├── .gitignore ├── .landscape.yml ├── .travis.yml ├── LICENSE.md ├── README.md ├── __init__.py ├── configs ├── kuka_lwr4.yaml ├── kuka_lwr4_static.yaml ├── threeLinks.yaml ├── walkman_cad.yaml └── walkman_static.yaml ├── data ├── KUKA │ ├── HW │ │ ├── measurements_1.npz │ │ ├── measurements_2.npz │ │ └── measurements_3.npz │ └── README.md ├── THREELINK │ └── SIM │ │ └── measurements_opt1_fb.npz └── WALKMAN │ └── README.md ├── documentation ├── TUTORIAL.md ├── identification_overview.svg ├── identification_overview.xml ├── kuka_vis.png └── overview slides.pdf ├── examples ├── excite_kuka_lwr4.sh ├── identify_kuka_lwr4.sh ├── identify_threeLink.sh ├── optimize_kuka_lwr4.sh └── parallel_optimize_kuka_lwr4.sh ├── excitation ├── README.md ├── __init__.py ├── optimizer.py ├── postureOptimizer.py ├── robotCommunication │ ├── __init__.py │ ├── ros_moveit.py │ ├── yarpGYM │ │ ├── CMakeLists.txt │ │ ├── app │ │ │ ├── CMakeLists.txt │ │ │ └── conf │ │ │ │ └── excitation_initial_config.ini │ │ └── src │ │ │ ├── excitation_constants.h │ │ │ ├── excitation_initial_config.ini │ │ │ ├── excitation_main.cpp │ │ │ ├── excitation_module.hpp │ │ │ ├── excitation_msg.h │ │ │ ├── excitation_thread.cpp │ │ │ ├── excitation_thread.h │ │ │ └── saveEigen.h │ └── yarp_gym.py ├── trajectoryGenerator.py └── trajectoryOptimizer.py ├── excite.py ├── identification ├── __init__.py ├── data.py ├── helpers.py ├── model.py ├── nlopt.py ├── output.py ├── quaternion.py ├── sdp.py └── sdp_helpers.py ├── identify.py ├── matplotlibrc ├── model ├── kuka_lwr4.urdf ├── kuka_lwr4.urdf.trajectory_opt_1.npz ├── kuka_lwr4_centroepiaggio.urdf ├── kuka_lwr4_cogimon.urdf ├── kuka_lwr4_gaz.urdf ├── kuka_lwr4_identified.urdf ├── kuka_lwr4_regressor.xml ├── meshes │ ├── kuka │ │ ├── COPYRIGHT │ │ ├── base.STL │ │ ├── link_1.STL │ │ ├── link_2.STL │ │ ├── link_3.STL │ │ ├── link_4.STL │ │ ├── link_5.STL │ │ ├── link_6.STL │ │ └── link_7.STL │ └── walkman │ │ ├── AnklePitch.STL │ │ ├── BottomUpperArm.STL │ │ ├── Chest.STL │ │ ├── Elbow.STL │ │ ├── Forearm.STL │ │ ├── ForearmPitch.STL │ │ ├── ForearmRoll.STL │ │ ├── Head.STL │ │ ├── HipPitch.STL │ │ ├── HipRoll.STL │ │ ├── HipYaw.STL │ │ ├── KneePitch.STL │ │ ├── KneePitchCalf.STL │ │ ├── NeckPitch.STL │ │ ├── NeckYaw.STL │ │ ├── NewChest.STL │ │ ├── NewFoot.STL │ │ ├── PelvisWeightBench.STL │ │ ├── ProtectionSystem.STL │ │ ├── RaisingSupport.STL │ │ ├── ShoulderPitch.STL │ │ ├── SoftHandOpen.STL │ │ ├── TopUpperArm.STL │ │ ├── TorsoRoll.STL │ │ ├── TorsoYawPitch.STL │ │ ├── Waist.STL │ │ ├── base.STL │ │ ├── hokuyo_link.STL │ │ ├── multisense.STL │ │ └── simple │ │ ├── AnklePitch.STL │ │ ├── AnklePitch.capsule │ │ ├── BottomUpperArm.STL │ │ ├── BottomUpperArm.capsule │ │ ├── Chest.STL │ │ ├── Elbow.STL │ │ ├── Elbow.capsule │ │ ├── Foot.STL │ │ ├── Forearm.STL │ │ ├── Forearm.capsule │ │ ├── ForearmPitch.STL │ │ ├── ForearmPitch.capsule │ │ ├── ForearmRoll.STL │ │ ├── ForearmRoll.capsule │ │ ├── Head.STL │ │ ├── Head.capsule │ │ ├── HipPitch.STL │ │ ├── HipPitch.capsule │ │ ├── HipRoll.STL │ │ ├── HipRoll.capsule │ │ ├── HipYaw.STL │ │ ├── HipYaw.capsule │ │ ├── KneePitch.STL │ │ ├── KneePitchCalf.STL │ │ ├── KneePitchCalf.capsule │ │ ├── NeckPitch.STL │ │ ├── NeckPitch.capsule │ │ ├── NeckYaw.STL │ │ ├── NeckYaw.capsule │ │ ├── NewChest.STL │ │ ├── NewChest.capsule │ │ ├── PelvisWeightBench.STL │ │ ├── PelvisWeightBench.capsule │ │ ├── ProtectionSystem.STL │ │ ├── ProtectionSystem.capsule │ │ ├── RaisingSupport.STL │ │ ├── ShoulderPitch.STL │ │ ├── ShoulderPitch.capsule │ │ ├── SoftHandOpen.STL │ │ ├── SoftHandOpen.capsule │ │ ├── TopUpperArm.STL │ │ ├── TopUpperArm.capsule │ │ ├── TorsoRoll.STL │ │ ├── TorsoRoll.capsule │ │ ├── TorsoYawPitch.STL │ │ ├── TorsoYawPitch.capsule │ │ ├── Waist.STL │ │ ├── Waist.capsule │ │ └── Waist_old.STL ├── threeLinks.urdf ├── threeLinks_regressor.xml ├── walkman.urdf ├── walkman_left_arm.urdf ├── walkman_left_arm_regressor.xml ├── walkman_left_leg.urdf ├── walkman_measured.urdf 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