├── README.md ├── dvrk_unity ├── .gitignore ├── Assets │ ├── EditorCameraMovement.cs │ ├── EditorCameraMovement.cs.meta │ ├── WSATestCertificate.pfx.meta │ ├── csc.rsp │ ├── csc.rsp.meta │ ├── dvrk-xr.unity │ ├── dvrk-xr.unity.meta │ ├── dvrk.meta │ ├── dvrk │ │ ├── Editor.meta │ │ ├── Editor │ │ │ ├── URDFJointEditor.cs │ │ │ └── URDFJointEditor.cs.meta │ │ ├── Meshes.meta │ │ ├── Meshes │ │ │ ├── DaVinciMaterial.meta │ │ │ ├── DaVinciMaterial │ │ │ │ ├── DaVinciBlue.mat │ │ │ │ ├── DaVinciBlue.mat.meta │ │ │ │ ├── DaVinciDarkGray.mat │ │ │ │ ├── DaVinciDarkGray.mat.meta │ │ │ │ ├── DaVinciGreen.mat │ │ │ │ ├── DaVinciGreen.mat.meta │ │ │ │ ├── DaVinciLightGray.mat │ │ │ │ ├── DaVinciLightGray.mat.meta │ │ │ │ ├── DaVinciMedGray.mat │ │ │ │ ├── DaVinciMedGray.mat.meta │ │ │ │ ├── DaVinciRed.mat │ │ │ │ ├── DaVinciRed.mat.meta │ │ │ │ ├── DaVinciWhite.mat │ │ │ │ └── DaVinciWhite.mat.meta │ │ │ ├── UNITY_ECM.urdf │ │ │ ├── UNITY_ECM.urdf.meta │ │ │ ├── UNITY_MTML.urdf │ │ │ ├── UNITY_MTML.urdf.meta │ │ │ ├── UNITY_MTMR.urdf │ │ │ ├── UNITY_MTMR.urdf.meta │ │ │ ├── UNITY_PSM_CAUDIER.urdf │ │ │ ├── UNITY_PSM_CAUDIER.urdf.meta │ │ │ ├── UNITY_PSM_SCA.urdf │ │ │ ├── UNITY_PSM_SCA.urdf.meta │ │ │ ├── UNITY_PSM_SNAKE.urdf │ │ │ ├── UNITY_PSM_SNAKE.urdf.meta │ │ │ ├── ecm.meta │ │ │ ├── ecm │ │ │ │ ├── ECM.urdf │ │ │ │ ├── ECM.urdf.meta │ │ │ │ ├── Endo_Arm.dae │ │ │ │ ├── Endo_Arm.dae.meta │ │ │ │ ├── Endo_Link_5.dae │ │ │ │ ├── Endo_Link_5.dae.meta │ │ │ │ ├── Endo_Link_5_2.dae │ │ │ │ ├── Endo_Link_5_2.dae.meta │ │ │ │ ├── Endo_Link_6_2.dae │ │ │ │ ├── Endo_Link_6_2.dae.meta │ │ │ │ ├── Endo_Link_7.dae │ │ │ │ ├── Endo_Link_7.dae.meta │ │ │ │ ├── Endo_Link_8.dae │ │ │ │ ├── Endo_Link_8.dae.meta │ │ │ │ ├── Endoscope.dae │ │ │ │ ├── Endoscope.dae.meta │ │ │ │ ├── Materials.meta │ │ │ │ └── Materials │ │ │ │ │ ├── Endo_Arm-No Name.mat │ │ │ │ │ ├── Endo_Arm-No Name.mat.meta │ │ │ │ │ ├── Endo_Link_5-No Name.mat │ │ │ │ │ ├── Endo_Link_5-No Name.mat.meta │ │ │ │ │ ├── Endo_Link_5_2-No Name.mat │ │ │ │ │ ├── Endo_Link_5_2-No Name.mat.meta │ │ │ │ │ ├── Endo_Link_6_2-No Name.mat │ │ │ │ │ ├── Endo_Link_6_2-No Name.mat.meta │ │ │ │ │ ├── Endo_Link_7-No Name.mat │ │ │ │ │ ├── Endo_Link_7-No Name.mat.meta │ │ │ │ │ ├── Endo_Link_8-No Name.mat │ │ │ │ │ ├── Endo_Link_8-No Name.mat.meta │ │ │ │ │ ├── Endoscope-No Name.mat │ │ │ │ │ ├── Endoscope-No Name.mat.meta │ │ │ │ │ ├── No Name.mat │ │ │ │ │ └── No Name.mat.meta │ │ │ ├── mtm.meta │ │ │ ├── mtm │ │ │ │ ├── ArmParallel.STL │ │ │ │ ├── ArmParallel.STL.meta │ │ │ │ ├── ArmParallel.dae │ │ │ │ ├── ArmParallel.dae.meta │ │ │ │ ├── ArmParallel1.STL │ │ │ │ ├── ArmParallel1.STL.meta │ │ │ │ ├── ArmParallel1.dae │ │ │ │ ├── ArmParallel1.dae.meta │ │ │ │ ├── BottomArm.STL │ │ │ │ ├── BottomArm.STL.meta │ │ │ │ ├── BottomArm.dae │ │ │ │ ├── BottomArm.dae.meta │ │ │ │ ├── Link.STL │ │ │ │ ├── Link.STL.meta │ │ │ │ ├── Link.dae │ │ │ │ ├── Link.dae.meta │ │ │ │ ├── MTM_model.urdf │ │ │ │ ├── MTM_model.urdf.meta │ │ │ │ ├── Materials.meta │ │ │ │ ├── Materials │ │ │ │ │ ├── DaVinciBlue.mat │ │ │ │ │ ├── DaVinciBlue.mat.meta │ │ │ │ │ ├── DaVinciDarkGray.mat │ │ │ │ │ ├── DaVinciDarkGray.mat.meta │ │ │ │ │ ├── DaVinciGreen.mat │ │ │ │ │ ├── DaVinciGreen.mat.meta │ │ │ │ │ ├── DaVinciLightGray.mat │ │ │ │ │ ├── DaVinciLightGray.mat.meta │ │ │ │ │ ├── DaVinciRed.mat │ │ │ │ │ ├── DaVinciRed.mat.meta │ │ │ │ │ ├── Material_001.mat │ │ │ │ │ └── Material_001.mat.meta │ │ │ │ ├── OutPitch_Shoulder.STL │ │ │ │ ├── OutPitch_Shoulder.STL.meta │ │ │ │ ├── OutPitch_Shoulder.dae │ │ │ │ ├── OutPitch_Shoulder.dae.meta │ │ │ │ ├── Top Panel.STL │ │ │ │ ├── Top Panel.STL.meta │ │ │ │ ├── Top Panel.dae │ │ │ │ ├── Top Panel.dae.meta │ │ │ │ ├── WristPitch.STL │ │ │ │ ├── WristPitch.STL.meta │ │ │ │ ├── WristPitch.dae │ │ │ │ ├── WristPitch.dae.meta │ │ │ │ ├── WristPlatform.STL │ │ │ │ ├── WristPlatform.STL.meta │ │ │ │ ├── WristPlatform.dae │ │ │ │ ├── WristPlatform.dae.meta │ │ │ │ ├── WristRoll.STL │ │ │ │ ├── WristRoll.STL.meta │ │ │ │ ├── WristRoll.dae │ │ │ │ ├── WristRoll.dae.meta │ │ │ │ ├── WristYaw.STL │ │ │ │ ├── WristYaw.STL.meta │ │ │ │ ├── WristYaw.dae │ │ │ │ ├── WristYaw.dae.meta │ │ │ │ ├── mtm_omponents.blend │ │ │ │ ├── mtm_omponents.blend.meta │ │ │ │ ├── mtm_wrist_pitch.png │ │ │ │ ├── mtm_wrist_pitch.png.meta │ │ │ │ ├── mtm_wrist_platform.png │ │ │ │ ├── mtm_wrist_platform.png.meta │ │ │ │ ├── mtm_wrist_yaw.png │ │ │ │ └── mtm_wrist_yaw.png.meta │ │ │ ├── psm.meta │ │ │ └── psm │ │ │ │ ├── Materials.meta │ │ │ │ ├── Materials │ │ │ │ ├── No Name.mat │ │ │ │ ├── No Name.mat.meta │ │ │ │ ├── outer_insertion-SWMaterial-0.mat │ │ │ │ ├── outer_insertion-SWMaterial-0.mat.meta │ │ │ │ ├── outer_insertion-SWMaterial-1.mat │ │ │ │ ├── outer_insertion-SWMaterial-1.mat.meta │ │ │ │ ├── outer_insertion-SWMaterial-2.mat │ │ │ │ ├── outer_insertion-SWMaterial-2.mat.meta │ │ │ │ ├── outer_pitch_back-SWMaterial-0.mat │ │ │ │ ├── outer_pitch_back-SWMaterial-0.mat.meta │ │ │ │ ├── outer_pitch_bottom-SWMaterial-0.mat │ │ │ │ ├── outer_pitch_bottom-SWMaterial-0.mat.meta │ │ │ │ ├── outer_pitch_front-SWMaterial-0.mat │ │ │ │ ├── outer_pitch_front-SWMaterial-0.mat.meta │ │ │ │ ├── outer_pitch_top-SWMaterial-0.mat │ │ │ │ ├── outer_pitch_top-SWMaterial-0.mat.meta │ │ │ │ ├── outer_yaw-SWMaterial-0.mat │ │ │ │ ├── outer_yaw-SWMaterial-0.mat.meta │ │ │ │ ├── psm_base-SWMaterial-0.mat │ │ │ │ ├── psm_base-SWMaterial-0.mat.meta │ │ │ │ ├── tool_adapter-SWMaterial-0.mat │ │ │ │ ├── tool_adapter-SWMaterial-0.mat.meta │ │ │ │ ├── tool_main-SWMaterial-0.mat │ │ │ │ ├── tool_main-SWMaterial-0.mat.meta │ │ │ │ ├── tool_main-SWMaterial-1.mat │ │ │ │ ├── tool_main-SWMaterial-1.mat.meta │ │ │ │ ├── tool_main-SWMaterial-2.mat │ │ │ │ ├── tool_main-SWMaterial-2.mat.meta │ │ │ │ ├── tool_wrist_caudier_link_1.-No Name.mat │ │ │ │ ├── tool_wrist_caudier_link_1.-No Name.mat.meta │ │ │ │ ├── tool_wrist_caudier_link_1_shaft-No Name.mat │ │ │ │ ├── tool_wrist_caudier_link_1_shaft-No Name.mat.meta │ │ │ │ ├── tool_wrist_caudier_link_2-No Name.mat │ │ │ │ ├── tool_wrist_caudier_link_2-No Name.mat.meta │ │ │ │ ├── tool_wrist_link-SWMaterial-0.mat │ │ │ │ ├── tool_wrist_link-SWMaterial-0.mat.meta │ │ │ │ ├── tool_wrist_sca_link-SWMaterial-0.mat │ │ │ │ ├── tool_wrist_sca_link-SWMaterial-0.mat.meta │ │ │ │ ├── tool_wrist_sca_link_2-SWMaterial-0.mat │ │ │ │ ├── tool_wrist_sca_link_2-SWMaterial-0.mat.meta │ │ │ │ ├── tool_wrist_sca_shaft_link-SWMaterial-0.mat │ │ │ │ ├── tool_wrist_sca_shaft_link-SWMaterial-0.mat.meta │ │ │ │ ├── tool_wrist_shaft_link-SWMaterial-0.mat │ │ │ │ └── tool_wrist_shaft_link-SWMaterial-0.mat.meta │ │ │ │ ├── outer_insertion.dae │ │ │ │ ├── outer_insertion.dae.meta │ │ │ │ ├── outer_pitch_back.dae │ │ │ │ ├── outer_pitch_back.dae.meta │ │ │ │ ├── outer_pitch_bottom.dae │ │ │ │ ├── outer_pitch_bottom.dae.meta │ │ │ │ ├── outer_pitch_front.dae │ │ │ │ ├── outer_pitch_front.dae.meta │ │ │ │ ├── outer_pitch_top.dae │ │ │ │ ├── outer_pitch_top.dae.meta │ │ │ │ ├── outer_yaw.dae │ │ │ │ ├── outer_yaw.dae.meta │ │ │ │ ├── psm_base.dae │ │ │ │ ├── psm_base.dae.meta │ │ │ │ ├── snake_tool.meta │ │ │ │ ├── snake_tool │ │ │ │ ├── Materials.meta │ │ │ │ ├── Materials │ │ │ │ │ ├── gripper_2-No Name.mat │ │ │ │ │ ├── gripper_2-No Name.mat.meta │ │ │ │ │ ├── gripper_3-No Name.mat │ │ │ │ │ ├── gripper_3-No Name.mat.meta │ │ │ │ │ ├── link_0-No Name.mat │ │ │ │ │ ├── link_0-No Name.mat.meta │ │ │ │ │ ├── link_1-No Name.mat │ │ │ │ │ ├── link_1-No