├── .github ├── build-wheels.sh ├── dev_requirements.txt └── workflows │ ├── python-publish.yml │ ├── python_publish_linux.yml │ └── pythonpackage.yml ├── .gitignore ├── LICENSE ├── MANIFEST.in ├── README.md ├── RELEASE ├── docs ├── Makefile └── source │ ├── arm_dh.rst │ ├── arm_ets.rst │ ├── conf.py │ ├── figs │ ├── animate.gif │ ├── fig1.png │ ├── transforms2d.png │ └── transforms3d.png │ ├── index.rst │ └── intro.rst ├── examples ├── ETS1G.py ├── ETS2.py ├── RRMC.py ├── UR5.py ├── __init__.py ├── chap7.ipynb ├── plot.py ├── teach.py ├── vellipse.py └── wx250s.py ├── ropy ├── __init__.py ├── backend │ ├── Connector.py │ ├── PyPlot │ │ ├── EllipsePlot.py │ │ ├── PyPlot.py │ │ ├── PyPlot2.py │ │ ├── RobotPlot.py │ │ ├── RobotPlot2.py │ │ ├── __init__.py │ │ └── functions.py │ ├── Sim │ │ ├── Sim.py │ │ └── __init__.py │ ├── __init__.py │ ├── api.py │ ├── urdf │ │ ├── __init__.py │ │ ├── tests │ │ │ ├── data │ │ │ │ └── ur5.urdf │ │ │ └── test_urdf.py │ │ ├── urdf.py │ │ └── utils.py │ └── xacro │ │ ├── __init__.py │ │ ├── cli.py │ │ ├── color.py │ │ ├── tests │ │ ├── CMakeLists.txt │ │ ├── broken.xacro │ │ ├── emoji.xacro │ │ ├── include1.xacro │ │ ├── include1.xml │ │ ├── include2.xacro │ │ ├── include2.xml │ │ ├── robots │ │ │ ├── README │ │ │ └── pr2 │ │ │ │ ├── base_v0 │ │ │ │ ├── base.gazebo.xacro │ │ │ │ ├── base.transmission.xacro │ │ │ │ └── base.urdf.xacro │ │ │ │ ├── common.xacro │ │ │ │ ├── forearm_v0 │ │ │ │ ├── forearm.gazebo.xacro │ │ │ │ ├── forearm.transmission.xacro │ │ │ │ └── forearm.urdf.xacro │ │ │ │ ├── gazebo │ │ │ │ └── gazebo.urdf.xacro │ │ │ │ ├── gripper_v0 │ │ │ │ ├── gripper.gazebo.xacro │ │ │ │ ├── gripper.transmission.xacro │ │ │ │ └── gripper.urdf.xacro │ │ │ │ ├── head_v0 │ │ │ │ ├── head.gazebo.xacro │ │ │ │ ├── head.transmission.xacro │ │ │ │ └── head.urdf.xacro │ │ │ │ ├── materials.urdf.xacro │ │ │ │ ├── pr2.urdf.xacro │ │ │ │ ├── pr2_1.11.4.xml │ │ │ │ ├── sensors │ │ │ │ ├── double_stereo_camera.gazebo.xacro │ │ │ │ ├── double_stereo_camera.urdf.xacro │ │ │ │ ├── head_sensor_package.gazebo.xacro │ │ │ │ ├── head_sensor_package.urdf.xacro │ │ │ │ ├── hokuyo_lx30_laser.gazebo.xacro │ │ │ │ ├── hokuyo_lx30_laser.urdf.xacro │ │ │ │ ├── kinect_camera.gazebo.xacro │ │ │ │ ├── kinect_camera.urdf.xacro │ │ │ │ ├── kinect_prosilica_camera.gazebo.xacro │ │ │ │ ├── kinect_prosilica_camera.urdf.xacro │ │ │ │ ├── microstrain_3dmgx2_imu.gazebo.xacro │ │ │ │ ├── microstrain_3dmgx2_imu.urdf.xacro │ │ │ │ ├── projector_wg6802418.gazebo.xacro │ │ │ │ ├── projector_wg6802418.urdf.xacro │ │ │ │ ├── prosilica_gc2450_camera.gazebo.xacro │ │ │ │ ├── prosilica_gc2450_camera.urdf.xacro │ │ │ │ ├── stereo_camera.gazebo.xacro │ │ │ │ ├── stereo_camera.urdf.xacro │ │ │ │ ├── wge100_camera.gazebo.xacro │ │ │ │ └── wge100_camera.urdf.xacro │ │ │ │ ├── shoulder_v0 │ │ │ │ ├── shoulder.gazebo.xacro │ │ │ │ ├── shoulder.transmission.xacro │ │ │ │ └── shoulder.urdf.xacro │ │ │ │ ├── tilting_laser_v0 │ │ │ │ ├── tilting_laser.gazebo.xacro │ │ │ │ ├── tilting_laser.transmission.xacro │ │ │ │ └── tilting_laser.urdf.xacro │ │ │ │ ├── torso_v0 │ │ │ │ ├── torso.gazebo.xacro │ │ │ │ ├── torso.transmission.xacro │ │ │ │ └── torso.urdf.xacro │ │ │ │ └── upper_arm_v0 │ │ │ │ ├── upper_arm.gazebo.xacro │ │ │ │ ├── upper_arm.transmission.xacro │ │ │ │ └── upper_arm.urdf.xacro │ │ ├── settings.yaml │ │ ├── subdir │ │ │ ├── foo.xacro │ │ │ ├── include-recursive.xacro │ │ │ └── include1.xml │ │ └── test_xacro.py │ │ └── xmlutils.py ├── core │ ├── frne.c │ ├── frne.h │ ├── ne.c │ ├── vmath.c │ └── vmath.h ├── models │ ├── Frankie.py │ ├── Panda.py │ ├── PandaMDH.py │ ├── PandaURDF.py │ ├── Puma560.py │ ├── UR5.py │ ├── __init__.py │ ├── mdl_lbr7.py │ ├── mdl_mico.py │ ├── mdl_panda.py │ ├── mdl_sawyer.py │ ├── wx250s.py │ └── xacro │ │ ├── interbotix │ │ ├── meshes │ │ │ ├── interbotix_black.png │ │ │ ├── meshes_px100 │ │ │ │ ├── PXA-100-M-1-Base.stl │ │ │ │ ├── PXA-100-M-2-Shoulder.stl │ │ │ │ ├── PXA-100-M-3-UA.stl │ │ │ │ ├── PXA-100-M-4-Forearm.stl │ │ │ │ ├── PXA-100-M-5-Wrist-Gripper.stl │ │ │ │ ├── PXA-100-M-6-Gripper-Prop.stl │ │ │ │ ├── PXA-100-M-7-Gripper-Bar.stl │ │ │ │ └── PXA-100-M-8-Finger.stl │ │ │ ├── meshes_px150 │ │ │ │ ├── PXA-150-M-1-Base.stl │ │ │ │ ├── PXA-150-M-2-Shoulder.stl │ │ │ │ ├── PXA-150-M-3-UA.stl │ │ │ │ ├── PXA-150-M-4-Forearm.stl │ │ │ │ ├── PXA-150-M-5-Wrist.stl │ │ │ │ ├── PXA-150-M-6-Gripper.stl │ │ │ │ ├── PXA-150-M-7-Gripper-Prop.stl │ │ │ │ ├── PXA-150-M-8-Gripper-Bar.stl │ │ │ │ └── PXA-150-M-9-Finger.stl │ │ │ ├── meshes_pxxls │ │ │ │ ├── PXT-XLS-M-1-Base.stl │ │ │ │ ├── PXT-XLS-M-2-Shoulder.stl │ │ │ │ └── PXT-XLS-M-3-Top.stl │ │ │ ├── meshes_rx150 │ │ │ │ ├── RXA-150-M-1-Base.stl │ │ │ │ ├── RXA-150-M-2-Shoulder.stl │ │ │ │ ├── RXA-150-M-3-UA.stl │ │ │ │ ├── RXA-150-M-4-Forearm.stl │ │ │ │ ├── RXA-150-M-5-Wrist.stl │ │ │ │ ├── RXA-150-M-6-Gripper.stl │ │ │ │ ├── RXA-150-M-7-Gripper-Prop.stl │ │ │ │ ├── RXA-150-M-8-Gripper-Bar.stl │ │ │ │ └── RXA-150-M-9-Finger.stl │ │ │ ├── meshes_rx200 │ │ │ │ ├── RXA-200-M-1-Base.stl │ │ │ │ ├── RXA-200-M-2-Shoulder.stl │ │ │ │ ├── RXA-200-M-3-UA.stl │ │ │ │ ├── RXA-200-M-4-Forearm.stl │ │ │ │ ├── RXA-200-M-5-Wrist.stl │ │ │ │ ├── RXA-200-M-6-Gripper.stl │ │ │ │ ├── RXA-200-M-7-Gripper-Prop.stl │ │ │ │ ├── RXA-200-M-8-Gripper-Bar.stl │ │ │ │ └── RXA-200-M-9-Finger.stl │ │ │ ├── meshes_vx250 │ │ │ │ ├── VXA-250-M-1-Base.stl │ │ │ │ ├── VXA-250-M-2-Shoulder.stl │ │ │ │ ├── VXA-250-M-3-UA.stl │ │ │ │ ├── VXA-250-M-4-Forearm.stl │ │ │ │ ├── VXA-250-M-5-Wrist.stl │ │ │ │ ├── VXA-250-M-6-Gripper.stl │ │ │ │ ├── VXA-250-M-7-Gripper-Prop.stl │ │ │ │ ├── VXA-250-M-8-Gripper-Bar.stl │ │ │ │ └── VXA-250-M-9-Finger.stl │ │ │ ├── meshes_vx300 │ │ │ │ ├── VXA-300-M-1-Base.stl │ │ │ │ ├── VXA-300-M-2-Shoulder.stl │ │ │ │ ├── VXA-300-M-3-UA.stl │ │ │ │ ├── VXA-300-M-4-Forearm.stl │ │ │ │ ├── VXA-300-M-5-Wrist.stl │ │ │ │ ├── VXA-300-M-6-Gripper.stl │ │ │ │ ├── VXA-300-M-7-Gripper-Prop.stl │ │ │ │ ├── VXA-300-M-8-Gripper-Bar.stl │ │ │ │ └── VXA-300-M-9-Finger.stl │ │ │ ├── meshes_vx300s │ │ │ │ ├── VXSA-300-M-1-Base.stl │ │ │ │ ├── VXSA-300-M-10-Finger.stl │ │ │ │ ├── VXSA-300-M-2-Shoulder.stl │ │ │ │ ├── VXSA-300-M-3-UA.stl │ │ │ │ ├── VXSA-300-M-4-UF.stl │ │ │ │ ├── VXSA-300-M-5-LF.stl │ │ │ │ ├── VXSA-300-M-6-Wrist.stl │ │ │ │ ├── VXSA-300-M-7-Gripper.stl │ │ │ │ ├── VXSA-300-M-8-Gripper-Prop.stl │ │ │ │ └── VXSA-300-M-9-Gripper-Bar.stl │ │ │ ├── meshes_vxxmd │ │ │ │ ├── VXT-XMD-M-1-Base.stl │ │ │ │ ├── VXT-XMD-M-2-Shoulder.stl │ │ │ │ └── VXT-XMD-M-3-Top.stl │ │ │ ├── meshes_vxxms │ │ │ │ ├── VXT-XMS-M-1-Base.stl │ │ │ │ ├── VXT-XMS-M-2-Shoulder.stl │ │ │ │ └── VXT-XMS-M-3-Top.stl │ │ │ ├── meshes_wx200 │ │ │ │ ├── WXA-200-M-1-Base.stl │ │ │ │ ├── WXA-200-M-2-Shoulder.stl │ │ │ │ ├── WXA-200-M-3-UA.stl │ │ │ │ ├── WXA-200-M-4-Forearm.stl │ │ │ │ ├── WXA-200-M-5-Wrist.stl │ │ │ │ ├── WXA-200-M-6-Gripper.stl │ │ │ │ ├── WXA-200-M-7-Gripper-Prop.stl │ │ │ │ ├── WXA-200-M-8-Gripper-Bar.stl │ │ │ │ └── WXA-200-M-9-Finger.stl │ │ │ ├── meshes_wx250 │ │ │ │ ├── WXA-250-M-1-Base.stl │ │ │ │ ├── WXA-250-M-2-Shoulder.stl │ │ │ │ ├── WXA-250-M-3-UA.stl │ │ │ │ ├── WXA-250-M-4-Forearm.stl │ │ │ │ ├── WXA-250-M-5-Wrist.stl │ │ │ │ ├── WXA-250-M-6-Gripper.stl │ │ │ │ ├── WXA-250-M-7-Gripper-Prop.stl │ │ │ │ ├── WXA-250-M-8-Gripper-Bar.stl │ │ │ │ └── WXA-250-M-9-Finger.stl │ │ │ ├── meshes_wx250s │ │ │ │ ├── WXSA-250-M-1-Base.stl │ │ │ │ ├── WXSA-250-M-10-Finger.stl │ │ │ │ ├── WXSA-250-M-2-Shoulder.stl │ │ │ │ ├── WXSA-250-M-3-UA.stl │ │ │ │ ├── WXSA-250-M-4-UF.stl │ │ │ │ ├── WXSA-250-M-5-LF.stl │ │ │ │ ├── WXSA-250-M-6-Wrist.stl │ │ │ │ ├── WXSA-250-M-7-Gripper.stl │ │ │ │ ├── WXSA-250-M-8-Gripper-Prop.stl │ │ │ │ └── WXSA-250-M-9-Gripper-Bar.stl │ │ │ ├── meshes_wxxmd │ │ │ │ ├── WXT-XMD-M-1-Base.stl │ │ │ │ ├── WXT-XMD-M-2-Shoulder.stl │ │ │ │ └── WXT-XMD-M-3-Top.stl │ │ │ └── meshes_wxxms │ │ │ │ ├── WXT-XMS-M-1-Base.stl │ │ │ │ ├── WXT-XMS-M-2-Shoulder.stl │ │ │ │ └── WXT-XMS-M-3-Top.stl │ │ └── urdf │ │ │ ├── px100.urdf.xacro │ │ │ ├── px150.urdf.xacro │ │ │ ├── pxxls.urdf.xacro │ │ │ ├── rx150.urdf.xacro │ │ │ ├── rx200.urdf.xacro │ │ │ ├── vx250.urdf.xacro │ │ │ ├── vx300.urdf.xacro │ │ │ ├── vx300s.urdf.xacro │ │ │ ├── vxxmd.urdf.xacro │ │ │ ├── vxxms.urdf.xacro │ │ │ ├── wx200.urdf.xacro │ │ │ ├── wx250.urdf.xacro │ │ │ ├── wx250s.urdf.xacro │ │ │ ├── wxxmd.urdf.xacro │ │ │ └── wxxms.urdf.xacro │ │ ├── panda │ │ ├── meshes │ │ │ └── visual │ │ │ │ ├── finger.dae │ │ │ │ ├── hand.dae │ │ │ │ ├── link0.dae │ │ │ │ ├── link1.dae │ │ │ │ ├── link2.dae │ │ │ │ ├── link3.dae │ │ │ │ ├── link4.dae │ │ │ │ ├── link5.dae │ │ │ │ ├── link6.dae │ │ │ │ └── link7.dae │ │ └── robots │ │ │ ├── dual_panda_example.urdf.xacro │ │ │ ├── hand.urdf.xacro │ │ │ ├── hand.xacro │ │ │ ├── panda_arm.urdf.xacro │ │ │ ├── panda_arm.xacro │ │ │ └── panda_arm_hand.urdf.xacro │ │ └── ur │ │ ├── meshes │ │ ├── ur10 │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ ├── ur3 │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ └── ur5 │ │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ │ └── urdf │ │ ├── common.gazebo.xacro │ │ ├── ur.gazebo.xacro │ │ ├── ur.transmission.xacro │ │ ├── ur10.urdf.xacro │ │ ├── ur10_joint_limited_robot.urdf.xacro │ │ ├── ur10_robot.urdf.xacro │ │ ├── ur3.urdf.xacro │ │ ├── ur3_joint_limited_robot.urdf.xacro │ │ ├── ur3_robot.urdf.xacro │ │ ├── ur5.urdf.xacro │ │ ├── ur5_joint_limited_robot.urdf.xacro │ │ └── ur5_robot.urdf.xacro ├── robot │ ├── ELink.py │ ├── ET.py │ ├── ETS.py │ ├── Link.py │ ├── Prismatic.py │ ├── Revolute.py │ ├── SerialLink.py │ ├── Shape.py │ └── __init__.py └── tools │ ├── __init__.py │ ├── is_vector_tools.py │ ├── null.py │ ├── p_servo.py │ └── transform.py ├── setup.py └── tests ├── __init__.py ├── examples.py ├── test_ELink.py ├── test_Link.py ├── test_PyPlot.py ├── test_PyPlot2.py ├── test_SerialLink.py ├── test_et.py ├── test_ets.py ├── test_models.py └── test_tools.py /.github/build-wheels.sh: 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