── indy7_C.so │ │ ├── indy7_G.so │ │ ├── indy7_J_b.so │ │ ├── indy7_J_fd.so │ │ ├── indy7_J_id.so │ │ ├── indy7_J_s.so │ │ ├── indy7_M.so │ │ ├── indy7_Minv.so │ │ ├── indy7_fd.so │ │ ├── indy7_fk.so │ │ ├── indy7_fk_ee.so │ │ ├── indy7_fkrot_ee.so │ │ └── indy7_id.so │ └── casadi │ │ ├── cmake │ │ ├── casadi │ │ │ ├── casadi-config-version.cmake │ │ │ ├── casadi-config.cmake │ │ │ ├── casadi-targets-release.cmake │ │ │ └── casadi-targets.cmake │ │ ├── osqp │ │ │ ├── osqp-config.cmake │ │ │ ├── osqp-targets-release.cmake │ │ │ └── osqp-targets.cmake │ │ └── qdldl │ │ │ ├── qdldl-config-version.cmake │ │ │ ├── qdldl-config.cmake │ │ │ ├── qdldl-targets-release.cmake │ │ │ └── qdldl-targets.cmake │ │ ├── libcasadi.so │ │ ├── libcasadi.so.3.6 │ │ ├── libcasadi_blasfeo_GENERIC.so │ │ ├── libcasadi_conic_nlpsol.so │ │ ├── libcasadi_conic_nlpsol.so.3.6 │ │ ├── libcasadi_conic_osqp.so │ │ ├── libcasadi_conic_osqp.so.3.6 │ │ ├── libcasadi_conic_qpoases.so │ │ ├── libcasadi_conic_qpoases.so.3.6 │ │ ├── libcasadi_conic_qrqp.so │ │ ├── libcasadi_conic_qrqp.so.3.6 │ │ ├── libcasadi_conic_superscs.so │ │ ├── libcasadi_conic_superscs.so.3.6 │ │ ├── libcasadi_importer_shell.so │ │ ├── libcasadi_importer_shell.so.3.6 │ │ ├── libcasadi_integrator_collocation.so │ │ ├── libcasadi_integrator_collocation.so.3.6 │ │ ├── libcasadi_integrator_cvodes.so │ │ ├── libcasadi_integrator_cvodes.so.3.6 │ │ ├── libcasadi_integrator_idas.so │ │ ├── libcasadi_integrator_idas.so.3.6 │ │ ├── libcasadi_integrator_rk.so │ │ ├── libcasadi_integrator_rk.so.3.6 │ │ ├── libcasadi_interpolant_bspline.so │ │ ├── libcasadi_interpolant_bspline.so.3.6 │ │ ├── libcasadi_interpolant_linear.so │ │ ├── libcasadi_interpolant_linear.so.3.6 │ │ ├── libcasadi_linsol_csparse.so │ │ ├── libcasadi_linsol_csparse.so.3.6 │ │ ├── libcasadi_linsol_csparsecholesky.so │ │ ├── libcasadi_linsol_csparsecholesky.so.3.6 │ │ ├── libcasadi_linsol_lapacklu.so │ │ ├── libcasadi_linsol_lapacklu.so.3.6 │ │ ├── libcasadi_linsol_lapackqr.so │ │ ├── libcasadi_linsol_lapackqr.so.3.6 │ │ ├── libcasadi_linsol_ldl.so │ │ ├── libcasadi_linsol_ldl.so.3.6 │ │ ├── libcasadi_linsol_lsqr.so │ │ ├── libcasadi_linsol_lsqr.so.3.6 │ │ ├── libcasadi_linsol_qr.so │ │ ├── libcasadi_linsol_qr.so.3.6 │ │ ├── libcasadi_linsol_symbolicqr.so │ │ ├── libcasadi_linsol_symbolicqr.so.3.6 │ │ ├── libcasadi_linsol_tridiag.so │ │ ├── libcasadi_linsol_tridiag.so.3.6 │ │ ├── libcasadi_nlpsol_blocksqp.so │ │ ├── libcasadi_nlpsol_blocksqp.so.3.6 │ │ ├── libcasadi_nlpsol_ipopt.so │ │ ├── libcasadi_nlpsol_ipopt.so.3.6 │ │ ├── libcasadi_nlpsol_qrsqp.so │ │ ├── libcasadi_nlpsol_qrsqp.so.3.6 │ │ ├── libcasadi_nlpsol_scpgen.so │ │ ├── libcasadi_nlpsol_scpgen.so.3.6 │ │ ├── libcasadi_nlpsol_sqpmethod.so │ │ ├── libcasadi_nlpsol_sqpmethod.so.3.6 │ │ ├── libcasadi_rootfinder_fast_newton.so │ │ ├── libcasadi_rootfinder_fast_newton.so.3.6 │ │ ├── libcasadi_rootfinder_kinsol.so │ │ ├── libcasadi_rootfinder_kinsol.so.3.6 │ │ ├── libcasadi_rootfinder_newton.so │ │ ├── libcasadi_rootfinder_newton.so.3.6 │ │ ├── libcasadi_rootfinder_nlpsol.so │ │ ├── libcasadi_rootfinder_nlpsol.so.3.6 │ │ ├── libcasadi_sundials_common.so │ │ ├── libcasadi_sundials_common.so.3.6 │ │ ├── libcasadi_xmlfile_tinyxml.so │ │ ├── libcasadi_xmlfile_tinyxml.so.3.6 │ │ ├── libosqp.a │ │ ├── libosqp.so │ │ ├── libqdldl.a │ │ ├── libqdldl.so │ │ └── pkgconfig │ │ └── casadi.pc └── src │ ├── c_api_usage.cpp │ ├── casadi_function_load.cpp │ ├── codegen_usage.cpp │ └── nlp_codegen.cpp └── urdf2model ├── CMakeLists.txt ├── examples ├── CMakeLists.txt ├── atlas_example.cpp ├── basic_example.cpp ├── caesar_example.cpp ├── caesar_noload_example.cpp ├── complete_example.cpp ├── gen3_example.cpp ├── gen3_float_example.cpp ├── gen3_lite_example.cpp ├── hyu_mm_example.cpp ├── iiwa_example.cpp ├── indy7_example.cpp ├── indyrp2_example.cpp ├── kinova_2dof_example.cpp ├── kinova_example.cpp ├── kinova_gripper_example.cpp ├── kuka_kr5_example.cpp ├── kuka_kr60_example.cpp ├── m0609_example.cpp ├── mir250_m0609_ppr_example.cpp ├── mir250_ppr_example.cpp ├── mir_m0609_ppr_example.cpp ├── mmo500_arm_example.cpp ├── mmo500_example.cpp ├── mmo500_ppr_example.cpp ├── rubion_example.cpp ├── scara_example.cpp ├── sftlink_example.cpp ├── sftmp_example.cpp ├── softarm_example.cpp ├── softarm_prismatic_example.cpp ├── softarm_prismatic_slack_example.cpp ├── tetra_mm_example.cpp ├── tj_example.cpp ├── turtlebot3_burger_example.cpp ├── ur10_example.cpp ├── xarm6_example.cpp ├── xarm6_ros_example.cpp └── yumi_example.cpp ├── include └── casadi │ ├── casadi │ ├── casadi.hpp │ ├── casadi_c.h │ ├── config.h │ ├── core │ │ ├── calculus.hpp │ │ ├── callback.hpp │ │ ├── casadi_common.hpp │ │ ├── casadi_export.h │ │ ├── casadi_interrupt.hpp │ │ ├── casadi_limits.hpp │ │ ├── casadi_logger.hpp │ │ ├── casadi_meta.hpp │ │ ├── casadi_misc.hpp │ │ ├── casadi_types.hpp │ │ ├── code_generator.hpp │ │ ├── conic.hpp │ │ ├── core.hpp │ │ ├── dae_builder.hpp │ │ ├── dm.hpp │ │ ├── dm_fwd.hpp │ │ ├── dple.hpp │ │ ├── exception.hpp │ │ ├── expm.hpp │ │ ├── external.hpp │ │ ├── function.hpp │ │ ├── generic_expression.hpp │ │ ├── generic_matrix.hpp │ │ ├── generic_type.hpp │ │ ├── global_options.hpp │ │ ├── im.hpp │ │ ├── im_fwd.hpp │ │ ├── importer.hpp │ │ ├── integration_tools.hpp │ │ ├── integrator.hpp │ │ ├── interpolant.hpp │ │ ├── linsol.hpp │ │ ├── matrix_decl.hpp │ │ ├── matrix_fwd.hpp │ │ ├── mx.hpp │ │ ├── nlp_builder.hpp │ │ ├── nlp_tools.hpp │ │ ├── nlpsol.hpp │ │ ├── nonzeros.hpp │ │ ├── options.hpp │ │ ├── optistack.hpp │ │ ├── polynomial.hpp │ │ ├── printable.hpp │ │ ├── rootfinder.hpp │ │ ├── runtime │ │ │ ├── casadi_axpy.hpp │ │ │ ├── casadi_bfgs.hpp │ │ │ ├── casadi_bilin.hpp │ │ │ ├── casadi_bound_consistency.hpp │ │ │ ├── casadi_cache.hpp │ │ │ ├── casadi_clear.hpp │ │ │ ├── casadi_convexify.hpp │ │ │ ├── casadi_copy.hpp │ │ │ ├── casadi_cvx.hpp │ │ │ ├── casadi_de_boor.hpp │ │ │ ├── casadi_densify.hpp │ │ │ ├── casadi_dot.hpp │ │ │ ├── casadi_file_slurp.hpp │ │ │ ├── casadi_fill.hpp │ │ │ ├── casadi_finite_diff.hpp │ │ │ ├── casadi_flip.hpp │ │ │ ├── casadi_getu.hpp │ │ │ ├── casadi_iamax.hpp │ │ │ ├── casadi_interpn.hpp │ │ │ ├── casadi_interpn_grad.hpp │ │ │ ├── casadi_interpn_interpolate.hpp │ │ │ ├── casadi_interpn_weights.hpp │ │ │ ├── casadi_kron.hpp │ │ │ ├── casadi_ldl.hpp │ │ │ ├── casadi_low.hpp │ │ │ ├── casadi_lsqr.hpp │ │ │ ├── casadi_max_viol.hpp │ │ │ ├── casadi_minmax.hpp │ │ │ ├── casadi_mtimes.hpp │ │ │ ├── casadi_mv.hpp │ │ │ ├── casadi_mv_dense.hpp │ │ │ ├── casadi_nd_boor_dual_eval.hpp │ │ │ ├── casadi_nd_boor_eval.hpp │ │ │ ├── casadi_newton.hpp │ │ │ ├── casadi_nlp.hpp │ │ │ ├── casadi_norm_1.hpp │ │ │ ├── casadi_norm_2.hpp │ │ │ ├── casadi_norm_inf.hpp │ │ │ ├── casadi_norm_inf_mul.hpp │ │ │ ├── casadi_polyval.hpp │ │ │ ├── casadi_project.hpp │ │ │ ├── casadi_qp.hpp │ │ │ ├── casadi_qr.hpp │ │ │ ├── casadi_rank1.hpp │ │ │ ├── casadi_regularize.hpp │ │ │ ├── casadi_runtime.hpp │ │ │ ├── casadi_scal.hpp │ │ │ ├── casadi_sparsify.hpp │ │ │ ├── casadi_sqpmethod.hpp │ │ │ ├── casadi_sum_viol.hpp │ │ │ ├── casadi_swap.hpp │ │ │ ├── casadi_trans.hpp │ │ │ ├── casadi_tri_project.hpp │ │ │ ├── casadi_vfmax.hpp │ │ │ ├── casadi_vfmin.hpp │ │ │ └── shared.hpp │ │ ├── serializer.hpp │ │ ├── serializing_stream.hpp │ │ ├── shared_object.hpp │ │ ├── slice.hpp │ │ ├── sparsity.hpp │ │ ├── sparsity_interface.hpp │ │ ├── submatrix.hpp │ │ ├── sx.hpp │ │ ├── sx_elem.hpp │ │ ├── sx_fwd.hpp │ │ ├── timing.hpp │ │ ├── variable.hpp │ │ ├── xml_file.hpp │ │ └── xml_node.hpp │ └── mem.h │ ├── osqp │ ├── auxil.h │ ├── constants.h │ ├── cs.h │ ├── ctrlc.h │ ├── glob_opts.h │ ├── kkt.h │ ├── lin_alg.h │ ├── lin_sys.h │ ├── osqp.h │ ├── osqp_configure.h │ ├── polish.h │ ├── proj.h │ ├── scaling.h │ ├── types.h │ └── util.h │ └── qdldl │ ├── qdldl.h │ ├── qdldl_types.h │ └── qdldl_version.h ├── lib └── casadi │ ├── cmake │ ├── casadi │ │ ├── casadi-config-version.cmake │ │ ├── casadi-config.cmake │ │ ├── casadi-targets-release.cmake │ │ └── casadi-targets.cmake │ ├── osqp │ │ ├── osqp-config.cmake │ │ ├── osqp-targets-release.cmake │ │ └── osqp-targets.cmake │ └── qdldl │ │ ├── qdldl-config-version.cmake │ │ ├── qdldl-config.cmake │ │ ├── qdldl-targets-release.cmake │ │ └── qdldl-targets.cmake │ ├── libcasadi.so │ ├── libcasadi.so.3.6 │ ├── libcasadi_blasfeo_GENERIC.so │ ├── libcasadi_conic_nlpsol.so │ ├── libcasadi_conic_nlpsol.so.3.6 │ ├── libcasadi_conic_osqp.so │ ├── libcasadi_conic_osqp.so.3.6 │ ├── libcasadi_conic_qpoases.so │ ├── libcasadi_conic_qpoases.so.3.6 │ ├── libcasadi_conic_qrqp.so │ ├── libcasadi_conic_qrqp.so.3.6 │ ├── libcasadi_conic_superscs.so │ ├── libcasadi_conic_superscs.so.3.6 │ ├── libcasadi_importer_shell.so │ ├── libcasadi_importer_shell.so.3.6 │ ├── libcasadi_integrator_collocation.so │ ├── libcasadi_integrator_collocation.so.3.6 │ ├── libcasadi_integrator_cvodes.so │ ├── libcasadi_integrator_cvodes.so.3.6 │ ├── libcasadi_integrator_idas.so │ ├── libcasadi_integrator_idas.so.3.6 │ ├── libcasadi_integrator_rk.so │ ├── libcasadi_integrator_rk.so.3.6 │ ├── libcasadi_interpolant_bspline.so │ ├── libcasadi_interpolant_bspline.so.3.6 │ ├── libcasadi_interpolant_linear.so │ ├── libcasadi_interpolant_linear.so.3.6 │ ├── libcasadi_linsol_csparse.so │ ├── libcasadi_linsol_csparse.so.3.6 │ ├── libcasadi_linsol_csparsecholesky.so │ ├── libcasadi_linsol_csparsecholesky.so.3.6 │ ├── libcasadi_linsol_lapacklu.so │ ├── libcasadi_linsol_lapacklu.so.3.6 │ ├── libcasadi_linsol_lapackqr.so │ ├── libcasadi_linsol_lapackqr.so.3.6 │ ├── libcasadi_linsol_ldl.so │ ├── libcasadi_linsol_ldl.so.3.6 │ ├── libcasadi_linsol_lsqr.so │ ├── libcasadi_linsol_lsqr.so.3.6 │ ├── libcasadi_linsol_qr.so │ ├── libcasadi_linsol_qr.so.3.6 │ ├── libcasadi_linsol_symbolicqr.so │ ├── libcasadi_linsol_symbolicqr.so.3.6 │ ├── libcasadi_linsol_tridiag.so │ ├── libcasadi_linsol_tridiag.so.3.6 │ ├── libcasadi_nlpsol_blocksqp.so │ ├── libcasadi_nlpsol_blocksqp.so.3.6 │ ├── libcasadi_nlpsol_ipopt.so │ ├── libcasadi_nlpsol_ipopt.so.3.6 │ ├── libcasadi_nlpsol_qrsqp.so │ ├── libcasadi_nlpsol_qrsqp.so.3.6 │ ├── libcasadi_nlpsol_scpgen.so │ ├── libcasadi_nlpsol_scpgen.so.3.6 │ ├── libcasadi_nlpsol_sqpmethod.so │ ├── libcasadi_nlpsol_sqpmethod.so.3.6 │ ├── libcasadi_rootfinder_fast_newton.so │ ├── libcasadi_rootfinder_fast_newton.so.3.6 │ ├── libcasadi_rootfinder_kinsol.so │ ├── libcasadi_rootfinder_kinsol.so.3.6 │ ├── libcasadi_rootfinder_newton.so │ ├── libcasadi_rootfinder_newton.so.3.6 │ ├── libcasadi_rootfinder_nlpsol.so │ ├── libcasadi_rootfinder_nlpsol.so.3.6 │ ├── libcasadi_sundials_common.so │ ├── libcasadi_sundials_common.so.3.6 │ ├── libcasadi_xmlfile_tinyxml.so │ ├── libcasadi_xmlfile_tinyxml.so.3.6 │ ├── libosqp.a │ ├── libosqp.so │ ├── libqdldl.a │ ├── libqdldl.so │ └── pkgconfig │ └── casadi.pc ├── models ├── MMO_500 │ └── neo_simulation │ │ └── robots │ │ └── mmo_500 │ │ ├── mmo_500.urdf │ │ ├── mmo_500_arm.urdf │ │ ├── mmo_500_ppr.gv │ │ ├── mmo_500_ppr.pdf │ │ └── mmo_500_ppr.urdf ├── abb_common │ ├── CMakeLists.txt │ ├── README.md │ ├── meshes │ │ └── irb120 │ │ │ ├── collision │ │ │ ├── base_link.stl │ │ │ ├── link_1.stl │ │ │ ├── link_2.stl │ │ │ ├── link_3.stl │ │ │ ├── link_4.stl │ │ │ ├── link_5.stl │ │ │ └── link_6.stl │ │ │ └── visual │ │ │ ├── base_link.stl │ │ │ ├── link_1.stl │ │ │ ├── link_2.stl │ │ │ ├── link_3.stl │ │ │ ├── link_4.stl │ │ │ ├── link_5.stl │ │ │ └── link_6.stl │ ├── notes │ ├── package.xml │ └── urdf │ │ ├── irb120.urdf │ │ ├── irb120.urdf.xacro │ │ ├── irb120.xacro │ │ ├── irb120_bkup.urdf │ │ ├── irb120_macro.xacro │ │ ├── irb120t.urdf │ │ ├── irb120t.xacro │ │ └── irb120t_macro.xacro ├── atlas │ └── urdf │ │ └── atlas.urdf ├── caesar │ ├── ASM_CAESAR.urdf │ └── ASM_CAESAR_noload.urdf ├── gen3 │ └── GEN3-LITE.urdf ├── hyq │ └── hyq.urdf ├── hyu_mm │ ├── hyu_mm.gv │ ├── hyu_mm.pdf │ └── hyu_mm.urdf ├── iiwa_description │ ├── iiwa_stack.rights │ ├── meshes │ │ ├── iiwa14 │ │ │ ├── collision │ │ │ │ ├── link_0.stl │ │ │ │ ├── link_1.stl │ │ │ │ ├── link_2.stl │ │ │ │ ├── link_3.stl │ │ │ │ ├── link_4.stl │ │ │ │ ├── link_5.stl │ │ │ │ ├── link_6.stl │ │ │ │ └── link_7.stl │ │ │ └── visual │ │ │ │ ├── link_0.stl │ │ │ │ ├── link_1.stl │ │ │ │ ├── link_2.stl │ │ │ │ ├── link_3.stl │ │ │ │ ├── link_4.stl │ │ │ │ ├── link_5.stl │ │ │ │ ├── link_6.stl │ │ │ │ └── link_7.stl │ │ └── iiwa7 │ │ │ ├── collision │ │ │ ├── link_0.stl │ │ │ ├── link_1.stl │ │ │ ├── link_2.stl │ │ │ ├── link_3.stl │ │ │ ├── link_4.stl │ │ │ ├── link_5.stl │ │ │ ├── link_6.stl │ │ │ └── link_7.stl │ │ │ └── visual │ │ │ ├── link_0.stl │ │ │ ├── link_1.stl │ │ │ ├── link_2.stl │ │ │ ├── link_3.stl │ │ │ ├── link_4.stl │ │ │ ├── link_5.stl │ │ │ ├── link_6.stl │ │ │ └── link_7.stl │ └── urdf │ │ ├── iiwa14.urdf │ │ └── iiwa7.urdf ├── indy7 │ └── indy7.urdf ├── indyrp2 │ └── indyrp2.urdf ├── kortex_description │ ├── CMakeLists.txt │ ├── config │ │ ├── gazebo_initial_joint_positions.yaml │ │ ├── joint_limits.yaml │ │ └── joint_names_JACO3_URDF_V10.yaml │ ├── launch │ │ ├── display.launch │ │ └── gazebo.launch │ ├── meshes │ │ ├── Bracelet_Link.STL │ │ ├── Bracelet_Link.dae │ │ ├── EndEffector_Link.STL │ │ ├── EndEffector_Link.dae │ │ ├── ForeArm_Link.STL │ │ ├── ForeArm_Link.dae │ │ ├── HalfArm1_Link.STL │ │ ├── HalfArm1_Link.dae │ │ ├── HalfArm2_Link.STL │ │ ├── HalfArm2_Link.dae │ │ ├── Shoulder_Link.STL │ │ ├── Shoulder_Link.dae │ │ ├── Wrist1_Link.STL │ │ ├── Wrist1_Link.dae │ │ ├── Wrist2_Link.STL │ │ ├── Wrist2_Link.dae │ │ ├── base_link.STL │ │ ├── base_link.dae │ │ ├── bracelet_no_vision_link.STL │ │ ├── bracelet_with_vision_link.STL │ │ ├── convert.sh │ │ ├── end_effector_link.STL │ │ ├── forearm_link.STL │ │ ├── gripper_base_link.STL │ │ ├── half_arm_1_link.STL │ │ ├── half_arm_2_link.STL │ │ ├── left_finger_dist_link.STL │ │ ├── left_finger_prox_link.STL │ │ ├── right_finger_dist_link.STL │ │ ├── right_finger_prox_link.STL │ │ ├── shoulder_link.STL │ │ ├── spherical_wrist_1_link.STL │ │ └── spherical_wrist_2_link.STL │ ├── package.xml │ ├── readme.md │ └── urdf │ │ ├── GEN3_URDF_V12.urdf │ │ ├── GEN3_URDF_V12_2f_85.urdf │ │ ├── GEN3_URDF_V12lim.urdf │ │ ├── JACO3_URDF_V10.urdf │ │ ├── JACO3_URDF_V10rev.urdf │ │ ├── JACO3_URDF_V11.urdf │ │ └── JACO3_URDF_V11lim.urdf ├── kuka_kr5 │ ├── ground.urdf │ ├── kr5.urdf │ └── meshes │ │ ├── base_link.STL │ │ ├── bicep.STL │ │ ├── elbow.STL │ │ ├── forearm.STL │ │ ├── palm.STL │ │ ├── shoulder.STL │ │ └── wrist.STL ├── kuka_kr60 │ ├── CMakeLists.txt │ ├── launch │ │ ├── load_kr60_ha.launch │ │ └── test_kr60_ha.launch │ ├── meshes │ │ └── kr60ha │ │ │ ├── collision │ │ │ ├── base_link.stl │ │ │ ├── link_1.stl │ │ │ ├── link_2.stl │ │ │ ├── link_3.stl │ │ │ ├── link_4.stl │ │ │ ├── link_5.stl │ │ │ └── link_6.stl │ │ │ └── visual │ │ │ ├── base_link.stl │ │ │ ├── link_1.stl │ │ │ ├── link_2.stl │ │ │ ├── link_3.dae │ │ │ ├── link_3.stl │ │ │ ├── link_4.stl │ │ │ ├── link_5.stl │ │ │ └── link_6.stl │ ├── package.xml │ ├── test │ │ └── roslaunch_test.xml │ └── urdf │ │ ├── kr60ha.urdf │ │ ├── kr60ha.xacro │ │ └── kr60ha_macro.xacro ├── kuka_lwr_4_plus │ ├── README.md │ ├── meshes │ │ ├── COPYRIGHT │ │ ├── arm_base.dae │ │ ├── arm_base.mesh │ │ ├── arm_flanche.dae │ │ ├── arm_flanche_angle.dae │ │ ├── arm_segment_a.dae │ │ ├── arm_segment_a.mesh │ │ ├── arm_segment_b.dae │ │ ├── arm_segment_b.mesh │ │ ├── arm_segment_last.dae │ │ ├── arm_segment_last.mesh │ │ ├── arm_wrist.dae │ │ ├── arm_wrist.mesh │ │ ├── base.STL │ │ ├── convex │ │ │ ├── README │ │ │ ├── arm_base_convex.stl │ │ │ ├── arm_flanche_angle_convex.stl │ │ │ ├── arm_flanche_convex.stl │ │ │ ├── arm_segment_a_convex.stl │ │ │ ├── arm_segment_b_convex.stl │ │ │ ├── arm_segment_last_convex.stl │ │ │ └── arm_wrist_convex.stl │ │ ├── link_1.STL │ │ ├── link_2.STL │ │ ├── link_3.STL │ │ ├── link_4.STL │ │ ├── link_5.STL │ │ ├── link_6.STL │ │ └── link_7.STL │ ├── model.config │ ├── model.srdf │ ├── model.urdf │ └── model_capsule_collision.urdf ├── m0609 │ └── m0609.urdf ├── mir250 │ └── mir250_ppr.urdf ├── mir250_m0609 │ ├── mir250_m0609_ppr.gv │ ├── mir250_m0609_ppr.pdf │ └── mir250_m0609_ppr.urdf ├── mir_m0609 │ └── mir_m0609_ppr.urdf ├── rubion │ └── online_rubion.urdf ├── scara │ └── urdf │ │ ├── EpsonG3_251.urdf │ │ └── scara_project.urdf ├── sftlink │ ├── sftlink.gv │ ├── sftlink.pdf │ └── sim_assm.urdf ├── sftmp │ ├── sim_assm.gv │ ├── sim_assm.pdf │ └── sim_assm.urdf ├── softarm │ ├── meshes │ │ ├── Link1.stl │ │ ├── Link2.stl │ │ ├── Link3.stl │ │ ├── Link4(p).stl │ │ ├── Link4.stl │ │ ├── Link5(p).stl │ │ ├── Link5.stl │ │ ├── Link6(p).stl │ │ ├── Link6.stl │ │ ├── Link7(p).stl │ │ └── Link8.stl │ ├── softarm.urdf │ ├── softarm_prismatic.urdf │ ├── softarm_prismatic_slack.gv │ ├── softarm_prismatic_slack.pdf │ └── softarm_prismatic_slack.urdf ├── tetra │ └── open_manipulator_p_robot.urdf ├── turtlebot3 │ └── turtlebot3_burger.urdf ├── ur10 │ ├── meshes │ │ ├── ur10 │ │ │ ├── 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 │ │ ├── ur3 │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ 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