Name.mat.meta │ │ │ │ │ ├── link_2-No Name.mat │ │ │ │ │ ├── link_2-No Name.mat.meta │ │ │ │ │ ├── link_3-No Name.mat │ │ │ │ │ ├── link_3-No Name.mat.meta │ │ │ │ │ ├── link_4-No Name.mat │ │ │ │ │ └── link_4-No Name.mat.meta │ │ │ │ ├── gripper_2.dae │ │ │ │ ├── gripper_2.dae.meta │ │ │ │ ├── gripper_3.dae │ │ │ │ ├── gripper_3.dae.meta │ │ │ │ ├── link_0.dae │ │ │ │ ├── link_0.dae.meta │ │ │ │ ├── link_1.dae │ │ │ │ ├── link_1.dae.meta │ │ │ │ ├── link_2.dae │ │ │ │ ├── link_2.dae.meta │ │ │ │ ├── link_3.dae │ │ │ │ ├── link_3.dae.meta │ │ │ │ ├── link_4.dae │ │ │ │ └── link_4.dae.meta │ │ │ │ ├── tool_adapter.dae │ │ │ │ ├── tool_adapter.dae.meta │ │ │ │ ├── tool_main.dae │ │ │ │ ├── tool_main.dae.meta │ │ │ │ ├── tool_wrist_caudier_link_1..dae │ │ │ │ ├── tool_wrist_caudier_link_1..dae.meta │ │ │ │ ├── tool_wrist_caudier_link_1_shaft.dae │ │ │ │ ├── tool_wrist_caudier_link_1_shaft.dae.meta │ │ │ │ ├── tool_wrist_caudier_link_2.dae │ │ │ │ ├── tool_wrist_caudier_link_2.dae.meta │ │ │ │ ├── tool_wrist_link.dae │ │ │ │ ├── tool_wrist_link.dae.meta │ │ │ │ ├── tool_wrist_sca_link.dae │ │ │ │ ├── tool_wrist_sca_link.dae.meta │ │ │ │ ├── tool_wrist_sca_link_2.dae │ │ │ │ ├── tool_wrist_sca_link_2.dae.meta │ │ │ │ ├── tool_wrist_sca_shaft_link.dae │ │ │ │ ├── tool_wrist_sca_shaft_link.dae.meta │ │ │ │ ├── tool_wrist_shaft_link.dae │ │ │ │ └── tool_wrist_shaft_link.dae.meta │ │ ├── Prefabs.meta │ │ ├── Prefabs │ │ │ ├── ECM.prefab │ │ │ ├── ECM.prefab.meta │ │ │ ├── MTML.prefab │ │ │ ├── MTML.prefab.meta │ │ │ ├── MTMR.prefab │ │ │ ├── MTMR.prefab.meta │ │ │ ├── PSM.prefab │ │ │ └── PSM.prefab.meta │ │ ├── Scripts.meta │ │ └── Scripts │ │ │ ├── ECM.cs │ │ │ ├── ECM.cs.meta │ │ │ ├── MTM.cs │ │ │ ├── MTM.cs.meta │ │ │ ├── PSM.cs │ │ │ ├── PSM.cs.meta │ │ │ ├── UDPClient.cs │ │ │ ├── UDPClient.cs.meta │ │ │ ├── URDFJoint.cs │ │ │ ├── URDFJoint.cs.meta │ │ │ ├── URDFRobot.cs │ │ │ └── URDFRobot.cs.meta │ ├── gmcs.rsp │ ├── gmcs.rsp.meta │ ├── smcs.rsp │ └── smcs.rsp.meta ├── Packages │ └── manifest.json ├── ProjectSettings │ ├── AudioManager.asset │ ├── ClusterInputManager.asset │ ├── DynamicsManager.asset │ ├── EditorBuildSettings.asset │ ├── EditorSettings.asset │ ├── GraphicsSettings.asset │ ├── InputManager.asset │ ├── NavMeshAreas.asset │ ├── NetworkManager.asset │ ├── Physics2DSettings.asset │ ├── PresetManager.asset │ ├── ProjectSettings.asset │ ├── ProjectVersion.txt │ ├── QualitySettings.asset │ 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