├── .gitattributes ├── .gitignore ├── .pre-commit-config.yaml ├── LICENSE ├── MANIFEST.in ├── README.md ├── docs ├── .buildinfo ├── .nojekyll ├── _modules │ ├── index.html │ └── pykin │ │ ├── geometry │ │ ├── frame.html │ │ └── geometry.html │ │ ├── kinematics │ │ ├── jacobian.html │ │ ├── kinematics.html │ │ └── transform.html │ │ ├── models │ │ ├── robot_model.html │ │ └── urdf_model.html │ │ ├── planners │ │ ├── planner.html │ │ ├── rrt_star_planner.html │ │ └── tree.html │ │ ├── robot.html │ │ ├── robots │ │ ├── bimanual.html │ │ ├── robot.html │ │ └── single_arm.html │ │ └── utils │ │ ├── error_utils.html │ │ ├── fcl_utils.html │ │ ├── kin_utils.html │ │ ├── obstacle_utils.html │ │ ├── plot_utils.html │ │ ├── transform_utils.html │ │ └── urdf_utils.html ├── _sources │ ├── README.rst.txt │ ├── index.rst.txt │ ├── modules.rst.txt │ ├── pykin.geometry.rst.txt │ ├── pykin.kinematics.rst.txt │ ├── pykin.models.rst.txt │ ├── pykin.planners.rst.txt │ ├── pykin.robots.rst.txt │ ├── pykin.rst.txt │ └── pykin.utils.rst.txt ├── _static │ ├── alabaster.css │ ├── basic.css │ ├── css │ │ ├── badge_only.css │ │ ├── fonts │ │ │ ├── Roboto-Slab-Bold.woff │ │ │ ├── Roboto-Slab-Bold.woff2 │ │ │ ├── Roboto-Slab-Regular.woff │ │ │ ├── Roboto-Slab-Regular.woff2 │ │ │ ├── fontawesome-webfont.eot │ │ │ ├── fontawesome-webfont.svg │ │ │ ├── fontawesome-webfont.ttf │ │ │ ├── fontawesome-webfont.woff │ │ │ ├── fontawesome-webfont.woff2 │ │ │ ├── lato-bold-italic.woff │ │ │ ├── lato-bold-italic.woff2 │ │ │ ├── lato-bold.woff │ │ │ ├── lato-bold.woff2 │ │ │ ├── lato-normal-italic.woff │ │ │ ├── lato-normal-italic.woff2 │ │ │ ├── lato-normal.woff │ │ │ └── lato-normal.woff2 │ │ └── theme.css │ ├── custom.css │ ├── doctools.js │ ├── documentation_options.js │ ├── file.png │ ├── jquery-3.5.1.js │ ├── jquery.js │ ├── js │ │ ├── badge_only.js │ │ ├── html5shiv-printshiv.min.js │ │ ├── html5shiv.min.js │ │ └── theme.js │ ├── language_data.js │ ├── minus.png │ ├── plus.png │ ├── pygments.css │ ├── searchtools.js │ ├── underscore-1.13.1.js │ └── underscore.js ├── genindex.html ├── index.html ├── modules.html ├── objects.inv ├── py-modindex.html ├── pykin.geometry.html ├── pykin.html ├── pykin.kinematics.html ├── pykin.models.html ├── pykin.planners.html ├── pykin.robots.html ├── pykin.utils.html ├── search.html ├── searchindex.js └── source │ └── conf.py ├── img ├── all_robots.png ├── baxter.png ├── baxter_collision.png ├── baxter_mesh.png ├── baxter_plot_collision.png ├── baxter_plot_visual.png ├── baxter_scene.png ├── baxter_scene_matplotlib.png ├── gabo_ik.png ├── gabo_target.png ├── grasp01.png ├── grasp02.png ├── iiwa14.png ├── iiwa14_collision.png ├── iiwa14_mesh.png ├── iiwa14_scene.png ├── iiwa14_scene_matplotlib.png ├── iiwa14_visual.png ├── panda.png ├── panda_attach.png ├── panda_cartesian_planning.gif ├── panda_collision.png ├── panda_detach.png ├── panda_mesh.png ├── panda_move.png ├── panda_move_attached.png ├── panda_rrt_planning.gif ├── panda_scene.png ├── panda_scene_matplotlib.png ├── panda_visual.png ├── pnp_pose.png ├── pnp_result.png ├── robot_and_object.png ├── robot_and_object_result.png ├── sawyer.png ├── sawyer_cartesian.gif ├── sawyer_collision.png ├── sawyer_collision_result.png ├── sawyer_mesh.png ├── sawyer_mesh_collision.png ├── sawyer_rrt.gif ├── sawyer_scene.png ├── sawyer_scene_matplotlib.png ├── sawyer_visual.png ├── self_collision.png ├── self_collision_result.png ├── sim_result.png ├── ur5e.png ├── ur5e_collision.png └── ur5e_visual.png ├── pykin ├── __init__.py ├── _version.py ├── assets │ ├── __init__.py │ ├── config │ │ ├── baxter_init_params.yaml │ │ ├── doosan_init_params.yaml │ │ ├── fanuc_init_params.yaml │ │ ├── iiwa14_init_params.yaml │ │ ├── iiwa7_init_params.yaml │ │ ├── panda_init_params.yaml │ │ ├── sawyer_init_params.yaml │ │ └── ur5e_init_params.yaml │ ├── objects │ │ ├── arch_box.xml │ │ ├── ben_cubeA.xml │ │ ├── ben_cubeB.xml │ │ ├── ben_cubeC.xml │ │ ├── ben_cubeD.xml │ │ ├── ben_cubeE.xml │ │ ├── ben_cubeF.xml │ │ ├── ben_cubeG.xml │ │ ├── ben_cubeH.xml │ │ ├── ben_cubeI.xml │ │ ├── ben_cubeJ.xml │ │ ├── ben_table.xml │ │ ├── ben_table_ceiling.xml │ │ ├── ben_tray_blue.xml │ │ ├── ben_tray_red.xml │ │ ├── bin.xml │ │ ├── bottle.xml │ │ ├── bread-visual.xml │ │ ├── bread.xml │ │ ├── can-visual.xml │ │ ├── can.xml │ │ ├── cereal-visual.xml │ │ ├── cereal.xml │ │ ├── clearbox.xml │ │ ├── clearbox_org.xml │ │ ├── custom_cylinder.xml │ │ ├── custom_table.xml │ │ ├── door.xml │ │ ├── door_lock.xml │ │ ├── goal_box.xml │ │ ├── hanoi_disk.xml │ │ ├── hanoi_disk_old.xml │ │ ├── hanoi_peg.xml │ │ ├── lemon.xml │ │ ├── meshes │ │ │ ├── arch_box.stl │ │ │ ├── arch_box_0.stl │ │ │ ├── arch_box_1.stl │ │ │ ├── arch_box_2.stl │ │ │ ├── ben_cube.stl │ │ │ ├── ben_cube_old.stl │ │ │ ├── ben_table.stl │ │ │ ├── ben_table_ceiling.stl │ │ │ ├── ben_tray_blue.stl │ │ │ ├── ben_tray_red.stl │ │ │ ├── bin.stl │ │ │ ├── bin_0.stl │ │ │ ├── bin_1.stl │ │ │ ├── bin_10.stl │ │ │ ├── bin_11.stl │ │ │ ├── bin_12.stl │ │ │ ├── bin_13.stl │ │ │ ├── bin_14.stl │ │ │ ├── bin_15.stl │ │ │ ├── bin_16.stl │ │ │ ├── bin_17.stl │ │ │ ├── bin_18.stl │ │ │ ├── bin_19.stl │ │ │ ├── bin_2.stl │ │ │ ├── bin_3.stl │ │ │ ├── bin_4.stl │ │ │ ├── bin_5.stl │ │ │ ├── bin_6.stl │ │ │ ├── bin_7.stl │ │ │ ├── bin_8.stl │ │ │ ├── bin_9.stl │ │ │ ├── bottle.mtl │ │ │ ├── bottle.obj │ │ │ ├── bottle.stl │ │ │ ├── bread.mtl │ │ │ ├── bread.obj │ │ │ ├── bread.stl │ │ │ ├── can.mtl │ │ │ ├── can.obj │ │ │ ├── can.stl │ │ │ ├── cereal.mtl │ │ │ ├── cereal.obj │ │ │ ├── cereal.stl │ │ │ ├── clearbox.stl │ │ │ ├── clearbox_0.stl │ │ │ ├── clearbox_1.stl │ │ │ ├── clearbox_10.stl │ │ │ ├── clearbox_11.stl │ │ │ ├── clearbox_12.stl │ │ │ ├── clearbox_13.stl │ │ │ ├── clearbox_14.stl │ │ │ ├── clearbox_15.stl │ │ │ ├── clearbox_16.stl │ │ │ ├── clearbox_17.stl │ │ │ ├── clearbox_18.stl │ │ │ ├── clearbox_19.stl │ │ │ ├── clearbox_2.stl │ │ │ ├── clearbox_3.stl │ │ │ ├── clearbox_4.stl │ │ │ ├── clearbox_5.stl │ │ │ ├── clearbox_6.stl │ │ │ ├── clearbox_7.stl │ │ │ ├── clearbox_8.stl │ │ │ ├── clearbox_9.stl │ │ │ ├── cube.obj │ │ │ ├── custom_table.stl │ │ │ ├── cylinder.obj │ │ │ ├── fence.STL │ │ │ ├── goal_box.stl │ │ │ ├── half_cylinder_box.stl │ │ │ ├── handles.mtl │ │ │ ├── handles.obj │ │ │ ├── handles.stl │ │ │ ├── hanoi_disk.stl │ │ │ ├── hanoi_disk_0.stl │ │ │ ├── hanoi_disk_1.stl │ │ │ ├── hanoi_disk_2.stl │ │ │ ├── hanoi_disk_3.stl │ │ │ ├── hanoi_disk_4.stl │ │ │ ├── hanoi_disk_5.stl │ │ │ ├── hanoi_disk_6.stl │ │ │ ├── hanoi_disk_old.stl │ │ │ ├── hanoi_peg.stl │ │ │ ├── lemon.mtl │ │ │ ├── lemon.obj │ │ │ ├── lemon.stl │ │ │ ├── milk.mtl │ │ │ ├── milk.obj │ │ │ ├── milk.stl │ │ │ ├── rect_box.stl │ │ │ ├── round-nut.stl │ │ │ ├── shelf.obj │ │ │ ├── shelf.stl │ │ │ ├── shelf1.obj │ │ │ ├── shelf1.stl │ │ │ ├── shelf_0.stl │ │ │ ├── shelf_1.stl │ │ │ ├── shelf_10.stl │ │ │ ├── shelf_11.stl │ │ │ ├── shelf_12.stl │ │ │ ├── shelf_13.stl │ │ │ ├── shelf_14.stl │ │ │ ├── shelf_15.stl │ │ │ ├── shelf_16.stl │ │ │ ├── shelf_17.stl │ │ │ ├── shelf_18.stl │ │ │ ├── shelf_19.stl │ │ │ ├── shelf_2.stl │ │ │ ├── shelf_3.stl │ │ │ ├── shelf_4.stl │ │ │ ├── shelf_5.stl │ │ │ ├── shelf_6.stl │ │ │ ├── shelf_7.stl │ │ │ ├── shelf_8.stl │ │ │ ├── shelf_9.stl │ │ │ ├── shelf_old.stl │ │ │ ├── sphere8.obj │ │ │ ├── square-nut.stl │ │ │ ├── square_box.stl │ │ │ ├── triangle_box.stl │ │ │ └── twin_tower_goal.stl │ │ ├── milk-visual.xml │ │ ├── milk.xml │ │ ├── plate-with-hole.xml │ │ ├── round-nut.xml │ │ ├── shelf.xml │ │ ├── shelf_old.xml │ │ ├── square-nut.xml │ │ └── square_box.xml │ └── urdf │ │ ├── .gitignore │ │ ├── baxter │ │ ├── baxter.urdf │ │ └── meshes │ │ │ ├── base │ │ │ ├── PEDESTAL.dae │ │ │ ├── PEDESTAL.stl │ │ │ ├── pedestal_link_collision.dae │ │ │ └── pedestal_link_collision.stl │ │ │ ├── head │ │ │ ├── H0.stl │ │ │ └── H1.stl │ │ │ ├── lower_elbow │ │ │ └── E1.stl │ │ │ ├── lower_forearm │ │ │ └── W1.stl │ │ │ ├── lower_shoulder │ │ │ └── S1.stl │ │ │ ├── torso │ │ │ ├── base_link.stl │ │ │ └── base_link_collision.stl │ │ │ ├── upper_elbow │ │ │ └── E0.stl │ │ │ ├── upper_forearm │ │ │ └── W0.stl │ │ │ ├── upper_shoulder │ │ │ └── S0.stl │ │ │ └── wrist │ │ │ └── W2.stl │ │ ├── doosan │ │ ├── doosan.urdf │ │ ├── doosan_a0509_blue.urdf │ │ ├── doosan_with_robotiq140.urdf │ │ └── meshes │ │ │ ├── a0509_blue │ │ │ ├── A0509_0_0.stl │ │ │ ├── A0509_1_0.stl │ │ │ ├── A0509_1_1.stl │ │ │ ├── A0509_1_2.stl │ │ │ ├── A0509_2_0.stl │ │ │ ├── A0509_2_1.stl │ │ │ ├── A0509_2_2.stl │ │ │ ├── A0509_3_0.stl │ │ │ ├── A0509_3_1.stl │ │ │ ├── A0509_4_0.stl │ │ │ ├── A0509_4_1.stl │ │ │ ├── A0509_5_0.stl │ │ │ ├── A0509_5_1.stl │ │ │ └── A0509_6_0.stl │ │ │ ├── a0912_blue │ │ │ ├── A0912_0_0.stl │ │ │ ├── A0912_1_0.stl │ │ │ ├── A0912_1_1.stl │ │ │ ├── A0912_1_2.stl │ │ │ ├── A0912_2_0.stl │ │ │ ├── A0912_2_1.stl │ │ │ ├── A0912_2_2.stl │ │ │ ├── A0912_3_0.stl │ │ │ ├── A0912_3_1.stl │ │ │ ├── A0912_4_0.stl │ │ │ ├── A0912_4_1.stl │ │ │ ├── A0912_5_0.stl │ │ │ ├── A0912_5_1.stl │ │ │ └── A0912_6_0.stl │ │ │ ├── collision │ │ │ ├── robotiq_arg2f_140_inner_finger.stl │ │ │ ├── robotiq_arg2f_140_inner_knuckle.stl │ │ │ ├── robotiq_arg2f_140_outer_finger.stl │ │ │ ├── robotiq_arg2f_140_outer_knuckle.stl │ │ │ ├── robotiq_arg2f_base_link.stl │ │ │ └── robotiq_arg2f_coupling.stl │ │ │ ├── doosan_pedestal │ │ │ ├── pedestal.DAE │ │ │ └── pedestal.STL │ │ │ └── visual │ │ │ ├── robotiq_arg2f_140_inner_finger.stl │ │ │ ├── robotiq_arg2f_140_inner_knuckle.stl │ │ │ ├── robotiq_arg2f_140_outer_finger.stl │ │ │ ├── robotiq_arg2f_140_outer_knuckle.stl │ │ │ ├── robotiq_arg2f_base_link.stl │ │ │ └── robotiq_arg2f_coupling.stl │ │ ├── fanuc │ │ ├── fanuc_r2000ic_165f.urdf │ │ └── meshes │ │ │ └── r2000ic165f │ │ │ ├── collision │ │ │ ├── base_link.stl │ │ │ ├── link_1.stl │ │ │ ├── link_2.stl │ │ │ ├── link_3.stl │ │ │ ├── link_4.stl │ │ │ ├── link_5.stl │ │ │ └── link_6.stl │ │ │ ├── link_1.stl │ │ │ └── visual │ │ │ ├── base_link.stl │ │ │ ├── link_1.stl │ │ │ ├── link_2.stl │ │ │ ├── link_3.stl │ │ │ ├── link_4.stl │ │ │ ├── link_5.stl │ │ │ └── link_6.stl │ │ ├── gripper │ │ ├── mesh │ │ │ └── robotiq_140 │ │ │ │ ├── collision │ │ │ │ ├── robotiq_arg2f_140_inner_finger.stl │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle.stl │ │ │ │ ├── robotiq_arg2f_140_outer_finger.stl │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle.stl │ │ │ │ ├── robotiq_arg2f_base_link.stl │ │ │ │ └── robotiq_arg2f_coupling.stl │ │ │ │ └── visual │ │ │ │ ├── robotiq_arg2f_140_inner_finger.stl │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle.stl │ │ │ │ ├── robotiq_arg2f_140_outer_finger.stl │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle.stl │ │ │ │ ├── robotiq_arg2f_base_link.stl │ │ │ │ └── robotiq_arg2f_coupling.stl │ │ └── robotiq_140_gripper.urdf │ │ ├── iiwa14 │ │ ├── iiwa14.urdf │ │ └── meshes │ │ │ ├── collision │ │ │ ├── link_0.stl │ │ │ ├── link_0_s.stl │ │ │ ├── link_1.stl │ │ │ ├── link_1_s.stl │ │ │ ├── link_2.stl │ │ │ ├── link_2_s.stl │ │ │ ├── link_3.stl │ │ │ ├── link_3_s.stl │ │ │ ├── link_4.stl │ │ │ ├── link_4_s.stl │ │ │ ├── link_5.stl │ │ │ ├── link_5_s.stl │ │ │ ├── link_6.stl │ │ │ ├── link_6_s.stl │ │ │ ├── link_7-MF-Touch-pneumatisch.stl │ │ │ ├── link_7-MF-Touch-pneumatisch_s.stl │ │ │ ├── link_7.stl │ │ │ └── link_7_s.stl │ │ │ ├── iiwa14_pedestal │ │ │ ├── pedestal.DAE │ │ │ └── pedestal.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-MF-Touch-pneumatisch.stl │ │ │ └── link_7.stl │ │ ├── iiwa7 │ │ ├── iiwa7.urdf │ │ └── meshes │ │ │ ├── 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 │ │ │ ├── robotiq_arg2f_140_inner_finger.stl │ │ │ ├── robotiq_arg2f_140_inner_knuckle.stl │ │ │ ├── robotiq_arg2f_140_outer_finger.stl │ │ │ ├── robotiq_arg2f_140_outer_knuckle.stl │ │ │ ├── robotiq_arg2f_base_link.stl │ │ │ └── robotiq_arg2f_coupling.stl │ │ │ ├── iiwa7_pedestal │ │ │ ├── pedestal.DAE │ │ │ └── pedestal.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 │ │ │ ├── robotiq_arg2f_140_inner_finger.stl │ │ │ ├── robotiq_arg2f_140_inner_knuckle.stl │ │ │ ├── robotiq_arg2f_140_outer_finger.stl │ │ │ ├── robotiq_arg2f_140_outer_knuckle.stl │ │ │ ├── robotiq_arg2f_base_link.stl │ │ │ └── robotiq_arg2f_coupling.stl │ │ ├── panda │ │ ├── meshes │ │ │ ├── base │ │ │ │ ├── PEDESTAL.dae │ │ │ │ ├── PEDESTAL.stl │ │ │ │ ├── pedestal_link_collision.dae │ │ │ │ └── pedestal_link_collision.stl │ │ │ ├── collision │ │ │ │ ├── finger.stl │ │ │ │ ├── hand.stl │ │ │ │ ├── link0.stl │ │ │ │ ├── link1.stl │ │ │ │ ├── link2.stl │ │ │ │ ├── link3.stl │ │ │ │ ├── link4.stl │ │ │ │ ├── link5.stl │ │ │ │ ├── link6.stl │ │ │ │ └── link7.stl │ │ │ ├── panda_pedestal │ │ │ │ ├── pedestal.DAE │ │ │ │ └── pedestal.STL │ │ │ └── visual │ │ │ │ ├── finger.stl │ │ │ │ ├── hand.stl │ │ │ │ ├── link0.stl │ │ │ │ ├── link1.stl │ │ │ │ ├── link2.stl │ │ │ │ ├── link3.stl │ │ │ │ ├── link4.stl │ │ │ │ ├── link5.stl │ │ │ │ ├── link6.stl │ │ │ │ └── link7.stl │ │ └── panda.urdf │ │ ├── sawyer │ │ ├── meshes │ │ │ ├── sawyer_ft │ │ │ │ ├── PEDESTAL.DAE │ │ │ │ ├── PEDESTAL.STL │ │ │ │ ├── base.DAE │ │ │ │ ├── base.STL │ │ │ │ ├── head.DAE │ │ │ │ ├── head.STL │ │ │ │ ├── l0.DAE │ │ │ │ ├── l0.STL │ │ │ │ ├── l1.DAE │ │ │ │ ├── l1.STL │ │ │ │ ├── l2.DAE │ │ │ │ ├── l2.STL │ │ │ │ ├── l3.DAE │ │ │ │ ├── l3.STL │ │ │ │ ├── l4.DAE │ │ │ │ ├── l4.STL │ │ │ │ ├── l5.DAE │ │ │ │ ├── l5.STL │ │ │ │ ├── l6.DAE │ │ │ │ └── l6.STL │ │ │ ├── sawyer_mp1 │ │ │ │ ├── l6.DAE │ │ │ │ └── l6.STL │ │ │ ├── sawyer_mp3 │ │ │ │ ├── l0.DAE │ │ │ │ ├── l0.STL │ │ │ │ ├── l1.DAE │ │ │ │ └── l1.STL │ │ │ └── sawyer_pv │ │ │ │ ├── base.DAE │ │ │ │ ├── base.STL │ │ │ │ ├── head.DAE │ │ │ │ ├── head.STL │ │ │ │ ├── l0.DAE │ │ │ │ ├── l0.STL │ │ │ │ ├── l1.DAE │ │ │ │ ├── l1.STL │ │ │ │ ├── l2.DAE │ │ │ │ ├── l2.STL │ │ │ │ ├── l3.DAE │ │ │ │ ├── l3.STL │ │ │ │ ├── l4.DAE │ │ │ │ ├── l4.STL │ │ │ │ ├── l5.DAE │ │ │ │ ├── l5.STL │ │ │ │ ├── l6.DAE │ │ │ │ ├── l6.STL │ │ │ │ ├── pedestal.DAE │ │ │ │ └── pedestal.STL │ │ └── sawyer.urdf │ │ └── ur5e │ │ ├── meshes │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── robotiq_arg2f_140_inner_finger.stl │ │ │ ├── robotiq_arg2f_140_inner_knuckle.stl │ │ │ ├── robotiq_arg2f_140_outer_finger.stl │ │ │ ├── robotiq_arg2f_140_outer_knuckle.stl │ │ │ ├── robotiq_arg2f_base_link.stl │ │ │ ├── robotiq_arg2f_coupling.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ ├── ur5e_pedestal │ │ │ ├── pedestal.DAE │ │ │ └── pedestal.STL │ │ └── visual │ │ │ ├── base_vis.stl │ │ │ ├── forearm_vis.stl │ │ │ ├── robotiq_arg2f_140_inner_finger.stl │ │ │ ├── robotiq_arg2f_140_inner_knuckle.stl │ │ │ ├── robotiq_arg2f_140_outer_finger.stl │ │ │ ├── robotiq_arg2f_140_outer_knuckle.stl │ │ │ ├── robotiq_arg2f_base_link.stl │ │ │ ├── robotiq_arg2f_coupling.stl │ │ │ ├── shoulder_vis.stl │ │ │ ├── upperarm_vis.stl │ │ │ ├── wrist1_vis.stl │ │ │ ├── wrist2_vis.stl │ │ │ └── wrist3_vis.stl │ │ ├── ur5e.urdf │ │ └── ur5e_with_robotiq140.urdf ├── collision │ ├── __init__.py │ └── collision_manager.py ├── examples │ ├── __init__.py │ ├── bimanual_robot_jacobian.py │ ├── forward_kinematics │ │ ├── __init__.py │ │ ├── robot_fk_baxter_test.py │ │ ├── robot_fk_doosan_test.py │ │ ├── robot_fk_fanuc_test.py │ │ ├── robot_fk_iiwa14_test.py │ │ ├── robot_fk_iiwa7_test.py │ │ ├── robot_fk_panda_test.py │ │ ├── robot_fk_sawyer_test.py │ │ └── robot_fk_ur5e_test.py │ ├── gripper_test.py │ ├── inverse_kinematics │ │ ├── __init__.py │ │ ├── robot_ik_baxter_test.py │ │ ├── robot_ik_doosan_0509_test.py │ │ ├── robot_ik_doosan_test.py │ │ ├── robot_ik_fanuc_test.py │ │ ├── robot_ik_gabo_test.py │ │ ├── robot_ik_iiwa14_test.py │ │ ├── robot_ik_iiwa7_test.py │ │ ├── robot_ik_panda_test.py │ │ ├── robot_ik_sawyer_test.py │ │ └── robot_ik_ur5e_test.py │ ├── robot_info.py │ ├── single_robot_jacobian.py │ └── trimesh_renders │ │ ├── __init__.py │ │ ├── all_robot_renders.py │ │ ├── baxter_render.py │ │ ├── doosan_0509_render.py │ │ ├── doosan_render.py │ │ ├── fanuc_render.py │ │ ├── iiwa14_render.py │ │ ├── iiwa7_render.py │ │ ├── panda_render.py │ │ ├── sawyer_render.py │ │ └── ur5e_render.py ├── geometry │ ├── __init__.py │ ├── frame.py │ └── geometry.py ├── kinematics │ ├── __init__.py │ ├── jacobian.py │ ├── kinematics.py │ └── transform.py ├── models │ ├── __init__.py │ ├── robot_model.py │ ├── urdf_joint.py │ ├── urdf_link.py │ └── urdf_model.py ├── robots │ ├── __init__.py │ ├── bimanual.py │ ├── gripper.py │ ├── robot.py │ └── single_arm.py └── utils │ ├── __init__.py │ ├── error_utils.py │ ├── gabo │ ├── README.md │ ├── __init__.py │ ├── gabo_util.py │ ├── module │ │ ├── __init__.py │ │ ├── approximate_hessian.py │ │ ├── kernels_torus.py │ │ ├── manifold_optimize.py │ │ ├── robust_trust_regions.py │ │ ├── torus.py │ │ └── util │ │ │ ├── __init__.py │ │ │ ├── jacobi_theta_functions.py │ │ │ └── sphere_utils_torch.py │ └── requirements.txt │ ├── kin_utils.py │ ├── log_utils.py │ ├── mesh_utils.py │ ├── plot_utils.py │ └── transform_utils.py ├── setup.py └── tutorials ├── 01_robot_Info.ipynb ├── 02_robot_FK.ipynb ├── 03_robot_IK.ipynb ├── 04_robot_collision.ipynb ├── 04_robot_collision_fanuc.ipynb └── 05_transform_test.ipynb /.gitattributes: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jdj2261/pykin/HEAD/.gitattributes -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 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