├── .gitignore ├── .travis.yml ├── README.md ├── dependencies.rosinstall ├── kuka_lwr ├── .travis.yml ├── LICENSE ├── README.md ├── lwr_console │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── lwr_console │ │ │ ├── Console.h │ │ │ ├── ConsoleInterface.h │ │ │ ├── NCConsole.h │ │ │ └── Various.h │ ├── package.xml │ └── src │ │ ├── Console.cpp │ │ ├── ConsoleInterface.cpp │ │ ├── NCConsole.cpp │ │ └── Various.cpp ├── lwr_controllers │ ├── .gitignore │ ├── CMakeLists.txt │ ├── README.md │ ├── cfg │ │ ├── PID.cfg │ │ ├── damping_param.cfg │ │ ├── damping_param_all.cfg │ │ ├── passive_ds_param.cfg │ │ ├── stiffness_param.cfg │ │ └── stiffness_param_all.cfg │ ├── include │ │ ├── controllers │ │ │ ├── base_controllers.h │ │ │ ├── cartesian_position.h │ │ │ ├── cartesian_velocity.h │ │ │ ├── change_ctrl_mode.h │ │ │ ├── ff_fb_cartesian.h │ │ │ ├── gravity_compensation.h │ │ │ ├── joint_position.h │ │ │ └── passive_ds.h │ │ ├── lwr_controllers │ │ │ ├── KinematicChainControllerBase.h │ │ │ ├── PIDKinematicChainControllerBase.h │ │ │ ├── joint_controllers.h │ │ │ ├── joint_kinematics_imp.h │ │ │ ├── joint_position_impedance_controller.h │ │ │ ├── kuka_joint_state_controller.h │ │ │ └── one_task_inverse_kinematics.h │ │ └── utils │ │ │ ├── base_safety.h │ │ │ ├── contact_safety.h │ │ │ ├── definitions.h │ │ │ ├── pseudo_inversion.h │ │ │ ├── safety.h │ │ │ ├── skew_symmetric.h │ │ │ └── speed_safety.h │ ├── launch │ │ ├── controllers │ │ │ ├── backstepping_controller.launch │ │ │ ├── computed_torque_controller.launch │ │ │ ├── dynamic_sliding_mode_controller.launch │ │ │ ├── dynamic_sliding_mode_task_space_controller.launch │ │ │ ├── inverse_dynamics_controller.launch │ │ │ ├── joint_effort_position_controller.launch │ │ │ ├── joint_effort_trajectory_controller.launch │ │ │ ├── joint_impedance_controller.launch │ │ │ ├── joint_position_position_controller.launch │ │ │ ├── joint_position_trajectory_controller.launch │ │ │ ├── joint_state_controller.launch │ │ │ ├── minimum_effort_inverse_dynamics_controller.launch │ │ │ ├── multi_task_priority_inverse_dynamics_controller.launch │ │ │ ├── multi_task_priority_inverse_kinematics_controller.launch │ │ │ ├── one_task_inverse_dynamics_jl_controller.launch │ │ │ └── one_task_inverse_kinematics_controller.launch │ │ └── load_controller.launch │ ├── lwr_controllers_plugins.xml │ ├── msg │ │ ├── FF_FB_plan.msg │ │ ├── MultiPriorityTask.msg │ │ ├── PoseRPY.msg │ │ └── RPY.msg │ ├── package.xml │ └── src │ │ ├── controllers │ │ ├── cartesian_position.cpp │ │ ├── cartesian_velocity.cpp │ │ ├── change_ctrl_mode.cpp │ │ ├── ff_fb_cartesian.cpp │ │ ├── gravity_compensation.cpp │ │ ├── joint_position.cpp │ │ └── passive_ds.cpp │ │ ├── joint_controllers.cpp │ │ ├── joint_impedance_controller.cpp │ │ ├── joint_kinematics_imp.cpp │ │ ├── joint_position_impedance_controller.cpp │ │ ├── kuka_joint_state_controller.cpp │ │ ├── one_task_inverse_kinematics.cpp │ │ └── utils │ │ ├── contact_safety.cpp │ │ ├── safety.cpp │ │ └── speed_safety.cpp ├── lwr_description │ ├── CMakeLists.txt │ ├── meshes │ │ ├── COPYRIGHT │ │ ├── arm_base.dae │ │ ├── arm_base.mesh │ │ ├── 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 │ │ ├── base.dae │ │ ├── convex │ │ │ ├── README │ │ │ ├── arm_base_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_1.dae │ │ ├── link_2.STL │ │ ├── link_2.dae │ │ ├── link_3.STL │ │ ├── link_3.dae │ │ ├── link_4.STL │ │ ├── link_4.dae │ │ ├── link_5.STL │ │ ├── link_5.dae │ │ ├── link_6.STL │ │ ├── link_6.dae │ │ ├── link_7.STL │ │ └── link_7.dae │ ├── meshes_arm │ │ ├── COPYRIGHT │ │ ├── arm_base.dae │ │ ├── arm_base.stl │ │ ├── arm_base_v2.dae │ │ ├── arm_flanche.dae │ │ ├── arm_flanche.stl │ │ ├── arm_flanche_angle.dae │ │ ├── arm_flanche_angle.stl │ │ ├── arm_segment_a.dae │ │ ├── arm_segment_a.stl │ │ ├── arm_segment_b.dae │ │ ├── arm_segment_b.stl │ │ ├── arm_segment_last.dae │ │ ├── arm_segment_last.stl │ │ ├── arm_wrist.dae │ │ ├── arm_wrist.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 │ │ └── other │ │ │ ├── prt0379.dae │ │ │ └── prt0379.stl │ ├── model │ │ ├── kuka_lwr.gazebo.xacro │ │ ├── kuka_lwr.transmission.xacro │ │ ├── kuka_lwr.urdf.xacro │ │ ├── kuka_materials.xacro │ │ └── utils.xacro │ └── package.xml ├── lwr_fri │ ├── CMakeLists.txt │ ├── README.md │ ├── data │ │ └── 980039-FRI-Driver.init │ ├── include │ │ └── lwr_fri │ │ │ ├── LWRRobot_FRI.h │ │ │ ├── lwr_fri_console.h │ │ │ ├── lwr_fri_interface.h │ │ │ └── utilities.h │ ├── launch │ │ ├── lwr_fri.launch │ │ └── lwr_fri_console.launch │ ├── msg │ │ ├── FRI.msg │ │ └── JointStates.msg │ ├── package.xml │ ├── setup_kuka_rights.sh │ ├── src │ │ ├── lwr_fri │ │ │ ├── LWRRobot_FRI.cpp │ │ │ ├── lwr_fri_console.cpp │ │ │ └── lwr_fri_interface.cpp │ │ ├── lwr_fri_console_node.cpp │ │ └── lwr_fri_node.cpp │ └── srv │ │ └── StringService.srv ├── lwr_hw │ ├── CMakeLists.txt │ ├── README.md │ ├── doc │ │ └── KUKA_FRI_from_WS_Proceedings_ICRA2010.pdf │ ├── include │ │ └── lwr_hw │ │ │ ├── lwr_hw.h │ │ │ ├── lwr_hw_fril.hpp │ │ │ ├── lwr_hw_gazebo.hpp │ │ │ └── lwr_kuka_interface.h │ ├── package.xml │ └── src │ │ ├── lwr_hw.cpp │ │ ├── lwr_hw_fril_node.cpp │ │ └── lwr_hw_gazebo_plugin.cpp ├── lwr_launch │ ├── CMakeLists.txt │ ├── empty_world.launch │ ├── launch │ │ ├── ft_rqt.launch │ │ ├── perspective │ │ │ └── external_force_torque.perspective │ │ ├── rqt_viz.sh │ │ ├── rviz │ │ │ └── rviz_config.rviz │ │ ├── rviz_config.rviz │ │ └── simulation.launch │ ├── package.xml │ └── test │ │ └── test_lwr_launch.test └── lwr_ros_interface │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ └── lwr_ros_interface │ │ ├── lwr_ros_utilities.h │ │ ├── ros_ee.h │ │ ├── ros_ee_j.h │ │ ├── ros_joint.h │ │ ├── ros_passive_ds.h │ │ └── switch_controller.h │ ├── package.xml │ └── src │ ├── base_ee_action.cpp │ ├── default_topics.cpp │ ├── ros_ee_j.cpp │ ├── ros_joint.cpp │ └── ros_passive_ds.cpp ├── lwr_ros_client ├── CMakeLists.txt ├── include │ ├── lwr_ros_action │ │ ├── base_action.h │ │ └── joint_action.h │ └── lwr_ros_client │ │ ├── action_client_cmd_interface.h │ │ ├── common_action_client │ │ └── joint_position_ac.h │ │ ├── kuka_action_client.h │ │ ├── kuka_action_console.h │ │ └── ros_param_parser.h ├── package.xml ├── src │ ├── action_client_cmd_interface.cpp │ ├── common_action_client │ │ └── joint_position_ac.cpp │ ├── kuka_action_client.cpp │ ├── kuka_action_console.cpp │ ├── lwr_ros_action │ │ └── joint_action.cpp │ └── ros_param_parser.cpp └── 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