├── .ci ├── Dockerfile.melodic ├── Dockerfile.noetic └── checkgithistory.sh ├── .clang-format ├── .clang-tidy ├── .github └── workflows │ ├── ci.yml │ └── test-report.yml ├── .gitignore ├── CHANGELOG.md ├── Jenkinsfile ├── LICENSE ├── NOTICE ├── README.md ├── cmake ├── ClangTools.cmake └── PepTools.cmake ├── docs └── index.rst ├── franka_control ├── CMakeLists.txt ├── config │ ├── default_combined_controllers.yaml │ ├── default_controllers.yaml │ ├── franka_combined_control_node.yaml │ ├── franka_control_node.yaml │ └── start_pose.yaml ├── doc │ ├── _static │ │ └── frames.svg │ └── index.rst ├── franka_controller_plugins.xml ├── include │ └── franka_control │ │ └── franka_state_controller.h ├── launch │ ├── franka_combined_control.launch │ └── franka_control.launch ├── mainpage.dox ├── package.xml ├── rosdoc.yaml └── src │ ├── franka_combined_control_node.cpp │ ├── franka_control_node.cpp │ └── franka_state_controller.cpp ├── franka_description ├── CMakeLists.txt ├── doc │ ├── _static │ │ ├── collision-coarse.png │ │ ├── collision-fine.png │ │ └── visual.png │ └── index.rst ├── mainpage.dox ├── meshes │ ├── collision │ │ ├── hand.stl │ │ ├── link0.stl │ │ ├── link1.stl │ │ ├── link2.stl │ │ ├── link3.stl │ │ ├── link4.stl │ │ ├── link5.stl │ │ ├── link6.stl │ │ └── link7.stl │ └── visual │ │ ├── finger.dae │ │ ├── hand.dae │ │ ├── link0.dae │ │ ├── link1.dae │ │ ├── link2.dae │ │ ├── link3.dae │ │ ├── link4.dae │ │ ├── link5.dae │ │ ├── link6.dae │ │ └── link7.dae ├── package.xml ├── robots │ ├── common │ │ ├── franka_arm.xacro │ │ ├── franka_hand.xacro │ │ ├── franka_robot.xacro │ │ ├── hand.urdf.xacro │ │ ├── inertial.yaml │ │ └── utils.xacro │ ├── dual_panda │ │ └── dual_panda_example.urdf.xacro │ ├── fr3 │ │ ├── fr3.urdf.xacro │ │ └── joint_limits.yaml │ └── panda │ │ ├── joint_limits.yaml │ │ └── panda.urdf.xacro ├── rosdoc.yaml └── test │ ├── __init__.py │ ├── dual_panda_example_urdf.py │ ├── franka_robot_urdf.py │ ├── hand_urdf.py │ └── urdf_test_case.py ├── franka_example_controllers ├── CMakeLists.txt ├── cfg │ ├── compliance_param.cfg │ ├── desired_mass_param.cfg │ ├── dual_arm_compliance_param.cfg │ ├── teleop_gripper_param.cfg │ └── teleop_param.cfg ├── config │ ├── franka_example_controllers.yaml │ ├── teleop_joint_pd_example_control_node.yaml │ └── teleop_state_controllers.yaml ├── doc │ └── index.rst ├── franka_example_controllers_plugin.xml ├── include │ └── franka_example_controllers │ │ ├── cartesian_impedance_example_controller.h │ │ ├── cartesian_pose_example_controller.h │ │ ├── cartesian_velocity_example_controller.h │ │ ├── dual_arm_cartesian_impedance_example_controller.h │ │ ├── elbow_example_controller.h │ │ ├── force_example_controller.h │ │ ├── joint_impedance_example_controller.h │ │ ├── joint_position_example_controller.h │ │ ├── joint_velocity_example_controller.h │ │ ├── joint_wall.h │ │ ├── model_example_controller.h │ │ ├── pseudo_inversion.h │ │ └── teleop_joint_pd_example_controller.h ├── launch │ ├── cartesian_impedance_example_controller.launch │ ├── cartesian_pose_example_controller.launch │ ├── cartesian_velocity_example_controller.launch │ ├── dual_arm_cartesian_impedance_example_controller.launch │ ├── elbow_example_controller.launch │ ├── force_example_controller.launch │ ├── joint_impedance_example_controller.launch │ ├── joint_position_example_controller.launch │ ├── joint_velocity_example_controller.launch │ ├── model_example_controller.launch │ ├── move_to_start.launch │ ├── robot.rviz │ ├── rviz │ │ ├── franka_description_with_marker.rviz │ │ ├── franka_dual_description_with_marker.rviz │ │ └── teleop_joint_pd_example.rviz │ ├── teleop_gripper.launch │ └── teleop_joint_pd_example_controller.launch ├── mainpage.dox ├── msg │ └── JointTorqueComparison.msg ├── package.xml ├── rosdoc.yaml ├── scripts │ ├── dual_arm_interactive_marker.py │ ├── interactive_marker.py │ └── move_to_start.py └── src │ ├── cartesian_impedance_example_controller.cpp │ ├── cartesian_pose_example_controller.cpp │ ├── cartesian_velocity_example_controller.cpp │ ├── dual_arm_cartesian_impedance_example_controller.cpp │ ├── elbow_example_controller.cpp │ ├── force_example_controller.cpp │ ├── joint_impedance_example_controller.cpp │ ├── joint_position_example_controller.cpp │ ├── joint_velocity_example_controller.cpp │ ├── joint_wall.cpp │ ├── model_example_controller.cpp │ ├── teleop_gripper_node.cpp │ └── teleop_joint_pd_example_controller.cpp ├── franka_gazebo ├── CMakeLists.txt ├── config │ ├── franka_hw_sim.yaml │ └── sim_controllers.yaml ├── doc │ ├── _static │ │ ├── franka-gazebo-example-grasp.png │ │ └── franka-gazebo-example.png │ └── index.rst ├── franka_gripper_sim_plugin.xml ├── franka_hw_sim_plugin.xml ├── include │ └── franka_gazebo │ │ ├── controller_verifier.h │ │ ├── franka_gripper_sim.h │ │ ├── franka_hw_sim.h │ │ ├── joint.h │ │ ├── model_kdl.h │ │ └── statemachine.h ├── launch │ ├── fr3.launch │ ├── panda.launch │ └── robot.launch ├── mainpage.dox ├── models │ ├── pick_tray │ │ ├── model.config │ │ └── model.sdf │ ├── place_tray │ │ ├── model.config │ │ └── model.sdf │ ├── stone │ │ ├── model.config │ │ └── model.sdf │ └── table │ │ ├── model.config │ │ └── model.sdf ├── package.xml ├── rosdoc.yaml ├── src │ ├── controller_verifier.cpp │ ├── franka_gripper_sim.cpp │ ├── franka_hw_sim.cpp │ ├── joint.cpp │ └── model_kdl.cpp ├── test │ ├── CMakeLists.txt │ ├── controller_verifier_test.cpp │ ├── fk_tests.cpp │ ├── franka_gripper_sim_test.cpp │ ├── franka_gripper_sim_test_with_object.cpp │ ├── franka_hw_sim_gazebo_test.cpp │ ├── gravity_tests.cpp │ ├── gripper_sim_test_setup.cpp │ ├── gripper_sim_test_setup.h │ ├── jacobian_tests.cpp │ ├── launch │ │ ├── franka_gripper_sim.test │ │ ├── franka_gripper_sim_with_object.test │ │ ├── franka_hw_sim.test │ │ ├── franka_hw_sim_gazebo.test │ │ └── panda-gazebo.urdf │ └── main.cpp └── world │ └── stone.sdf ├── franka_gripper ├── CMakeLists.txt ├── action │ ├── Grasp.action │ ├── Homing.action │ ├── Move.action │ └── Stop.action ├── config │ └── franka_gripper_node.yaml ├── doc │ └── index.rst ├── include │ └── franka_gripper │ │ └── franka_gripper.h ├── launch │ └── franka_gripper.launch ├── mainpage.dox ├── msg │ └── GraspEpsilon.msg ├── package.xml ├── rosdoc.yaml └── src │ ├── franka_gripper.cpp │ └── franka_gripper_node.cpp ├── franka_hw ├── CMakeLists.txt ├── doc │ └── index.rst ├── franka_combinable_hw_plugin.xml ├── include │ └── franka_hw │ │ ├── control_mode.h │ │ ├── franka_cartesian_command_interface.h │ │ ├── franka_combinable_hw.h │ │ ├── franka_combined_hw.h │ │ ├── franka_hw.h │ │ ├── franka_model_interface.h │ │ ├── franka_state_interface.h │ │ ├── model.h │ │ ├── model_base.h │ │ ├── resource_helpers.h │ │ ├── services.h │ │ └── trigger_rate.h ├── mainpage.dox ├── package.xml ├── rosdoc.yaml ├── src │ ├── control_mode.cpp │ ├── franka_combinable_hw.cpp │ ├── franka_combined_hw.cpp │ ├── franka_hw.cpp │ ├── resource_helpers.cpp │ ├── services.cpp │ └── trigger_rate.cpp └── test │ ├── CMakeLists.txt │ ├── config │ └── ros_console_settings_for_tests.conf │ ├── franka_combinable_hw_controller_switching_test.cpp │ ├── franka_hw_controller_switching_test.cpp │ ├── franka_hw_interfaces_test.cpp │ ├── launch │ └── franka_hw_test.test │ └── main.cpp ├── franka_msgs ├── CMakeLists.txt ├── action │ └── ErrorRecovery.action ├── doc │ └── index.rst ├── mainpage.dox ├── msg │ ├── Errors.msg │ └── FrankaState.msg ├── package.xml ├── rosdoc.yaml └── srv │ ├── SetCartesianImpedance.srv │ ├── SetEEFrame.srv │ ├── SetForceTorqueCollisionBehavior.srv │ ├── SetFullCollisionBehavior.srv │ ├── SetJointConfiguration.srv │ ├── SetJointImpedance.srv │ ├── SetKFrame.srv │ └── SetLoad.srv ├── franka_ros ├── CMakeLists.txt ├── doc │ ├── _static │ │ └── ros-architecture.png │ └── index.rst ├── mainpage.dox ├── package.xml └── rosdoc.yaml ├── franka_visualization ├── CMakeLists.txt ├── config │ ├── gripper_settings.yaml │ └── 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