├── .gitignore ├── LICENSE ├── README.md ├── ahl_wbc ├── CMakeLists.txt └── package.xml ├── samples ├── ahl_lwr_server │ ├── CMakeLists.txt │ ├── package.xml │ └── test │ │ ├── test.cpp │ │ ├── test2.cpp │ │ └── test3.cpp ├── ahl_pr2_description │ ├── CMakeLists.txt │ ├── how_to_edit_texture.txt │ ├── launch │ │ ├── joint_state_controller.launch │ │ └── pr2.launch │ ├── materials │ │ └── textures │ │ │ ├── base_link_color.png │ │ │ ├── base_link_normals.png │ │ │ ├── elbow_flex_color.png │ │ │ ├── elbow_flex_normals.png │ │ │ ├── finger_H_Color_100430.png │ │ │ ├── fingertip_H_Color_100430.png │ │ │ ├── float_H_Color_100430.png │ │ │ ├── forearm.png │ │ │ ├── forearm_color.png │ │ │ ├── forearm_normals.png │ │ │ ├── gripper_palm_color.png │ │ │ ├── gripper_palm_normals.png │ │ │ ├── head_pan_color.png │ │ │ ├── head_pan_normals.png │ │ │ ├── head_tilt_color.png │ │ │ ├── head_tilt_color_red.png │ │ │ ├── head_tilt_color_yellow.png │ │ │ ├── head_tilt_green.png │ │ │ ├── head_tilt_normals.png │ │ │ ├── l_finger_color.png │ │ │ ├── l_finger_normals.png │ │ │ ├── l_finger_tip_color.png │ │ │ ├── l_finger_tip_normals.png │ │ │ ├── l_float_color.png │ │ │ ├── l_float_normals.png │ │ │ ├── palm_H_Color_100430.png │ │ │ ├── shoulder_lift_color.png │ │ │ ├── shoulder_lift_normals.png │ │ │ ├── shoulder_pan_color.png │ │ │ ├── shoulder_pan_normals.png │ │ │ ├── tilting_hokuyo_color.png │ │ │ ├── tilting_hokuyo_normals.png │ │ │ ├── torso_lift_color.png │ │ │ ├── torso_lift_normals.png │ │ │ ├── upper_arm.png │ │ │ ├── upper_arm_color.png │ │ │ ├── upper_arm_normals.png │ │ │ ├── upper_arm_roll_color.png │ │ │ ├── upper_arm_roll_normals.png │ │ │ ├── wheel_color.png │ │ │ ├── wheel_h_color.png │ │ │ ├── wheel_normals.png │ │ │ ├── wrist_color.png │ │ │ └── wrist_normals.png │ ├── meshes │ │ ├── arm │ │ │ ├── elbow.blend │ │ │ ├── elbow.dae │ │ │ ├── elbow.stl │ │ │ ├── elbow_flex_color.png │ │ │ ├── forearm.blend │ │ │ ├── forearm.dae │ │ │ ├── forearm.stl │ │ │ ├── forearm_color.png │ │ │ ├── gripper_palm_color.png │ │ │ ├── gripper_palm_color.png.001.png │ │ │ ├── shoulder_lift.blend │ │ │ ├── shoulder_lift.blend1 │ │ │ ├── shoulder_lift.dae │ │ │ ├── shoulder_lift.stl │ │ │ ├── shoulder_lift_color.png │ │ │ ├── shoulder_lift_color.png.001.png │ │ │ ├── shoulder_pan.blend │ │ │ ├── shoulder_pan.blend1 │ │ │ ├── shoulder_pan.dae │ │ │ ├── shoulder_pan.stl │ │ │ ├── shoulder_pan_color.png │ │ │ ├── upper_arm.blend │ │ │ ├── upper_arm.dae │ │ │ ├── upper_arm.stl │ │ │ ├── upper_arm_color.png │ │ │ ├── wrist_color.png │ │ │ ├── wrist_flex.blend │ │ │ ├── wrist_flex.dae │ │ │ ├── wrist_flex.stl │ │ │ ├── wrist_roll.blend │ │ │ ├── wrist_roll.dae │ │ │ └── wrist_roll.stl │ │ ├── base │ │ │ ├── base.blend │ │ │ ├── base.blend1 │ │ │ ├── base.dae │ │ │ ├── base.stl │ │ │ ├── base_link_color.png │ │ │ ├── caster.stl │ │ │ ├── torso.blend │ │ │ ├── torso.blend1 │ │ │ ├── torso.dae │ │ │ ├── torso.stl │ │ │ ├── torso_lift_color.png │ │ │ ├── wheel.dae │ │ │ ├── wheel_color.png │ │ │ ├── wheels.blend │ │ │ └── wheels.dae │ │ ├── gripper │ │ │ ├── finger_H_Color_100430.png │ │ │ ├── finger_l.blend │ │ │ ├── finger_l.dae │ │ │ ├── finger_l.stl │ │ │ ├── finger_r.blend │ │ │ ├── finger_r.dae │ │ │ ├── finger_r.stl │ │ │ ├── finger_tip_l.blend │ │ │ ├── finger_tip_l.dae │ │ │ ├── finger_tip_l.stl │ │ │ ├── finger_tip_r.blend │ │ │ ├── finger_tip_r.dae │ │ │ ├── finger_tip_r.stl │ │ │ └── fingertip_H_Color_100430.png │ │ ├── head │ │ │ ├── head_pan.blend │ │ │ ├── head_pan.dae │ │ │ ├── head_pan.stl │ │ │ ├── head_pan_color.png │ │ │ ├── head_tilt.blend │ │ │ ├── head_tilt.dae │ │ │ ├── head_tilt.stl │ │ │ ├── head_tilt_color.png │ │ │ ├── tilting_hokuyo.blend │ │ │ ├── tilting_hokuyo.blend1 │ │ │ ├── tilting_hokuyo.dae │ │ │ ├── tilting_hokuyo.stl │ │ │ └── tilting_hokuyo_color.png │ │ └── sensors │ │ │ └── kinect_prosilica_v0 │ │ │ ├── 115x100_swept_back--coarse.STL │ │ │ ├── 68-04546_Kinect_Sensor--coarse.STL │ │ │ └── Prosilica_w_Lens--coarse.STL │ ├── package.xml │ ├── urdf │ │ ├── arm │ │ │ ├── arm.gazebo.xacro │ │ │ ├── arm.property.xacro │ │ │ ├── arm.sensor.gazebo.xacro │ │ │ ├── arm.transmission.xacro │ │ │ └── arm.urdf │ │ ├── base │ │ │ ├── base.gazebo.xacro │ │ │ ├── base.property.xacro │ │ │ ├── base.transmission.xacro │ │ │ └── base.urdf │ │ ├── controller │ │ │ └── ros_controller.urdf │ │ ├── gripper │ │ │ ├── gripper.gazebo.xacro │ │ │ ├── gripper.property.xacro │ │ │ ├── gripper.transmission.xacro │ │ │ └── gripper.urdf │ │ ├── head │ │ │ ├── head.gazebo.xacro │ │ │ ├── head.property.xacro │ │ │ ├── head.transmission.xacro │ │ │ └── head.urdf │ │ └── pr2.urdf │ └── yaml │ │ └── joint_state_controller.yaml ├── ahl_red_arm │ ├── CMakeLists.txt │ ├── model │ │ ├── ahl_arm.blend │ │ ├── base.dae │ │ ├── base.stl │ │ ├── link1.dae │ │ ├── link1.stl │ │ ├── link2.dae │ │ ├── link2.stl │ │ ├── link3.dae │ │ ├── link3.stl │ │ ├── link4.dae │ │ ├── link4.stl │ │ ├── link5.dae │ │ ├── link5.stl │ │ ├── link6.dae │ │ ├── link6.stl │ │ ├── link7.dae │ │ ├── link7.stl │ │ ├── red_arm.blend │ │ ├── red_arm_tmp.blend │ │ └── red_arm_tmp.blend1 │ └── package.xml ├── ahl_red_arm_description │ ├── CMakeLists.txt │ ├── launch │ │ ├── joint_state_controller.launch │ │ └── red_arm.launch │ ├── meshes │ │ └── arm │ │ │ ├── ahl_arm.blend │ │ │ ├── base.dae │ │ │ ├── base.stl │ │ │ ├── link1.dae │ │ │ ├── link1.stl │ │ │ ├── link2.dae │ │ │ ├── link2.stl │ │ │ ├── link3.dae │ │ │ ├── link3.stl │ │ │ ├── link4.dae │ │ │ ├── link4.stl │ │ │ ├── link5.dae │ │ │ ├── link5.stl │ │ │ ├── link6.dae │ │ │ ├── link6.stl │ │ │ ├── link7.dae │ │ │ ├── link7.stl │ │ │ ├── red_arm.blend │ │ │ ├── red_arm_tmp.blend │ │ │ └── red_arm_tmp.blend1 │ ├── package.xml │ ├── urdf │ │ ├── arm │ │ │ ├── arm.gazebo.xacro │ │ │ ├── arm.property.xacro │ │ │ ├── arm.transmission.xacro │ │ │ └── arm.urdf │ │ ├── controller │ │ │ └── ros_controller.urdf │ │ └── red_arm.urdf │ └── yaml │ │ └── joint_state_controller.yaml ├── ahl_robot_samples │ ├── CMakeLists.txt │ ├── cfg │ │ ├── Pr2Param.cfg │ │ ├── RedArmParam.cfg │ │ └── YouBotParam.cfg │ ├── include │ │ └── ahl_robot_samples │ │ │ ├── marker │ │ │ ├── marker.hpp │ │ │ └── markers.hpp │ │ │ ├── mobility │ │ │ └── mecanum_wheel.hpp │ │ │ ├── pr2 │ │ │ ├── pr2.hpp │ │ │ └── pr2_param.hpp │ │ │ ├── red_arm │ │ │ ├── red_arm.hpp │ │ │ └── red_arm_param.hpp │ │ │ ├── robot_demo.hpp │ │ │ └── youbot │ │ │ ├── youbot.hpp │ │ │ └── youbot_param.hpp │ ├── launch │ │ ├── pr2.launch │ │ ├── pr2_hybrid.launch │ │ ├── red_arm.launch │ │ └── youbot.launch │ ├── package.xml │ ├── rviz │ │ ├── pr2.rviz │ │ ├── red_arm.rviz │ │ └── youbot.rviz │ ├── src │ │ ├── marker │ │ │ ├── marker.cpp │ │ │ └── markers.cpp │ │ ├── mobility │ │ │ └── mecanum_wheel.cpp │ │ ├── pr2 │ │ │ ├── main.cpp │ │ │ └── pr2.cpp │ │ ├── red_arm │ │ │ ├── main.cpp │ │ │ └── red_arm.cpp │ │ └── youbot │ │ │ ├── main.cpp │ │ │ └── youbot.cpp │ └── yaml │ │ ├── pr2.yaml │ │ ├── pr2_ctrl.yaml │ │ ├── pr2_dynparam.yaml │ │ ├── pr2_param.yaml │ │ ├── red_arm.yaml │ │ └── youbot.yaml └── ahl_youbot_description │ ├── CMakeLists.txt │ ├── launch │ ├── arm_controller.launch │ ├── empty_world.launch │ ├── joint_state_controller.launch │ └── youbot.launch │ ├── meshes │ ├── arm │ │ ├── arm1.dae │ │ ├── arm1_convex.stl │ │ ├── arm2.dae │ │ ├── arm2_convex.stl │ │ ├── arm3.dae │ │ ├── arm3_convex.stl │ │ ├── arm4.dae │ │ ├── arm4_convex.stl │ │ ├── arm5.dae │ │ └── arm5_convex.stl │ ├── base │ │ ├── back-left_wheel.dae │ │ ├── back-right_wheel.dae │ │ ├── base.dae │ │ ├── base_convex.stl │ │ ├── front-left_wheel.dae │ │ └── front-right_wheel.dae │ └── gripper │ │ ├── finger.dae │ │ └── finger_convex.stl │ ├── octave │ ├── inertia │ │ ├── arm_base_inertia.m │ │ ├── base_inertia.m │ │ ├── gripper_inertia.m │ │ ├── lfinger_inertia.m │ │ ├── link1_inertia.m │ │ ├── link2_inertia.m │ │ ├── link3_inertia.m │ │ ├── link4_inertia.m │ │ ├── link5_gripper_inertia.m │ │ ├── link5_inertia.m │ │ ├── plate_arm_base_inertia.m │ │ ├── plate_inertia.m │ │ ├── rfinger_inertia.m │ │ ├── total_base_inertia.m │ │ ├── wheel_bl_inertia.m │ │ ├── wheel_br_inertia.m │ │ ├── wheel_fl_inertia.m │ │ ├── wheel_fr_inertia.m │ │ └── wheels_inertia.m │ ├── mass.m │ ├── octave-workspace │ └── relative_xyz.m │ ├── package.xml │ ├── urdf │ ├── arm │ │ ├── arm.gazebo.xacro │ │ ├── arm.property.xacro │ │ ├── arm.transmission.xacro │ │ └── arm.urdf │ ├── base │ │ ├── base.gazebo.xacro │ │ ├── base.property.xacro │ │ ├── base.transmission.xacro │ │ └── base.urdf │ ├── controller │ │ └── ros_controller.urdf │ ├── gripper │ │ ├── gripper.gazebo.xacro │ │ ├── gripper.property.xacro │ │ ├── gripper.transmission.xacro │ │ └── gripper.urdf │ └── youbot.urdf │ └── yaml │ ├── arm_controller.yaml │ ├── joint1_torque_controller.yaml │ └── joint_state_controller.yaml └── wbc ├── ahl_robot ├── CMakeLists.txt ├── include │ └── ahl_robot │ │ ├── ahl_robot.hpp │ │ ├── definition.hpp │ │ ├── robot │ │ ├── link.hpp │ │ ├── manipulator.hpp │ │ ├── parser.hpp │ │ ├── robot.hpp │ │ ├── tf_publisher.hpp │ │ └── transformation.hpp │ │ └── utils │ │ └── math.hpp ├── models │ ├── pr2 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── base_color.png │ │ │ │ ├── base_normals.png │ │ │ │ ├── elbow_flex_color.png │ │ │ │ ├── elbow_flex_normals.png │ │ │ │ ├── finger_H_Color_100430.png │ │ │ │ ├── fingertip_H_Color_100430.png │ │ │ │ ├── float_H_Color_100430.png │ │ │ │ ├── forearm.png │ │ │ │ ├── forearm_color.png │ │ │ │ ├── forearm_normals.png │ │ │ │ ├── gripper_palm_color.png │ │ │ │ ├── gripper_palm_normals.png │ │ │ │ ├── head_pan_color.png │ │ │ │ ├── head_pan_normals.png │ │ │ │ ├── head_tilt_color.png │ │ │ │ ├── head_tilt_color_red.png │ │ │ │ ├── head_tilt_color_yellow.png │ │ │ │ ├── head_tilt_green.png │ │ │ │ ├── head_tilt_normals.png │ │ │ │ ├── l_finger_color.png │ │ │ │ ├── l_finger_normals.png │ │ │ │ ├── l_finger_tip_color.png │ │ │ │ ├── l_finger_tip_normals.png │ │ │ │ ├── l_float_color.png │ │ │ │ ├── l_float_normals.png │ │ │ │ ├── palm_H_Color_100430.png │ │ │ │ ├── shoulder_lift_color.png │ │ │ │ ├── shoulder_lift_normals.png │ │ │ │ ├── shoulder_pan_color.png │ │ │ │ ├── shoulder_pan_normals.png │ │ │ │ ├── tilting_hokuyo_color.png │ │ │ │ ├── tilting_hokuyo_normals.png │ │ │ │ ├── torso_lift_color.png │ │ │ │ ├── torso_lift_normals.png │ │ │ │ ├── upper_arm.png │ │ │ │ ├── upper_arm_color.png │ │ │ │ ├── upper_arm_normals.png │ │ │ │ ├── upper_arm_roll_color.png │ │ │ │ ├── upper_arm_roll_normals.png │ │ │ │ ├── wheel_color.png │ │ │ │ ├── wheel_h_color.png │ │ │ │ ├── wheel_normals.png │ │ │ │ ├── wrist_color.png │ │ │ │ └── wrist_normals.png │ │ ├── meshes │ │ │ ├── base_v0 │ │ │ │ ├── base.dae │ │ │ │ ├── base.stl │ │ │ │ ├── base_L.stl │ │ │ │ ├── caster.stl │ │ │ │ ├── caster_L.stl │ │ │ │ ├── pr2_wheel.stl │ │ │ │ ├── wheel.dae │ │ │ │ ├── wheel.stl │ │ │ │ └── wheel_h.dae │ │ │ ├── forearm_v0 │ │ │ │ ├── forearm.dae │ │ │ │ ├── forearm.stl │ │ │ │ ├── wrist_flex.dae │ │ │ │ ├── wrist_flex.stl │ │ │ │ ├── wrist_roll.stl │ │ │ │ └── wrist_roll_L.stl │ │ │ ├── gripper_v0 │ │ │ │ ├── finger_H_UV_100430.dae │ │ │ │ ├── finger_tip_H_UV_100430.dae │ │ │ │ ├── finger_tip_l.stl │ │ │ │ ├── finger_tip_pad2_l.stl │ │ │ │ ├── finger_tip_pad2_r.stl │ │ │ │ ├── finger_tip_r.stl │ │ │ │ ├── float_H_UV_100430.dae │ │ │ │ ├── gripper_palm.dae │ │ │ │ ├── gripper_palm.stl │ │ │ │ ├── l_finger.dae │ │ │ │ ├── l_finger.stl │ │ │ │ ├── l_finger_tip.dae │ │ │ │ ├── l_finger_tip.stl │ │ │ │ ├── l_float.dae │ │ │ │ ├── l_floating.stl │ │ │ │ ├── palm_H_UV_100430.dae │ │ │ │ ├── upper_finger_l.stl │ │ │ │ └── upper_finger_r.stl │ │ │ ├── head_v0 │ │ │ │ ├── head_pan.dae │ │ │ │ ├── head_pan.stl │ │ │ │ ├── head_pan_L.stl │ │ │ │ ├── head_tilt.dae │ │ │ │ ├── head_tilt.stl │ │ │ │ └── head_tilt_L.stl │ │ │ ├── sensors │ │ │ │ └── kinect_prosilica_v0 │ │ │ │ │ ├── 115x100_swept_back--coarse.STL │ │ │ │ │ ├── 68-04546_Kinect_Sensor--coarse.STL │ │ │ │ │ └── Prosilica_w_Lens--coarse.STL │ │ │ ├── shoulder_v0 │ │ │ │ ├── shoulder_lift.dae │ │ │ │ ├── shoulder_lift.stl │ │ │ │ ├── shoulder_pan.dae │ │ │ │ ├── shoulder_pan.stl │ │ │ │ ├── shoulder_yaw.stl │ │ │ │ ├── upper_arm_roll.dae │ │ │ │ ├── upper_arm_roll.stl │ │ │ │ └── upper_arm_roll_L.stl │ │ │ ├── tilting_laser_v0 │ │ │ │ ├── hok_tilt.stl │ │ │ │ ├── tilting_hokuyo.dae │ │ │ │ ├── tilting_hokuyo.stl │ │ │ │ └── tilting_hokuyo_L.stl │ │ │ ├── torso_v0 │ │ │ │ ├── torso.stl │ │ │ │ ├── torso_lift.dae │ │ │ │ ├── torso_lift.stl │ │ │ │ └── torso_lift_L.stl │ │ │ └── upper_arm_v0 │ │ │ │ ├── elbow_flex.dae │ │ │ │ ├── elbow_flex.stl │ │ │ │ ├── forearm_roll.stl │ │ │ │ ├── forearm_roll_L.stl │ │ │ │ ├── upper_arm.dae │ │ │ │ └── upper_arm.stl │ │ ├── model-1_2.sdf │ │ ├── model-1_3.sdf │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf │ └── youbot │ │ ├── materials │ │ └── scripts │ │ │ └── youbot.material │ │ ├── meshes │ │ ├── arm │ │ │ ├── arm0.dae │ │ │ ├── arm0_convex.stl │ │ │ ├── arm1.dae │ │ │ ├── arm1_convex.stl │ │ │ ├── arm2.blend1 │ │ │ ├── arm2.dae │ │ │ ├── arm2_convex.stl │ │ │ ├── arm3.dae │ │ │ ├── arm3_convex.stl │ │ │ ├── arm4.dae │ │ │ ├── arm4_convex.stl │ │ │ ├── arm5.dae │ │ │ └── arm5_convex.stl │ │ ├── base │ │ │ ├── back-left_wheel.dae │ │ │ ├── back-right_wheel.dae │ │ │ ├── base.dae │ │ │ ├── base_convex.stl │ │ │ ├── front-left_wheel.dae │ │ │ └── front-right_wheel.dae │ │ ├── gripper │ │ │ ├── finger.dae │ │ │ ├── finger_convex.stl │ │ │ ├── palm.dae │ │ │ └── palm_convex.stl │ │ └── plate │ │ │ ├── plate.dae │ │ │ └── plate_convex.stl │ │ ├── model-1_2.sdf │ │ ├── model-1_3.sdf │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf ├── package.xml ├── src │ ├── robot │ │ ├── manipulator.cpp │ │ ├── parser.cpp │ │ ├── robot.cpp │ │ ├── tf_publisher.cpp │ │ └── transformation.cpp │ └── utils │ │ └── math.cpp ├── test │ ├── test.cpp │ ├── test2.cpp │ ├── test3.cpp │ ├── test4.cpp │ ├── test5.cpp │ └── test6.cpp └── yaml │ ├── lwr.yaml │ ├── lwr.yaml.org │ ├── pr2.yaml │ ├── pr2.yaml.org │ ├── red_arm.yaml │ ├── red_arm2.yaml │ ├── rr_robot.yaml │ ├── youbot.yaml │ └── youbot_arm.yaml └── ahl_robot_controller ├── CMakeLists.txt ├── cfg └── Param.cfg ├── include └── ahl_robot_controller │ ├── common │ └── effective_mass_matrix3d.hpp │ ├── param.hpp │ ├── param_base.hpp │ ├── robot_controller.hpp │ ├── task │ ├── damping.hpp │ ├── friction_compensation.hpp │ ├── gravity_compensation.hpp │ ├── joint_control.hpp │ ├── joint_limit.hpp │ ├── multi_task.hpp │ ├── orientation_control.hpp │ ├── position_control.hpp │ └── task.hpp │ └── tasks.hpp ├── package.xml └── src ├── common └── effective_mass_matrix3d.cpp ├── param.cpp ├── robot_controller.cpp └── task ├── damping.cpp ├── friction_compensation.cpp ├── gravity_compensation.cpp ├── joint_control.cpp ├── joint_limit.cpp ├── multi_task.cpp ├── orientation_control.cpp └── position_control.cpp /.gitignore: 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