├── .astylerc ├── .gitignore ├── .travis.yml ├── CMakeLists.txt ├── CMakeMacros ├── FindBULLET.cmake ├── FindEigen3.cmake ├── FindQhull.cmake └── FindSoQt4.cmake ├── LICENSE.txt ├── README.md ├── ci ├── install.sh ├── install_linux.sh └── script.sh ├── graspitConfig.cmake.in ├── graspitConfigVersion.cmake.in ├── images └── README ├── include └── graspit │ ├── Collision │ ├── Graspit │ │ ├── collisionAlgorithms.h │ │ ├── collisionAlgorithms_inl.h │ │ ├── collisionModel.h │ │ └── graspitCollision.h │ ├── PQP │ │ └── PQPCollision.h │ ├── collisionInterface.h │ └── collisionStructures.h │ ├── DBase │ ├── DBPlanner │ │ ├── aligner.h │ │ ├── caching_aligner.h │ │ ├── caching_features_extractor.h │ │ ├── caching_neighbor_finder.h │ │ ├── database.h │ │ ├── db_manager.h │ │ ├── features_extractor.h │ │ ├── grasp.h │ │ ├── grasp_ranker.h │ │ ├── model.h │ │ ├── neighbor_finder.h │ │ ├── planner.h │ │ ├── qvariant_convert.h │ │ ├── retrieve_features_from_db_functor.h │ │ ├── ros_database_manager.h │ │ ├── sql_database_manager.h │ │ ├── task.h │ │ └── training_planner.h │ ├── compliantGraspCopyTask.h │ ├── dbase_grasp.h │ ├── graspClusteringTask.h │ ├── graspPlanningTask.h │ ├── graspTransferCheckTask.h │ ├── graspit_db_grasp.h │ ├── graspit_db_model.h │ ├── graspit_db_planner.h │ ├── preGraspCheckTask.h │ ├── tableCheckTask.h │ └── taskDispatcher.h │ ├── EGPlanner │ ├── egPlanner.h │ ├── energy │ │ ├── autoGraspQualityEnergy.h │ │ ├── compliantEnergy.h │ │ ├── contactEnergy.h │ │ ├── dynamicAutoGraspEnergy.h │ │ ├── guidedAutoGraspEnergy.h │ │ ├── guidedPotentialQualityEnergy.h │ │ ├── potentialQualityEnergy.h │ │ ├── searchEnergy.h │ │ ├── searchEnergyFactory.h │ │ └── strictAutoGraspEnergy.h │ ├── graspTesterThread.h │ ├── guidedPlanner.h │ ├── listPlanner.h │ ├── loopPlanner.h │ ├── onLineGraspInterface.h │ ├── onLinePlanner.h │ ├── search.h │ ├── searchState.h │ ├── searchStateImpl.h │ ├── simAnn.h │ ├── simAnnParams.h │ ├── simAnnPlanner.h │ └── timeTest.h │ ├── FitParabola.h │ ├── Planner │ ├── grasp_coordinates.h │ ├── grasp_directions.h │ ├── grasp_grasps.h │ ├── grasp_manager.h │ ├── grasp_planner.h │ ├── grasp_presenter.h │ ├── grasp_preshape.h │ ├── grasp_tester.h │ └── grasp_visualization.h │ ├── SoArrow.h │ ├── SoComplexShape.h │ ├── SoTorquePointer.h │ ├── arch.h │ ├── bBox.h │ ├── bbox_inl.h │ ├── body.h │ ├── bodySensor.h │ ├── cmdline │ ├── LICENSE │ ├── README.rst │ ├── cmdline.h │ ├── test.cpp │ └── test2.cpp │ ├── contact │ ├── contact.h │ ├── pointContact.h │ ├── softContact.h │ ├── virtualContact.h │ └── virtualContactOnObject.h │ ├── contactSetting.h │ ├── curvedArrow.dat │ ├── debug.h │ ├── defines.h │ ├── dlfcn-win32.h │ ├── dof.h │ ├── dynamics │ ├── bulletDynamics.h │ ├── dynJoint.h │ ├── dynamics.h │ ├── dynamicsEngine.h │ └── graspitDynamics.h │ ├── eigenGrasp.h │ ├── flockTransform.h │ ├── gloveInterface.h │ ├── grasp.h │ ├── graspRecord.h │ ├── graspSolver.h │ ├── graspitApp.h │ ├── graspitCore.h │ ├── graspitParser.h │ ├── graspitServer.h │ ├── gws.h │ ├── gwsprojection.h │ ├── handController.h │ ├── ivmgr.h │ ├── jacobian.h │ ├── joint.h │ ├── kinematicChain.h │ ├── lapack_wrappers.h │ ├── lmiOptimizer.h │ ├── material.h │ ├── math │ ├── cgal_qp.h │ ├── gurobi.h │ ├── matrix.h │ ├── mosek_qp.h │ └── qpoases.h │ ├── matvec3D.h │ ├── matvecIO.h │ ├── maxdet.h │ ├── mkl_wrappers.h │ ├── mytools.h │ ├── plugin.h │ ├── ply │ ├── mesh_loader.h │ └── ply.h │ ├── pointers.dat │ ├── profiling.h │ ├── qhull_mutex.h │ ├── quality │ ├── qualEpsilon.h │ ├── qualPCR.h │ ├── qualPGR.h │ ├── qualVolume.h │ └── quality.h │ ├── robot.h │ ├── robots │ ├── barrett.h │ ├── humanHand.h │ ├── m7.h │ ├── m7tool.h │ ├── mcGrip.h │ ├── pincer.h │ ├── pr2Gripper.h │ ├── puma560.h │ ├── robonaut.h │ ├── robotiq.h │ └── shadow.h │ ├── scanSimulator.h │ ├── timer_calls.h │ ├── transform.h │ ├── triangle.h │ ├── triangle_inl.h │ ├── world.h │ ├── worldElement.h │ └── worldElementFactory.h ├── models ├── objects │ ├── IROS08 │ │ ├── LargeCylinder03.iv │ │ ├── LargeCylinder03.xml │ │ ├── LargePrecision08.iv │ │ ├── LargePrecision08.xml │ │ ├── SmallCylinder02.iv │ │ ├── SmallCylinder02.xml │ │ ├── SmallPrecision07.iv │ │ ├── SmallPrecision07.xml │ │ ├── ThickBox05.iv │ │ ├── ThickBox05.xml │ │ ├── ThinBox04.iv │ │ ├── ThinBox04.xml │ │ ├── disc06.iv │ │ ├── disc06.xml │ │ ├── largeCone10.iv │ │ ├── largeCone10.xml │ │ ├── smallCone09.iv │ │ └── smallCone09.xml │ ├── arizonaObject_revised.iv │ ├── arizonaObject_revised.xml │ ├── ashtray.IV │ ├── ashtray.xml │ ├── book.iv │ ├── book.xml │ ├── box.iv │ ├── box.xml │ ├── cube.iv │ ├── cube.xml │ ├── cylinder.iv │ ├── cylinder.xml │ ├── default.xml │ ├── flask.iv │ ├── flask.xml │ ├── flockSensor.iv │ ├── flockSensor.xml │ ├── glass.iv │ ├── glass.xml │ ├── graspStage │ │ ├── ashtray.IV │ │ ├── ashtray.xml │ │ ├── bishop.IV │ │ ├── bishop.xml │ │ ├── glass.iv │ │ ├── glass.xml │ │ ├── p51.iv │ │ ├── p51.xml │ │ ├── soap.IV │ │ └── soap.xml │ ├── gun.iv │ ├── gun.xml │ ├── icosahedron.iv │ ├── icosahedron.xml │ ├── longBox.iv │ ├── longBox.xml │ ├── mug.iv │ ├── mug.xml │ ├── p51.iv │ ├── p51.xml │ ├── p51_small_jet_2.wrl │ ├── p51_small_jet_2.xml │ ├── phone.iv │ ├── phone.xml │ ├── plate.iv │ ├── plate.xml │ ├── plated │ │ ├── flask_plated.iv │ │ ├── flask_plated.xml │ │ ├── glass_plated.iv │ │ ├── glass_plated.xml │ │ ├── mug_plated.iv │ │ ├── mug_plated.xml │ │ ├── p51_plated.iv │ │ ├── p51_plated.xml │ │ ├── phone_plated.iv │ │ └── phone_plated.xml │ ├── primitives │ │ ├── miniMug.iv │ │ ├── mug.iv │ │ ├── myBox.iv │ │ ├── myCone.iv │ │ ├── myCylinder.iv │ │ ├── myMug.iv │ │ ├── myNewMug.iv │ │ ├── mySphere.iv │ │ ├── p51.iv │ │ └── phone.iv │ ├── shoe_1741.wrl │ ├── shoe_1741.xml │ ├── smallTaperedBox.iv │ ├── smallTaperedBox.xml │ ├── smallglass.iv │ ├── smallglass.xml │ ├── soap.IV │ ├── soap.xml │ ├── sphere.iv │ ├── sphere.xml │ ├── tapered_box.iv │ └── tapered_box.xml ├── obstacles │ ├── base.iv │ ├── base.xml │ ├── corner_table.iv │ ├── corner_table.xml │ ├── dinner_chair.iv │ ├── dinner_chair.xml │ ├── dinner_table.iv │ ├── dinner_table.xml │ ├── floor.iv │ ├── floor.xml │ ├── lamp.iv │ ├── lamp.xml │ ├── lamp2.iv │ ├── lamp2.xml │ ├── monitor_table.iv │ ├── monitor_table.xml │ ├── puma_stand.iv │ ├── puma_stand.xml │ ├── rest_chair.iv │ ├── rest_chair.xml │ ├── shelf.iv │ ├── shelf.xml │ ├── shelf2.iv │ ├── shelf2.xml │ ├── shelf3.iv │ ├── shelf3.xml │ ├── shelf4.iv │ ├── shelf4.xml │ ├── simpleFloor.iv │ ├── simpleFloor.xml │ ├── simple_shelf.iv │ ├── simple_shelf.xml │ ├── sofa.iv │ ├── sofa.xml │ ├── sofa_table.iv │ ├── sofa_table.xml │ ├── stand_cubic.iv │ ├── stand_cubic.xml │ ├── stand_cubic_thin.iv │ ├── stand_cubic_thin.xml │ ├── stand_lego.iv │ ├── stand_lego.xml │ ├── stand_lego_tall_2.iv │ ├── stand_lego_tall_2.xml │ ├── stand_lego_tall_3.iv │ ├── stand_lego_tall_3.xml │ ├── stand_lego_tall_4.iv │ ├── stand_lego_tall_4.xml │ ├── stand_lego_tall_5.iv │ ├── stand_lego_tall_5.xml │ ├── table.iv │ ├── table.xml │ ├── textures │ │ ├── cart.jpg │ │ ├── checker.jpg │ │ └── wood.jpg │ ├── wall1.iv │ ├── wall1.xml │ ├── walls.iv │ └── walls.xml └── robots │ ├── ACT │ ├── ACT.xml │ ├── flexor_insertions.txt │ ├── index_finger_matei.asm.9 │ ├── iv │ │ ├── index_dist_phal.iv │ │ ├── index_dist_phal.xml │ │ ├── index_metacarpal.iv │ │ ├── index_metacarpal.xml │ │ ├── index_mid_phal.iv │ │ ├── index_mid_phal.xml │ │ ├── index_prox_phal.iv │ │ └── index_prox_phal.xml │ └── transforms.txt │ ├── Barrett │ ├── Barrett.xml │ ├── eigen │ │ └── barrett_eigen.xml │ ├── iv │ │ ├── barrettmount.iv │ │ ├── barrettmount.xml │ │ ├── link1.iv │ │ ├── link1.xml │ │ ├── link2.iv │ │ ├── link2.xml │ │ ├── link3.iv │ │ ├── link3.xml │ │ ├── palm.iv │ │ └── palm.xml │ └── virtual │ │ ├── all_16_contacts.xml │ │ ├── fingertips.xml │ │ ├── fingertips_extra.xml │ │ ├── palm.xml │ │ ├── phal_distal.xml │ │ └── phal_prox.xml │ ├── BarrettBH8_280 │ ├── BarrettBH8_280.xml │ ├── eigen │ │ └── barrett_eigen.xml │ ├── iv │ │ ├── barrettmount.iv │ │ ├── barrettmount.xml │ │ ├── link1.iv │ │ ├── link1.xml │ │ ├── link2.iv │ │ ├── link2.xml │ │ ├── link3.iv │ │ ├── link3.xml │ │ ├── palm.iv │ │ └── palm.xml │ └── virtual │ │ └── all_16_contacts.xml │ ├── BarrettBH8_280_Tactile │ ├── BarrettBH8_280_Tactile.xml │ ├── eigen │ │ ├── barrett_eigen.egr │ │ ├── barrett_eigen.xml │ │ └── barrett_eigen_arm.egr │ ├── iv │ │ ├── barrettmount.iv │ │ ├── barrettmount.xml │ │ ├── link1.iv │ │ ├── link1.xml │ │ ├── link2.iv │ │ ├── link2.xml │ │ ├── link3.iv │ │ ├── link3.xml │ │ ├── original_iv │ │ │ ├── link1.iv │ │ │ ├── link2.iv │ │ │ ├── link3.iv │ │ │ ├── palm.iv │ │ │ └── palm2.iv │ │ ├── palm.iv │ │ └── palm.xml │ └── virtual │ │ └── all_16_contacts.xml │ ├── DLR │ ├── DLR.xml │ ├── eigen │ │ └── DLR_eigen.xml │ ├── iv │ │ ├── link1.iv │ │ ├── link1.xml │ │ ├── link2.iv │ │ ├── link2.xml │ │ ├── link3.iv │ │ ├── link3.xml │ │ ├── palm.iv │ │ └── palm.xml │ └── virtual │ │ ├── palm.xml │ │ ├── phlx_distal.xml │ │ ├── phlx_middle.xml │ │ └── phlx_prox.xml │ ├── HumanFinger │ ├── ComplexHumanFinger.xml │ ├── HumanFinger.xml │ └── iv │ │ ├── link1.iv │ │ ├── link1.xml │ │ ├── link2.iv │ │ ├── link2.xml │ │ ├── link3.iv │ │ ├── link3.xml │ │ ├── palm.iv │ │ └── palm.xml │ ├── HumanHand │ ├── HumanHand16DOF.xml │ ├── HumanHand20DOF.xml │ ├── HumanHandAltAxes.xml │ ├── cyberglove │ │ ├── calibration_best_aa.txt │ │ └── calibration_best_no_dip_aa.txt │ ├── eigen │ │ ├── human_eigen.xml │ │ ├── human_eigen_cgdb.xml │ │ ├── human_eigen_cgdb_refined.xml │ │ ├── human_eigen_nodip.xml │ │ └── human_eigen_torques.xml │ ├── iv │ │ ├── altAxes │ │ │ ├── index1.wrl │ │ │ ├── index1.xml │ │ │ ├── index2.wrl │ │ │ ├── index2.xml │ │ │ ├── index3.wrl │ │ │ ├── index3.xml │ │ │ ├── mid1.wrl │ │ │ ├── mid1.xml │ │ │ ├── mid2.wrl │ │ │ ├── mid2.xml │ │ │ ├── mid3.wrl │ │ │ ├── mid3.xml │ │ │ ├── palm.wrl │ │ │ ├── palm.xml │ │ │ ├── pinky1.wrl │ │ │ ├── pinky1.xml │ │ │ ├── pinky2.wrl │ │ │ ├── pinky2.xml │ │ │ ├── pinky3.wrl │ │ │ ├── pinky3.xml │ │ │ ├── ring1.wrl │ │ │ ├── ring1.xml │ │ │ ├── ring2.wrl │ │ │ ├── ring2.xml │ │ │ ├── ring3.wrl │ │ │ ├── ring3.xml │ │ │ ├── sphere.iv │ │ │ ├── thumb1.wrl │ │ │ ├── thumb1.xml │ │ │ ├── thumb2.wrl │ │ │ ├── thumb2.xml │ │ │ ├── thumb3.wrl │ │ │ └── thumb3.xml │ │ ├── index1.wrl │ │ ├── index1.xml │ │ ├── index2.wrl │ │ ├── index2.xml │ │ ├── index3.wrl │ │ ├── index3.xml │ │ ├── index3_approx_small.wrl │ │ ├── index3_approx_small.xml │ │ ├── mid1.wrl │ │ ├── mid1.xml │ │ ├── mid2.wrl │ │ ├── mid2.xml │ │ ├── mid3.wrl │ │ ├── mid3.xml │ │ ├── palm.wrl │ │ ├── palm.xml │ │ ├── pinky1.wrl │ │ ├── pinky1.xml │ │ ├── pinky2.wrl │ │ ├── pinky2.xml │ │ ├── pinky3.wrl │ │ ├── pinky3.xml │ │ ├── ring1.wrl │ │ ├── ring1.xml │ │ ├── ring2.wrl │ │ ├── ring2.xml │ │ ├── ring3.wrl │ │ ├── ring3.xml │ │ ├── thumb1.wrl │ │ ├── thumb1.xml │ │ ├── thumb2.wrl │ │ ├── thumb2.xml │ │ ├── thumb3.wrl │ │ ├── thumb3.xml │ │ ├── thumb3_approx_small.wrl │ │ └── thumb3_approx_small.xml │ └── virtual │ │ ├── all_18_contacts_16DOF.xml │ │ └── all_18_contacts_20DOF.xml │ ├── Kanguera │ ├── Kanguera.xml │ └── iv │ │ ├── carpo-2.iv │ │ ├── carpo-2.xml │ │ ├── falange-distal-anular.iv │ │ ├── falange-distal-anular.xml │ │ ├── falange-distal-indicador3.iv │ │ ├── falange-distal-indicador3.xml │ │ ├── falange-distal-m_dio.iv │ │ ├── falange-distal-m_dio.xml │ │ ├── falange-distal-m_nimo.iv │ │ ├── falange-distal-m_nimo.xml │ │ ├── falange-distal-polegar3.iv │ │ ├── falange-distal-polegar3.xml │ │ ├── falange-medial-anular.iv │ │ ├── falange-medial-anular.xml │ │ ├── falange-medial-indicador3.iv │ │ ├── falange-medial-indicador3.xml │ │ ├── falange-medial-m_dio.iv │ │ ├── falange-medial-m_dio.xml │ │ ├── falange-medial-m_nimo.iv │ │ ├── falange-medial-m_nimo.xml │ │ ├── falange-proximal-anular.iv │ │ ├── falange-proximal-anular.xml │ │ ├── falange-proximal-indicador3.iv │ │ ├── falange-proximal-indicador3.xml │ │ ├── falange-proximal-m_dio.iv │ │ ├── falange-proximal-m_dio.xml │ │ ├── falange-proximal-m_nimo.iv │ │ ├── falange-proximal-m_nimo.xml │ │ ├── falange-proximal-polegar3.iv │ │ ├── falange-proximal-polegar3.xml │ │ ├── jmfp-anular3.iv │ │ ├── jmfp-anular3.xml │ │ ├── jmfp-indicador3.iv │ │ ├── jmfp-indicador3.xml │ │ ├── jmfp-medio3.iv │ │ ├── jmfp-medio3.xml │ │ ├── jmfp-minimo3.iv │ │ ├── jmfp-minimo3.xml │ │ ├── jmfp-polegar3.iv │ │ ├── jmfp-polegar3.xml │ │ ├── metacarpo-anular.iv │ │ ├── metacarpo-indicador3.iv │ │ ├── metacarpo-m_dio.iv │ │ ├── metacarpo-m_nimo.iv │ │ ├── metacarpo-polegar3.iv │ │ └── metacarpo-polegar3.xml │ ├── Karlsruhe │ ├── iv │ │ ├── anthropomorphic │ │ │ ├── axis_arrows.iv │ │ │ ├── index_l1.iv │ │ │ ├── index_l1.xml │ │ │ ├── index_l2.iv │ │ │ ├── index_l2_whole.iv │ │ │ ├── index_l2_whole.xml │ │ │ ├── middle_l1.iv │ │ │ ├── middle_l1.xml │ │ │ ├── middle_l2_whole.iv │ │ │ ├── middle_l2_whole.xml │ │ │ ├── palm.iv │ │ │ ├── palm.xml │ │ │ ├── palm_main.iv │ │ │ ├── ring.iv │ │ │ ├── ring_whole.iv │ │ │ ├── ring_whole.xml │ │ │ ├── small.iv │ │ │ ├── small_whole.iv │ │ │ ├── small_whole.xml │ │ │ ├── thumb_fixed_part_1.iv │ │ │ ├── thumb_fixed_part_2.iv │ │ │ ├── thumb_l1.iv │ │ │ ├── thumb_l1.xml │ │ │ ├── thumb_l2.iv │ │ │ ├── thumb_l2_whole.iv │ │ │ ├── thumb_l2_whole.xml │ │ │ └── tip.iv │ │ └── non-anthropomorphic │ │ │ ├── CoordinateSystem.iv │ │ │ ├── CoordinateSystem0.iv │ │ │ ├── CoordinateSystem0alt.iv │ │ │ ├── CoordinateSystem1.iv │ │ │ ├── CoordinateSystem2.iv │ │ │ ├── Leer.iv │ │ │ ├── Leer2.iv │ │ │ ├── Leer2.xml │ │ │ ├── Leer3.iv │ │ │ ├── Leer4.iv │ │ │ ├── armar │ │ │ ├── coord.iv │ │ │ └── hands │ │ │ │ ├── handlink_green.iv │ │ │ │ ├── handlink_red.iv │ │ │ │ ├── metacarpals.iv │ │ │ │ ├── palm1_l.iv │ │ │ │ ├── palm1_r.iv │ │ │ │ ├── palm2_l.iv │ │ │ │ ├── palm2_r.iv │ │ │ │ ├── proximal_index_middle_thumb.iv │ │ │ │ ├── proximal_pinky.iv │ │ │ │ └── proximal_ring.iv │ │ │ ├── elbow_l.iv │ │ │ ├── elbow_r.iv │ │ │ ├── eye_l.iv │ │ │ ├── eye_link_l.iv │ │ │ ├── eye_link_r.iv │ │ │ ├── eye_r.iv │ │ │ ├── head.iv │ │ │ ├── index_l1.iv │ │ │ ├── index_l2.iv │ │ │ ├── index_r1.iv │ │ │ ├── index_r1.xml │ │ │ ├── index_r2.iv │ │ │ ├── index_r2.xml │ │ │ ├── jaw.iv │ │ │ ├── lid_l_bottom.iv │ │ │ ├── lid_l_top.iv │ │ │ ├── lid_r_bottom.iv │ │ │ ├── lid_r_top.iv │ │ │ ├── middle_l1.iv │ │ │ ├── middle_l2.iv │ │ │ ├── middle_r1.iv │ │ │ ├── middle_r1.xml │ │ │ ├── middle_r2.iv │ │ │ ├── middle_r2.xml │ │ │ ├── neck_pitch_link.iv │ │ │ ├── neck_roll_link.iv │ │ │ ├── neck_yaw_link.iv │ │ │ ├── palm1_l.iv │ │ │ ├── palm1_r.iv │ │ │ ├── palm1_r.xml │ │ │ ├── palm2_l.iv │ │ │ ├── palm2_r.iv │ │ │ ├── palm2_r.xml │ │ │ ├── pinky_l1.iv │ │ │ ├── pinky_l2.iv │ │ │ ├── pinky_r1.iv │ │ │ ├── pinky_r1.xml │ │ │ ├── pinky_r2.iv │ │ │ ├── pinky_r2.xml │ │ │ ├── platform.iv │ │ │ ├── platform_pitch_link.iv │ │ │ ├── platform_pitch_link2.iv │ │ │ ├── platform_roll_link.iv │ │ │ ├── platform_roll_link2.iv │ │ │ ├── ring_l1.iv │ │ │ ├── ring_l2.iv │ │ │ ├── ring_r1.iv │ │ │ ├── ring_r1.xml │ │ │ ├── ring_r2.iv │ │ │ ├── ring_r2.xml │ │ │ ├── shoulder2_l_rot.iv │ │ │ ├── shoulder2_r_rot.iv │ │ │ ├── shoulder_l.iv │ │ │ ├── shoulder_r.iv │ │ │ ├── thumb_l1.iv │ │ │ ├── thumb_l2.iv │ │ │ ├── thumb_r1.iv │ │ │ ├── thumb_r1.xml │ │ │ ├── thumb_r2.iv │ │ │ ├── thumb_r2.xml │ │ │ ├── torso.iv │ │ │ ├── underarm_l.iv │ │ │ ├── underarm_r.iv │ │ │ ├── upperarm_l.iv │ │ │ ├── upperarm_r.iv │ │ │ ├── wrist1_l.iv │ │ │ ├── wrist1_r.iv │ │ │ ├── wrist2_l.iv │ │ │ └── wrist2_r.iv │ ├── karlsruhe-anthropomorphic.xml │ └── karlsruhe-non-anthropomorphic.xml │ ├── M7body │ ├── M7body.xml │ └── iv │ │ ├── base.wrl │ │ ├── base.xml │ │ ├── p0.wrl │ │ ├── p0.xml │ │ ├── p1.wrl │ │ ├── p1.xml │ │ ├── p2.wrl │ │ ├── p2.xml │ │ ├── p3.wrl │ │ ├── p3.xml │ │ ├── p4.wrl │ │ ├── p4.xml │ │ ├── p5.wrl │ │ └── p5.xml │ ├── M7tool │ ├── M7tool.xml │ └── iv │ │ ├── p1.wrl │ │ ├── p1.xml │ │ ├── p2.wrl │ │ ├── p2.xml │ │ ├── toolbase.wrl │ │ └── toolbase.xml │ ├── McHand │ ├── McGrip.xml │ ├── McGrip_optim.xml │ ├── McGrip_tall.xml │ ├── McHand.xml │ ├── cyberglove │ │ └── human_middle.txt │ ├── eigen │ │ └── McHand_eigen.xml │ ├── iv │ │ ├── finger_0.iv │ │ ├── finger_0.xml │ │ ├── finger_1.iv │ │ ├── finger_1.xml │ │ ├── finger_2.iv │ │ ├── finger_2.xml │ │ ├── finger_link_pad.iv │ │ ├── finger_link_pad.xml │ │ ├── finger_link_pad_scaled.iv │ │ ├── finger_link_pad_scaled.xml │ │ ├── finger_link_pad_scaled_last.iv │ │ ├── finger_link_pad_scaled_last.xml │ │ ├── finger_link_pad_tall.iv │ │ ├── finger_link_pad_tall.xml │ │ ├── finger_link_pad_tall_last.iv │ │ ├── finger_link_pad_tall_last.xml │ │ ├── palm.iv │ │ ├── palm.xml │ │ ├── thumb_0.iv │ │ ├── thumb_0.xml │ │ ├── thumb_1.iv │ │ ├── thumb_1.xml │ │ ├── thumb_2.iv │ │ ├── thumb_2.xml │ │ ├── thumb_3.iv │ │ └── thumb_3.xml │ └── virtual │ │ ├── all_contacts.xml │ │ └── grip_contacts.xml │ ├── MekaHand │ ├── iv │ │ ├── palm.wrl │ │ ├── palm.xml │ │ ├── seg1.wrl │ │ ├── seg1.xml │ │ ├── seg2.wrl │ │ ├── seg2.xml │ │ ├── thumb_base.wrl │ │ ├── thumb_base.xml │ │ ├── tip.wrl │ │ └── tip.xml │ └── mekaHand.xml │ ├── MicoGripper │ ├── MicoGripper.xml │ ├── eigen │ │ └── eigen.xml │ ├── iv │ │ ├── mico_finger_distal_link.xml │ │ ├── mico_finger_distal_link_remeshed_manually.iv │ │ ├── mico_finger_proximal_link.iv │ │ ├── mico_finger_proximal_link.xml │ │ ├── mico_hand_link.xml │ │ └── mico_hand_link_remeshed.iv │ └── virtual │ │ ├── 8_contacts.xml │ │ └── gripper_contacts.xml │ ├── MonkeyHand │ ├── eigen │ │ └── monkey_eigen.xml │ ├── iv │ │ ├── boxPalm.iv │ │ ├── boxPalm.xml │ │ ├── cylinder1.iv │ │ ├── cylinder1.xml │ │ ├── cylinder11.iv │ │ ├── cylinder11.xml │ │ ├── cylinder12.iv │ │ ├── cylinder12.xml │ │ ├── cylinder13.iv │ │ ├── cylinder13.xml │ │ ├── cylinder2.iv │ │ ├── cylinder2.xml │ │ ├── cylinder21.iv │ │ ├── cylinder21.xml │ │ ├── cylinder22.iv │ │ ├── cylinder22.xml │ │ ├── cylinder23.iv │ │ ├── cylinder23.xml │ │ ├── cylinder3.iv │ │ ├── cylinder3.xml │ │ ├── cylinder31.iv │ │ ├── cylinder31.xml │ │ ├── cylinder32.iv │ │ ├── cylinder32.xml │ │ ├── cylinder33.iv │ │ ├── cylinder33.xml │ │ ├── cylinder41.iv │ │ ├── cylinder41.xml │ │ ├── cylinder42.iv │ │ ├── cylinder42.xml │ │ ├── cylinder43.iv │ │ ├── cylinder43.xml │ │ ├── cylinder51.iv │ │ ├── cylinder51.xml │ │ ├── cylinder52.iv │ │ ├── cylinder52.xml │ │ ├── cylinder53.iv │ │ └── cylinder53.xml │ ├── monkeyHand.xml │ └── virtual │ │ ├── palm.xml │ │ ├── phlx_dist.xml │ │ ├── phlx_mid.xml │ │ └── phlx_prox.xml │ ├── Puma560 │ ├── Puma560.xml │ └── iv │ │ ├── puma0.iv │ │ ├── puma0.xml │ │ ├── puma1.iv │ │ ├── puma1.xml │ │ ├── puma2.iv │ │ ├── puma2.xml │ │ ├── puma3.iv │ │ ├── puma3.xml │ │ ├── puma4.iv │ │ ├── puma4.xml │ │ ├── puma5.iv │ │ ├── puma5.xml │ │ ├── puma6.iv │ │ └── puma6.xml │ ├── ReFlex │ ├── ReFlex-UA-All.xml │ ├── ReFlex-UA-Pinch.xml │ ├── ReFlex.xml │ ├── eigen │ │ ├── reflex_ua_eigen.xml │ │ ├── reflex_ua_full_eigen.xml │ │ └── reflex_ua_pinch_eigen.xml │ ├── iv │ │ ├── distal-with-pad.wrl │ │ ├── distal-with-pad.xml │ │ ├── palm-with-pad-scaled.wrl │ │ ├── palm-with-pad-scaled2.wrl │ │ ├── palm-with-pad.wrl │ │ ├── palm-with-pad.xml │ │ ├── proximal-with-pad.wrl │ │ ├── proximal-with-pad.xml │ │ ├── swivel.wrl │ │ └── swivel.xml │ └── virtual │ │ ├── reflex_all_virtual.xml │ │ └── reflex_pinch_short_virtual.xml │ ├── Robonaut │ ├── Robonaut.xml │ ├── Robonaut_13DOF.xml │ ├── Robonaut_pinch.xml │ ├── Robonaut_simplified_geometry.xml │ ├── eigen │ │ ├── robonaut_13DOF.xml │ │ ├── robonaut_eigen.xml │ │ └── robonaut_simplified_eigen.xml │ ├── iv │ │ ├── bph3.iv │ │ ├── bph3.xml │ │ ├── mph4.iv │ │ ├── mph4.xml │ │ ├── pmetaf_r_pink.iv │ │ ├── pmetaf_r_pink.xml │ │ ├── pmetaf_r_ring.iv │ │ ├── pmetaf_r_ring.xml │ │ ├── pph3_4th.iv │ │ ├── pph3_4th.xml │ │ ├── pph3_5th.iv │ │ ├── pph3_5th.xml │ │ ├── pph3l.iv │ │ ├── pph3l.xml │ │ ├── right_palm.iv │ │ ├── right_palm.xml │ │ ├── simplified │ │ │ ├── bph3_sim.iv │ │ │ ├── bph3_sim.xml │ │ │ ├── mount.iv │ │ │ ├── mount.xml │ │ │ ├── mph4_sim.iv │ │ │ ├── mph4_sim.xml │ │ │ ├── pmetaf_r_sim_pink.iv │ │ │ ├── pmetaf_r_sim_pink.xml │ │ │ ├── pmetaf_r_sim_ring.iv │ │ │ ├── pmetaf_r_sim_ring.xml │ │ │ ├── pph3_5th.iv │ │ │ ├── pph3_5th.xml │ │ │ ├── pph3_5th_sim.iv │ │ │ ├── pph3_5th_sim.xml │ │ │ ├── pph3l.iv │ │ │ ├── pph3l.xml │ │ │ ├── pph3l_sim.iv │ │ │ ├── pph3l_sim.xml │ │ │ ├── right_palm.iv │ │ │ ├── right_palm.xml │ │ │ ├── shadow_f_distal.iv │ │ │ ├── shadow_f_distal.xml │ │ │ ├── shadow_f_th_distal.iv │ │ │ ├── shadow_f_th_distal.xml │ │ │ ├── shadow_th_distal.iv │ │ │ ├── thdph1_sim.iv │ │ │ ├── thdph1_sim.xml │ │ │ ├── thumbphl.iv │ │ │ ├── thumbphl.xml │ │ │ ├── thumbphl_sim.iv │ │ │ ├── thumbphl_sim.xml │ │ │ ├── tyoke_sim.iv │ │ │ ├── tyoke_sim.xml │ │ │ ├── yoke2_sim.iv │ │ │ └── yoke2_sim.xml │ │ ├── thdph1.iv │ │ ├── thdph1.xml │ │ ├── thumbphl.iv │ │ ├── thumbphl.xml │ │ ├── tyoke.iv │ │ ├── tyoke.xml │ │ ├── yoke2.iv │ │ └── yoke2.xml │ └── virtual │ │ ├── distal_phlx.xml │ │ ├── middle_phlx.xml │ │ ├── palm.xml │ │ └── proximal_phlx.xml │ ├── RobotIQ │ ├── RobotIQ.xml │ ├── RobotIQ_FingerTip.xml │ ├── eigen │ │ ├── robotiq_eigen.xml │ │ ├── virtual_all.vgr │ │ ├── virtual_all.xml │ │ ├── virtual_finger.vgr │ │ ├── virtual_finger.xml │ │ ├── virtual_fingertip.vgr │ │ ├── virtual_fingertip.xml │ │ ├── virtual_palm.vgr │ │ └── virtual_palm.xml │ └── iv │ │ ├── RIQ_link_0.iv │ │ ├── RIQ_link_0.xml │ │ ├── RIQ_link_1.iv │ │ ├── RIQ_link_1.xml │ │ ├── RIQ_link_2.iv │ │ ├── RIQ_link_2.xml │ │ ├── RIQ_link_3.iv │ │ ├── RIQ_link_3.xml │ │ ├── RIQ_palm.iv │ │ └── RIQ_palm.xml │ ├── Rutgers │ ├── Rutgers.xml │ └── iv │ │ ├── fdistphal_1.iv │ │ ├── fdistphal_1.xml │ │ ├── fmedphal_1.iv │ │ ├── fmedphal_1.xml │ │ ├── fproxphal_sock.iv │ │ ├── fproxphal_sock.xml │ │ ├── palm_3.iv │ │ ├── palm_3.xml │ │ ├── tdistphal_1.iv │ │ ├── tdistphal_1.xml │ │ ├── tproxphal_sock.iv │ │ └── tproxphal_sock.xml │ ├── Sandia │ ├── Sandia_Finger.xml │ ├── Sandia_Hand.xml │ ├── eigen │ │ └── Sandia_eigen.xml │ ├── iv │ │ ├── CAM_Finger_Base.wrl │ │ ├── CAM_Finger_Base.xml │ │ ├── CAM_Finger_link_0.wrl │ │ ├── CAM_Finger_link_0.xml │ │ ├── CAM_Finger_link_1.wrl │ │ ├── CAM_Finger_link_1.xml │ │ ├── CAM_Finger_link_1_Modified.wrl │ │ ├── CAM_Finger_link_2.wrl │ │ ├── CAM_Finger_link_2.xml │ │ ├── CAM_Finger_link_2_Modified.wrl │ │ ├── CAM_Hand_Base1.wrl │ │ └── CAM_Hand_Base1.xml │ └── virtual │ │ └── Sandia_virtual.xml │ ├── Schunk │ ├── Schunk.xml │ ├── Schunk_fingertip.xml │ ├── contacts │ │ ├── all_contacts.vgr │ │ ├── all_contacts.xml │ │ ├── finger.vgr │ │ ├── finger.xml │ │ ├── finger_tip.vgr │ │ ├── finger_tip.xml │ │ ├── finger_tip_compact.vgr │ │ └── finger_tip_compact.xml │ ├── eigen │ │ └── schunk_eigen.xml │ └── iv │ │ ├── finger.stl │ │ ├── finger.stlb │ │ ├── finger.wrl │ │ ├── finger.xml │ │ ├── finger_tip.stl │ │ ├── finger_tip.stlb │ │ ├── finger_tip.wrl │ │ ├── finger_tip.xml │ │ ├── knuckle.stl │ │ ├── knuckle.stlb │ │ ├── knuckle.wrl │ │ ├── knuckle.xml │ │ ├── palm.ply │ │ ├── palm.stl │ │ ├── palm.stlb │ │ ├── palm.wrl │ │ ├── palm.xml │ │ ├── palm_knuckle.wrl │ │ └── palm_knuckle.xml │ ├── ShadowHand │ ├── ShadowHand.xml │ ├── ShadowHandSimple.xml │ └── iv │ │ ├── 1cmsphere.iv │ │ ├── 1cmsphere.xml │ │ ├── F_Distal.iv │ │ ├── F_Distal.xml │ │ ├── F_Middle.iv │ │ ├── F_Middle.xml │ │ ├── F_Prox.iv │ │ ├── F_Prox.xml │ │ ├── Knuckle.iv │ │ ├── Knuckle.xml │ │ ├── LF_Meta3.iv │ │ ├── LF_Meta3.xml │ │ ├── Palm.iv │ │ ├── Palm.xml │ │ ├── RF_Meta.iv │ │ ├── RF_Meta.xml │ │ ├── TH_Base.iv │ │ ├── TH_Base.xml │ │ ├── TH_Distal.iv │ │ ├── TH_Distal.xml │ │ ├── TH_Middle.iv │ │ ├── TH_Middle.xml │ │ ├── TH_Proximal.iv │ │ └── TH_Proximal.xml │ ├── SimpleArm │ ├── SimpleArm.xml │ └── iv │ │ ├── joint1.iv │ │ ├── joint1.xml │ │ ├── joint2.iv │ │ ├── joint2.xml │ │ ├── joint3.iv │ │ └── joint3.xml │ ├── TX60L │ ├── TX60L.xml │ └── iv │ │ ├── 1.wrl │ │ ├── 1.xml │ │ ├── 2.wrl │ │ ├── 2.xml │ │ ├── 3.wrl │ │ ├── 3.xml │ │ ├── 4.wrl │ │ ├── 4.xml │ │ ├── 5.wrl │ │ ├── 5.xml │ │ ├── 6.wrl │ │ ├── 6.xml │ │ ├── 7.wrl │ │ └── 7.xml │ ├── Velo │ ├── eigen │ │ ├── velo_eigen.xml │ │ └── velo_eigen3.xml │ ├── iv │ │ ├── velo_distal.wrl │ │ ├── velo_distal.xml │ │ ├── velo_palm.wrl │ │ ├── velo_palm.xml │ │ ├── velo_proximal.wrl │ │ └── velo_proximal.xml │ ├── velo.xml │ ├── velo_fingertip.xml │ └── virtual │ │ ├── distal.xml │ │ ├── distal_proximal.xml │ │ └── proximal.xml │ ├── XR4000 │ ├── XR4000.xml │ └── iv │ │ ├── base.iv │ │ ├── base.xml │ │ ├── fake.iv │ │ └── fake.xml │ ├── baxter │ ├── baxter.xml │ ├── iv │ │ ├── r_gripper_l_finger.iv │ │ ├── r_gripper_l_finger.xml │ │ ├── r_gripper_r_finger.iv │ │ ├── r_gripper_r_finger.xml │ │ ├── right_wrist.iv │ │ └── right_wrist.xml │ └── virtual │ │ └── contacts.xml │ ├── cobra_gripper │ ├── cobra_gripper.xml │ ├── iv │ │ ├── fixed_jaw.wrl │ │ ├── fixed_jaw.xml │ │ ├── palm.wrl │ │ ├── palm.xml │ │ ├── rotating_jaw.wrl │ │ └── rotating_jaw.xml │ └── virtual │ │ └── gripper.xml │ ├── fetch_gripper │ ├── fetch_gripper.xml │ ├── iv │ │ ├── gripper_link.iv │ │ ├── gripper_link.xml │ │ ├── l_gripper_finger_link.iv │ │ ├── l_gripper_finger_link.xml │ │ ├── r_gripper_finger_link.iv │ │ └── r_gripper_finger_link.xml │ └── virtual │ │ ├── contacts.xml │ │ ├── contacts2.xml │ │ └── contacts3.xml │ ├── harvardHand │ ├── harvardHand.xml │ ├── harvardHandTwist.xml │ ├── harvardHandTwist3.xml │ ├── harvardHand_wr.xml │ └── iv │ │ ├── barrettmount.iv │ │ ├── barrettmount.xml │ │ ├── distal.wrl │ │ ├── distal.xml │ │ ├── faux.wrl │ │ ├── faux.xml │ │ ├── palm.iv │ │ ├── palm.xml │ │ ├── proximal.wrl │ │ ├── proximal.xml │ │ └── twist │ │ ├── distal.wrl │ │ ├── distal.xml │ │ ├── palm.iv │ │ ├── palm.xml │ │ ├── proximal.wrl │ │ └── proximal.xml │ ├── jaco_robot │ ├── eigen │ │ └── eigen.xml │ ├── iv │ │ ├── 6_hand_limb.iv │ │ ├── 6_hand_limb.xml │ │ ├── 8_finger_index.iv │ │ ├── 8_finger_index.xml │ │ ├── 8_finger_pinkie.iv │ │ ├── 8_finger_pinkie.xml │ │ ├── 8_finger_thumb.iv │ │ └── 8_finger_thumb.xml │ ├── jaco_robot.xml │ └── virtual │ │ └── contacts.xml │ └── pr2_gripper │ ├── iv │ ├── 2008 │ │ ├── finger_left.iv │ │ ├── finger_left.xml │ │ ├── finger_right.iv │ │ ├── finger_right.xml │ │ ├── finger_tip.iv │ │ ├── finger_tip.xml │ │ ├── wrist.iv │ │ ├── wrist.xml │ │ ├── wrist_aligned.iv │ │ └── wrist_aligned.xml │ ├── 2010 │ │ ├── finger_tip_l.iv │ │ ├── finger_tip_l.xml │ │ ├── finger_tip_l_grid.iv │ │ ├── finger_tip_l_nogrid.iv │ │ ├── finger_tip_nopad_l_grid.iv │ │ ├── finger_tip_nopad_r_grid.iv │ │ ├── finger_tip_pad2_l.iv │ │ ├── finger_tip_pad2_r.iv │ │ ├── finger_tip_pad_l_grid.iv │ │ ├── finger_tip_pad_r_grid.iv │ │ ├── finger_tip_r.iv │ │ ├── finger_tip_r.xml │ │ ├── finger_tip_r_grid.iv │ │ ├── finger_tip_r_nogrid.iv │ │ ├── gripper_palm.iv │ │ ├── gripper_palm.xml │ │ ├── upper_finger_l.iv │ │ ├── upper_finger_l.xml │ │ ├── upper_finger_r.iv │ │ └── upper_finger_r.xml │ ├── finger_left.iv │ ├── finger_left.xml │ ├── finger_right.iv │ ├── finger_right.xml │ ├── finger_tip.iv │ ├── finger_tip.xml │ ├── wrist.iv │ └── wrist.xml │ ├── pr2_gripper.xml │ ├── pr2_gripper_2008.xml │ ├── pr2_gripper_2010.xml │ └── virtual │ ├── all_contacts.xml │ ├── pr2_2008_set.xml │ ├── pr2_2010_set.xml │ └── pr2_set.xml ├── plugins ├── helloworld │ ├── README │ ├── helloWorldPlugin.cpp │ ├── helloWorldPlugin.h │ └── helloWorldPlugin.pro └── openclose │ ├── openClosePlugin.cpp │ ├── openClosePlugin.h │ └── openClosePlugin.pro ├── qhull ├── Announce.txt ├── CMakeLists.txt ├── COPYING.txt ├── File_id.diz ├── Makefile ├── QHULL-GO.lnk ├── README.txt ├── REGISTER.txt ├── bin │ ├── msvcr80.dll │ ├── qconvex.exe │ ├── qdelaunay.exe │ ├── qhalf.exe │ ├── qhull.dll │ ├── qhull.exe │ ├── qhull_p.dll │ ├── qvoronoi.exe │ ├── rbox.exe │ ├── testqset.exe │ ├── user_eg.exe │ ├── user_eg2.exe │ └── user_eg3.exe ├── build │ ├── libqhull.vcproj │ ├── libqhull_p.vcproj │ ├── qconvex.vcproj │ ├── qdelaunay.vcproj │ ├── qhalf.vcproj │ ├── qhull.sln │ ├── qhull.vcproj │ ├── qhullcpp.vcproj │ ├── qhullstatic.vcproj │ ├── qhullstatic_p.vcproj │ ├── qhulltest.vcproj │ ├── qvoronoi.vcproj │ ├── rbox.vcproj │ ├── testqset.vcproj │ ├── user_eg.vcproj │ ├── user_eg2.vcproj │ └── user_eg3.vcproj ├── config │ ├── Makefile-am-eg │ ├── Makefile-am-html │ ├── Makefile-am-libqhull │ ├── Makefile-am-main │ ├── Makefile.am │ ├── README │ ├── bootstrap.sh │ ├── changelog │ ├── configure.ac │ └── patches │ │ ├── 00list │ │ ├── QHpointer.dpatch │ │ └── make-new-msg.dpatch ├── eg │ ├── Qhull-go.bat │ ├── make-vcproj.sh │ ├── q_eg │ ├── q_egtest │ ├── q_test │ ├── q_test-ok.txt │ ├── q_test.bat │ ├── qhull-zip.sh │ └── qhulltest-ok.txt ├── html │ ├── index.htm │ ├── normal_voronoi_knauss_oesterle.jpg │ ├── qconvex.htm │ ├── qdelau_f.htm │ ├── qdelaun.htm │ ├── qh--4d.gif │ ├── qh--cone.gif │ ├── qh--dt.gif │ ├── qh--geom.gif │ ├── qh--half.gif │ ├── qh--rand.gif │ ├── qh-code.htm │ ├── qh-eg.htm │ ├── qh-faq.htm │ ├── qh-get.htm │ ├── qh-impre.htm │ ├── qh-optc.htm │ ├── qh-optf.htm │ ├── qh-optg.htm │ ├── qh-opto.htm │ ├── qh-optp.htm │ ├── qh-optq.htm │ ├── qh-optt.htm │ ├── qh-quick.htm │ ├── qhalf.htm │ ├── qhull-cpp.xml │ ├── qhull.htm │ ├── qhull.man │ ├── qhull.txt │ ├── qvoron_f.htm │ ├── qvoronoi.htm │ ├── rbox.htm │ ├── rbox.man │ └── rbox.txt ├── index.htm ├── qhull-2012.1-zip.md5sum └── src │ ├── Changes.txt │ ├── libqhull │ ├── Makefile │ ├── Mborland │ ├── geom.c │ ├── geom.h │ ├── geom2.c │ ├── global.c │ ├── index.htm │ ├── io.c │ ├── io.h │ ├── libqhull.c │ ├── libqhull.h │ ├── libqhull.pro │ ├── mem.c │ ├── mem.h │ ├── merge.c │ ├── merge.h │ ├── poly.c │ ├── poly.h │ ├── poly2.c │ ├── qh-geom.htm │ ├── qh-globa.htm │ ├── qh-io.htm │ ├── qh-mem.htm │ ├── qh-merge.htm │ ├── qh-poly.htm │ ├── qh-qhull.htm │ ├── qh-set.htm │ ├── qh-stat.htm │ ├── qh-user.htm │ ├── qhull-exports.def │ ├── qhull_a.h │ ├── qset.c │ ├── qset.h │ ├── random.c │ ├── random.h │ ├── rboxlib.c │ ├── stat.c │ ├── stat.h │ ├── user.c │ ├── user.h │ ├── usermem.c │ ├── userprintf.c │ └── userprintf_rbox.c │ ├── libqhullcpp │ ├── Coordinates.cpp │ ├── Coordinates.h │ ├── PointCoordinates.cpp │ ├── PointCoordinates.h │ ├── Qhull.cpp │ ├── Qhull.h │ ├── QhullError.h │ ├── QhullFacet.cpp │ ├── QhullFacet.h │ ├── QhullFacetList.cpp │ ├── QhullFacetList.h │ ├── QhullFacetSet.cpp │ ├── QhullFacetSet.h │ ├── QhullHyperplane.cpp │ ├── QhullHyperplane.h │ ├── QhullIterator.h │ ├── QhullLinkedList.h │ ├── QhullPoint.cpp │ ├── QhullPoint.h │ ├── QhullPointSet.cpp │ ├── QhullPointSet.h │ ├── QhullPoints.cpp │ ├── QhullPoints.h │ ├── QhullQh.cpp │ ├── QhullQh.h │ ├── QhullRidge.cpp │ ├── QhullRidge.h │ ├── QhullSet.cpp │ ├── QhullSet.h │ ├── QhullSets.h │ ├── QhullStat.cpp │ ├── QhullStat.h │ ├── QhullVertex.cpp │ ├── QhullVertex.h │ ├── QhullVertexSet.cpp │ ├── QhullVertexSet.h │ ├── RboxPoints.cpp │ ├── RboxPoints.h │ ├── RoadError.cpp │ ├── RoadError.h │ ├── RoadLogEvent.cpp │ ├── RoadLogEvent.h │ ├── UsingLibQhull.cpp │ ├── UsingLibQhull.h │ ├── functionObjects.h │ ├── libqhullcpp.pro │ ├── qhull_interface.cpp │ └── qt-qhull.cpp │ ├── libqhullp │ ├── libqhullp.pro │ └── qhull_p-exports.def │ ├── libqhullstatic │ └── libqhullstatic.pro │ ├── libqhullstaticp │ └── libqhullstaticp.pro │ ├── qconvex │ ├── qconvex.c │ └── qconvex.pro │ ├── qdelaunay │ ├── qdelaun.c │ └── qdelaunay.pro │ ├── qhalf │ ├── qhalf.c │ └── qhalf.pro │ ├── qhull-all.pro │ ├── qhull-app-c.pri │ ├── qhull-app-cpp.pri │ ├── qhull-app-shared.pri │ ├── qhull-app-sharedp.pri │ ├── qhull-libqhull-src.pri │ ├── qhull-warn.pri │ ├── qhull │ ├── qhull.pro │ └── unix.c │ ├── qhulltest │ ├── Coordinates_test.cpp │ ├── PointCoordinates_test.cpp │ ├── Point_test.cpp │ ├── QhullFacetList_test.cpp │ ├── QhullFacetSet_test.cpp │ ├── QhullFacet_test.cpp │ ├── QhullHyperplane_test.cpp │ ├── QhullLinkedList_test.cpp │ ├── QhullPointSet_test.cpp │ ├── QhullPoint_test.cpp │ ├── QhullPoints_test.cpp │ ├── QhullRidge_test.cpp │ ├── QhullSet_test.cpp │ ├── QhullVertexSet_test.cpp │ ├── QhullVertex_test.cpp │ ├── Qhull_test.cpp │ ├── RboxPoints_test.cpp │ ├── RoadTest.cpp │ ├── RoadTest.h │ ├── UsingLibQhull_test.cpp │ ├── qhulltest.cpp │ └── qhulltest.pro │ ├── qvoronoi │ ├── qvoronoi.c │ └── qvoronoi.pro │ ├── rbox │ ├── rbox.c │ └── rbox.pro │ ├── testqset │ ├── testqset.c │ └── testqset.pro │ ├── user_eg │ ├── user_eg.c │ └── user_eg.pro │ ├── user_eg2 │ ├── user_eg2.c │ └── user_eg2.pro │ └── user_eg3 │ ├── user_eg3.cpp │ └── user_eg3.pro ├── src ├── Collision │ ├── Graspit │ │ ├── collisionAlgorithms.cpp │ │ ├── collisionModel.cpp │ │ └── graspitCollision.cpp │ ├── PQP │ │ └── PQPCollision.cpp │ └── collisionInterface.cpp ├── DBase │ ├── DBPlanner │ │ ├── database.cpp │ │ ├── ros_database_manager.cpp │ │ └── sql_database_manager.cpp │ ├── compliantGraspCopyTask.cpp │ ├── dbase_grasp.cpp │ ├── graspClusteringTask.cpp │ ├── graspPlanningTask.cpp │ ├── graspTransferCheckTask.cpp │ ├── graspit_db_grasp.cpp │ ├── graspit_db_model.cpp │ ├── graspit_db_planner.cpp │ ├── preGraspCheckTask.cpp │ ├── tableCheckTask.cpp │ └── taskDispatcher.cpp ├── EGPlanner │ ├── egPlanner.cpp │ ├── energy │ │ ├── autoGraspQualityEnergy.cpp │ │ ├── compliantEnergy.cpp │ │ ├── contactEnergy.cpp │ │ ├── dynamicAutoGraspEnergy.cpp │ │ ├── guidedAutoGraspEnergy.cpp │ │ ├── guidedPotentialQualityEnergy.cpp │ │ ├── potentialQualityEnergy.cpp │ │ ├── searchEnergy.cpp │ │ ├── searchEnergyFactory.cpp │ │ └── strictAutoGraspEnergy.cpp │ ├── graspTesterThread.cpp │ ├── guidedPlanner.cpp │ ├── listPlanner.cpp │ ├── loopPlanner.cpp │ ├── onLineGraspInterface.cpp │ ├── onLinePlanner.cpp │ ├── searchState.cpp │ ├── searchStateImpl.cpp │ ├── simAnn.cpp │ ├── simAnnParams.cpp │ ├── simAnnPlanner.cpp │ └── timeTest.cpp ├── Planner │ ├── grasp_coordinates.cpp │ ├── grasp_directions.cpp │ ├── grasp_grasps.cpp │ ├── grasp_manager.cpp │ ├── grasp_planner.cpp │ ├── grasp_presenter.cpp │ ├── grasp_preshape.cpp │ ├── grasp_tester.cpp │ └── grasp_visualization.cpp ├── SoArrow.cpp ├── SoComplexShape.cpp ├── SoTorquePointer.cpp ├── arch.cpp ├── bBox.cpp ├── body.cpp ├── bodySensor.cpp ├── contact │ ├── contact.cpp │ ├── pointContact.cpp │ ├── softContact.cpp │ ├── virtualContact.cpp │ └── virtualContactOnObject.cpp ├── contactSetting.cpp ├── dlfcn-win32.cpp ├── dof.cpp ├── dynamics │ ├── bulletDynamics.cpp │ ├── dynJoint.cpp │ ├── dynamics.cpp │ └── graspitDynamics.cpp ├── eigenGrasp.cpp ├── flockTransform.cpp ├── gloveInterface.cpp ├── grasp.cpp ├── graspRecord.cpp ├── graspSolver.cpp ├── graspitApp.cpp ├── graspitCore.cpp ├── graspitParser.cpp ├── graspitServer.cpp ├── gws.cpp ├── gwsprojection.cpp ├── images │ ├── collide.xpm │ ├── editcopy │ ├── editcut │ ├── editpaste │ ├── filenew │ ├── filenew.xpm │ ├── fileopen │ ├── fileopen.xpm │ ├── filesave │ ├── filesave.xpm │ ├── logo.png │ ├── mark.xpm │ ├── nocollide.xpm │ ├── pause.xpm │ ├── play.xpm │ ├── prevMark.xpm │ ├── print │ ├── redo │ ├── rotateTool.xpm │ ├── searchfind │ ├── selectTool.xpm │ ├── splash.jpg │ ├── translateTool.xpm │ └── undo ├── ivmgr.cpp ├── jacobian.cpp ├── joint.cpp ├── kinematicChain.cpp ├── lmiOptimizer.cpp ├── main.cpp ├── material.cpp ├── math │ ├── cgal_qp.cpp │ ├── gurobi.cpp │ ├── matrix.cpp │ ├── mosek_qp.cpp │ └── qpoases.cpp ├── matvec.cpp ├── matvecIO.cpp ├── maxdet_src.cpp ├── mytools.cpp ├── plugin.cpp ├── ply │ ├── mesh_loader.cpp │ └── ply.c ├── pointers.iv ├── profiling.cpp ├── quality │ ├── qualEpsilon.cpp │ ├── qualPCR.cpp │ ├── qualPGR.cpp │ ├── qualVolume.cpp │ └── quality.cpp ├── robot.cpp ├── robots │ ├── barrett.cpp │ ├── humanHand.cpp │ ├── m7.cpp │ ├── m7tool.cpp │ ├── mcGrip.cpp │ ├── pincer.cpp │ ├── pr2Gripper.cpp │ ├── puma560.cpp │ ├── robonaut.cpp │ ├── robotiq.cpp │ └── shadow.cpp ├── scanSimulator.cpp ├── transform.cpp ├── triangle.cpp ├── world.cpp ├── worldElement.cpp └── worldElementFactory.cpp ├── test ├── eigen_tests.cpp ├── graspit_collision_tests.cpp ├── primative_planner_tests.cpp └── transform_tests.cpp ├── tinyxml ├── tinystr.h ├── tinyxml.h └── tinyxmlparser.cpp ├── ui ├── DBase │ ├── dbaseDlg.cpp │ ├── dbaseDlg.h │ ├── dbaseDlg.ui │ ├── dbasePlannerDlg.cpp │ ├── dbasePlannerDlg.h │ └── dbasePlannerDlg.ui ├── EGPlanner │ ├── compliantPlannerDlg.cpp │ ├── compliantPlannerDlg.h │ ├── compliantPlannerDlg.ui │ ├── egPlannerDlg.cpp │ ├── egPlannerDlg.h │ └── egPlannerDlg.ui ├── Planner │ ├── plannerdlg.cpp │ ├── plannerdlg.h │ └── plannerdlg.ui ├── about.ui ├── archBuilderDlg.cpp ├── archBuilderDlg.h ├── archBuilderDlg.ui ├── barrettHandDlg.cpp ├── barrettHandDlg.h ├── barrettHandDlg.ui ├── bodyPropDlg.cpp ├── bodyPropDlg.h ├── bodyPropDlg.ui ├── contactExaminerDlg.cpp ├── contactExaminerDlg.h ├── contactExaminerDlg.ui ├── eigenGraspDlg.cpp ├── eigenGraspDlg.h ├── eigenGraspDlg.ui ├── gfoDlg.cpp ├── gfoDlg.h ├── gfoDlg.ui ├── gloveCalibrationDlg.cpp ├── gloveCalibrationDlg.h ├── 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