├── .gitignore ├── LICENSE ├── Makefile ├── README.md ├── diffik.py ├── diffik_nullspace.py ├── franka_emika_panda ├── LICENSE ├── README.md ├── assets │ ├── finger_0.obj │ ├── finger_1.obj │ ├── hand.stl │ ├── hand_0.obj │ ├── hand_1.obj │ ├── hand_2.obj │ ├── hand_3.obj │ ├── hand_4.obj │ ├── link0.stl │ ├── link0_0.obj │ ├── link0_1.obj │ ├── link0_10.obj │ ├── link0_11.obj │ ├── link0_2.obj │ ├── link0_3.obj │ ├── link0_4.obj │ ├── link0_5.obj │ ├── link0_7.obj │ ├── link0_8.obj │ ├── link0_9.obj │ ├── link1.obj │ ├── link1.stl │ ├── link2.obj │ ├── link2.stl │ ├── link3.stl │ ├── link3_0.obj │ ├── link3_1.obj │ ├── link3_2.obj │ ├── link3_3.obj │ ├── link4.stl │ ├── link4_0.obj │ ├── link4_1.obj │ ├── link4_2.obj │ ├── link4_3.obj │ ├── link5_0.obj │ ├── link5_1.obj │ ├── link5_2.obj │ ├── link5_collision_0.obj │ ├── link5_collision_1.obj │ ├── link5_collision_2.obj │ ├── link6.stl │ ├── link6_0.obj │ ├── link6_1.obj │ ├── link6_10.obj │ ├── link6_11.obj │ ├── link6_12.obj │ ├── link6_13.obj │ ├── link6_14.obj │ ├── link6_15.obj │ ├── link6_16.obj │ ├── link6_2.obj │ ├── link6_3.obj │ ├── link6_4.obj │ ├── link6_5.obj │ ├── link6_6.obj │ ├── link6_7.obj │ ├── link6_8.obj │ ├── link6_9.obj │ ├── link7.stl │ ├── link7_0.obj │ ├── link7_1.obj │ ├── link7_2.obj │ ├── link7_3.obj │ ├── link7_4.obj │ ├── link7_5.obj │ ├── link7_6.obj │ └── link7_7.obj ├── hand.xml ├── panda.png ├── panda.xml ├── panda_nohand.xml └── scene.xml ├── images ├── iiwa.gif ├── panda.gif └── ur5e.gif ├── kuka_iiwa_14 ├── LICENSE ├── README.md ├── assets │ ├── band.obj │ ├── kuka.obj │ ├── link_0.obj │ ├── link_1.obj │ ├── link_2_grey.obj │ ├── link_2_orange.obj │ ├── link_3.obj │ ├── link_4_grey.obj │ ├── link_4_orange.obj │ ├── link_5.obj │ ├── link_6_grey.obj │ ├── link_6_orange.obj │ └── link_7.obj ├── iiwa14.xml ├── iiwa_14.png └── scene.xml ├── opspace.py └── universal_robots_ur5e ├── LICENSE ├── README.md ├── assets ├── base_0.obj ├── base_1.obj ├── forearm_0.obj ├── forearm_1.obj ├── 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