├── CAD ├── Base.step ├── Bicep.step ├── Electronics Board.step ├── Finger A.step ├── Finger B.step ├── Forearm Black Inlay.step ├── Forearm.step ├── Gripper Housing A.step ├── Gripper Housing B.step ├── Gripper Pivot.step ├── Motor Finger A.step ├── Motor Finger B.step ├── Onshape │ └── Get_Onshape_youBot_Model.m ├── Pin Gripper Pivot 1.step ├── Pin Gripper Pivot 2.step ├── Pin Gripper Pivot 3.step ├── Pin Gripper Pivot 4.step ├── Pin Housing A1.step ├── Pin Housing A2.step ├── Pin Housing B1.step ├── Pin Housing B2.step ├── Pin Housing C1.step ├── Pin Housing C2.step ├── Pivot Black Inlay.step ├── Pivot.step ├── Wrist.step ├── youBot.slx ├── youBot.xml ├── youBot_DataFile.m └── youBot_damping.slx ├── Images ├── youBot_Arm_Actuation_Motion_IMAGE.jpg ├── youBot_Arm_Actuation_MotorPris_Ideal_IMAGE.jpg ├── youBot_Arm_Actuation_Motor_IMAGE.jpg ├── youBot_Arm_Actuation_Motor_Ideal_IMAGE.jpg ├── youBot_Arm_Actuation_Motor_Motor_IMAGE.jpg ├── youBot_Arm_Base_IMAGE.jpg ├── youBot_Arm_Belt_IMAGE.jpg ├── youBot_Arm_Belt_Light_Curtain_IMAGE.jpg ├── youBot_Arm_Bicep_IMAGE.jpg ├── youBot_Arm_Box_IMAGE.jpg ├── youBot_Arm_Control_Logic_IMAGE.jpg ├── youBot_Arm_Conveyors_IMAGE.jpg ├── youBot_Arm_Environment_IMAGE.jpg ├── youBot_Arm_Finger_A_IMAGE.jpg ├── youBot_Arm_Finger_B_IMAGE.jpg ├── youBot_Arm_Forearm_IMAGE.jpg ├── youBot_Arm_Forearm_IMAGE_noLogo.jpg ├── youBot_Arm_Forearm_IMAGE_withLogo.jpg ├── youBot_Arm_Gripper_Force_Damper_IMAGE.jpg ├── youBot_Arm_Gripper_Force_Payload_IMAGE.jpg ├── youBot_Arm_Gripper_Force_Penalty_IMAGE.jpg ├── youBot_Arm_Gripper_IMAGE.jpg ├── youBot_Arm_Input_Control_Belt_IMAGE.jpg ├── youBot_Arm_Input_Control_IMAGE.jpg ├── youBot_Arm_Input_Signals_IMAGE.jpg ├── youBot_Arm_Input_Splines_IMAGE.jpg ├── youBot_Arm_Motor_JointIntf_IMAGE.jpg ├── youBot_Arm_Pivot_IMAGE.jpg ├── youBot_Arm_Pivot_IMAGE_noLogo.jpg ├── youBot_Arm_Pivot_IMAGE_withLogo.jpg ├── youBot_Arm_System_IMAGE.jpg ├── youBot_Arm_System_IMAGE_noLogo.jpg ├── youBot_Arm_System_IMAGE_withLogo.jpg └── youBot_Arm_Wrist_IMAGE.jpg ├── LICENSE.md ├── Libraries ├── +MyMath │ ├── myAbs.ssc │ └── myAbs.svg ├── CFL_Core │ ├── Contact_Forces_Core.prj │ ├── Libraries │ │ ├── Contact_Forces_Lib.slx │ │ ├── Extrusions │ │ │ ├── Extr_Data_Block_NotchCircle.m │ │ │ ├── Extr_Data_Box.m │ │ │ ├── Extr_Data_Cam_Circles.m │ │ │ ├── Extr_Data_Cam_Roller_Curve.m │ │ │ ├── Extr_Data_Custom.m │ │ │ ├── Extr_Data_Ellipse.m │ │ │ ├── Extr_Data_Frustum_Conical.m │ │ │ ├── Extr_Data_Link2Hole.m │ │ │ ├── Extr_Data_LinkHoles.m │ │ │ ├── Extr_Data_Ring.m │ │ │ └── Extr_Data_TriangleRounded_Holes.m │ │ ├── Help │ │ │ ├── Box_to_Belt_Contact.m │ │ │ ├── Box_to_Belt_DBox_IMAGE.png │ │ │ ├── Box_to_Box_Contact.m │ │ │ ├── Box_to_Box_Contact_Forces_BoxB_Corners.m │ │ │ ├── Box_to_Box_Contact_Forces_BoxF_Corners.m │ │ │ ├── Box_to_Box_Dbox_IMAGE.png │ │ │ ├── Circle_to_Circle_Contact.m │ │ │ ├── Circle_to_Circle_DBox_IMAGE.png │ │ │ ├── Circle_to_Finite_Line_Contact.m │ │ │ ├── Circle_to_Finite_Line_DBox_IMAGE.png │ │ │ ├── Circle_to_Ring_Contact.m │ │ │ ├── Circle_to_Ring_DBox_IMAGE.png │ │ │ ├── Contact_Forces_Library_Use.m │ │ │ ├── Contact_Forces_Library_Use_Help1_IMAGE.png │ │ │ ├── Contact_Forces_Library_Use_Help2_IMAGE.png │ │ │ ├── Face_to_Plane_Contact.m │ │ │ ├── Face_to_Plane_DBox_IMAGE.png │ │ │ ├── Force_Laws.m │ │ │ ├── Friction_Laws.m │ │ │ ├── Sphere_in_Sphere_Contact.m │ │ │ ├── Sphere_in_Sphere_DBox_IMAGE.png │ │ │ ├── Sphere_to_Belt_Contact.m │ │ │ ├── Sphere_to_Belt_DBox_IMAGE.png │ │ │ ├── Sphere_to_Cone_Contact.m │ │ │ ├── Sphere_to_Cone_DBox_IMAGE.png │ │ │ ├── Sphere_to_Plane_Contact.m │ │ │ ├── Sphere_to_Plane_DBox_IMAGE.png │ │ │ ├── Sphere_to_Sphere_Contact.m │ │ │ ├── Sphere_to_Sphere_DBox_IMAGE.png │ │ │ ├── Sphere_to_Tube_Contact.m │ │ │ ├── Sphere_to_Tube_DBox_IMAGE.png │ │ │ └── html │ │ │ │ ├── Box_to_Belt_Contact.html │ │ │ │ ├── Box_to_Belt_Help_IMAGE.png │ │ │ │ ├── Box_to_Box_Contact.html │ │ │ │ ├── Box_to_Box_Contact_Forces_BoxB_Corners.html │ │ │ │ ├── Box_to_Box_Contact_Forces_BoxB_Corners_Help_IMAGE.png │ │ │ │ ├── Box_to_Box_Contact_Forces_BoxF_Corners.html │ │ │ │ ├── Box_to_Box_Contact_Forces_BoxF_Corners_Help_IMAGE.png │ │ │ │ ├── Box_to_Box_Contact_Forces_Help_IMAGE.png │ │ │ │ ├── Circle_to_Circle_Contact.html │ │ │ │ ├── Circle_to_Circle_Help_IMAGE.png │ │ │ │ ├── Circle_to_Finite_Line_Contact.html │ │ │ │ ├── Circle_to_Finite_Line_Help_IMAGE.png │ │ │ │ ├── Circle_to_Ring_Contact.html │ │ │ │ ├── Circle_to_Ring_Help_IMAGE.png │ │ │ │ ├── Contact_Forces_Library_Use.html │ │ │ │ ├── Contact_Forces_Library_Use_Help1_IMAGE.png │ │ │ │ ├── Contact_Forces_Library_Use_Help2_IMAGE.png │ │ │ │ ├── Face_to_Plane_Contact.html │ │ │ │ ├── Face_to_Plane_Help_IMAGE.png │ │ │ │ ├── Force_Laws.html │ │ │ │ ├── Force_Laws_Help_IMAGE.png │ │ │ │ ├── Friction_Laws.html │ │ │ │ ├── Friction_Laws_Help_IMAGE.png │ │ │ │ ├── Sphere_in_Sphere_Contact.html │ │ │ │ ├── Sphere_in_Sphere_Help_IMAGE.png │ │ │ │ ├── Sphere_to_Belt_Contact.html │ │ │ │ ├── Sphere_to_Belt_Help_IMAGE.png │ │ │ │ ├── Sphere_to_Cone_Contact.html │ │ │ │ ├── Sphere_to_Cone_Help_IMAGE.png │ │ │ │ ├── Sphere_to_Plane_Contact.html │ │ │ │ ├── Sphere_to_Plane_Help_IMAGE.png │ │ │ │ ├── Sphere_to_Sphere_Contact.html │ │ │ │ ├── Sphere_to_Sphere_Help_IMAGE.png │ │ │ │ ├── Sphere_to_Tube_Contact.html │ │ │ │ └── Sphere_to_Tube_Help_IMAGE.png │ │ ├── Images │ │ │ ├── BoxB_Corners_IMAGE.jpg │ │ │ ├── BoxF_Corners_IMAGE.jpg │ │ │ ├── Box_to_Belt_Contact_IMAGE.jpg │ │ │ ├── Box_to_Belt_Ends_IMAGE.jpg │ │ │ ├── Box_to_Belt_Faces_IMAGE.jpg │ │ │ ├── Box_to_Box_Contact_IMAGE.jpg │ │ │ ├── Circle_to_Circle_Contact_Enabled_IMAGE.jpg │ │ │ ├── Circle_to_Circle_Contact_IMAGE.jpg │ │ │ ├── Circle_to_Finite_Line_Contact_Enabled_IMAGE.jpg │ │ │ ├── Circle_to_Finite_Line_Contact_IMAGE.jpg │ │ │ ├── Circle_to_Hole_Attraction_IMAGE.jpg │ │ │ ├── Circle_to_Ring_Contact_IMAGE.jpg │ │ │ ├── Contact_Images.pptx │ │ │ ├── Face_to_Belt_Faces_IMAGE.jpg │ │ │ ├── Face_to_Plane_Contact_IMAGE.jpg │ │ │ ├── Link_End_nx_IMAGE.png │ │ │ ├── Link_End_px_IMAGE.png │ │ │ ├── Link_Seg_2_Hole_IMAGE.png │ │ │ ├── Rod_nZ_IMAGE.png │ │ │ ├── Rod_pZ_IMAGE.png │ │ │ ├── Sphere_in_Sphere_Contact_IMAGE.jpg │ │ │ ├── Sphere_to_Belt_IMAGE.jpg │ │ │ ├── Sphere_to_Cone_Contact_IMAGE.jpg │ │ │ ├── Sphere_to_Plane_Contact_Enabled_IMAGE.jpg │ │ │ ├── Sphere_to_Plane_Contact_IMAGE.jpg │ │ │ ├── Sphere_to_Sphere_Contact_IMAGE.jpg │ │ │ ├── Sphere_to_Tube_Contact_Enabled_IMAGE.jpg │ │ │ ├── Sphere_to_Tube_Contact_IMAGE.jpg │ │ │ └── Triangle_Link_IMAGE.png │ │ ├── Parts_Lib.slx │ │ └── slblocks.m │ ├── README_contact_forces_core.txt │ ├── Scripts_Data │ │ ├── CFL_activeVariantBlock.m │ │ ├── CFL_contact_setModel.m │ │ ├── CFL_friction_setModel.m │ │ ├── CFL_visual_setOnOff.m │ │ ├── Doc │ │ │ ├── CFL_publish_all_scripts.m │ │ │ ├── Contact_Forces_Demo_Script_Library_Only.html │ │ │ ├── Contact_Forces_Demo_Script_Library_Only.m │ │ │ └── Contact_Forces_Sphere_Cone.pptx │ │ └── startup_Contact_Forces_Core.m │ ├── Test_Models │ │ ├── Test2D_Disks_in_Box.slx │ │ ├── Test2D_Disks_in_Box_plot1diskpos.m │ │ ├── Test3D_Balls_in_Box.slx │ │ └── Test3D_Balls_in_Box_plot1ballpos.m │ └── resources │ │ └── project │ │ ├── Project.xml │ │ ├── ProjectData.type.Info.xml │ │ ├── Root.type.Categories │ │ ├── FileClassCategory.type.Category.xml │ │ └── FileClassCategory.type.Category │ │ │ ├── ad2dea70-790c-4d13-aa0b-381399c1ae7d.type.Label.xml │ │ │ ├── artifact.type.Label.xml │ │ │ ├── convenience.type.Label.xml │ │ │ ├── derived.type.Label.xml │ │ │ ├── design.type.Label.xml │ │ │ ├── e758491f-dede-4c34-ae7d-553888133829.type.Label.xml │ │ │ ├── none.type.Label.xml │ │ │ ├── other.type.Label.xml │ │ │ └── test.type.Label.xml │ │ ├── Root.type.EntryPoints │ │ ├── 0a5cd3f2-c205-4d30-96e0-ae5ec8c38981.type.EntryPoint.xml │ │ ├── 1e5a6af0-74ff-446e-a0a7-6b7fad616157.type.EntryPoint.xml │ │ ├── 74be83e4-d0af-48cd-b36d-ed8b6497f920.type.EntryPoint.xml │ │ └── a427e084-34dc-4cf9-94d6-023fc2faeea6.type.EntryPoint.xml │ │ ├── Root.type.Export │ │ ├── b2dcfef5-3f09-43eb-b11a-5caa54b15ec7.type.ExportProfile.xml │ │ └── b2dcfef5-3f09-43eb-b11a-5caa54b15ec7.type.ExportProfile │ │ │ └── FileLabel.type.Filter │ │ │ └── e758491f-dede-4c34-ae7d-553888133829.type.Filter.xml │ │ ├── Root.type.Files │ │ ├── Libraries.type.File.xml │ │ ├── Libraries.type.File │ │ │ ├── 1.type.DIR_SIGNIFIER.xml │ │ │ ├── Contact_Forces_Lib.slx.type.File.xml │ │ │ ├── Extrusions.type.File.xml │ │ │ ├── Extrusions.type.File │ │ │ │ ├── 1.type.DIR_SIGNIFIER.xml │ │ │ │ ├── Extr_Data_Block_NotchCircle.m.type.File.xml │ │ │ │ ├── Extr_Data_Box.m.type.File.xml │ │ │ │ ├── Extr_Data_Cam_Circles.m.type.File.xml │ │ │ │ ├── Extr_Data_Cam_Roller_Curve.m.type.File.xml │ │ │ │ ├── Extr_Data_Custom.m.type.File.xml │ │ │ │ ├── Extr_Data_Ellipse.m.type.File.xml │ │ │ │ ├── Extr_Data_Frustum_Conical.m.type.File.xml │ │ │ │ ├── Extr_Data_Link2Hole.m.type.File.xml │ │ │ │ ├── Extr_Data_LinkHoles.m.type.File.xml │ │ │ │ ├── Extr_Data_Ring.m.type.File.xml │ │ │ │ └── Extr_Data_TriangleRounded_Holes.m.type.File.xml │ │ │ ├── Help.type.File.xml │ │ │ ├── Help.type.File │ │ │ │ ├── 1.type.DIR_SIGNIFIER.xml │ │ │ │ ├── Box_to_Belt_Contact.m.type.File.xml │ │ │ │ ├── Box_to_Belt_DBox_IMAGE.png.type.File.xml │ │ │ │ ├── Box_to_Box_Contact.m.type.File.xml │ │ │ │ ├── Box_to_Box_Contact_Forces_BoxB_Corners.m.type.File.xml │ │ │ │ ├── Box_to_Box_Contact_Forces_BoxF_Corners.m.type.File.xml │ │ │ │ ├── Box_to_Box_Dbox_IMAGE.png.type.File.xml │ │ │ │ ├── Circle_to_Circle_Contact.m.type.File.xml │ │ │ │ ├── Circle_to_Circle_DBox_IMAGE.png.type.File.xml │ │ │ │ ├── Circle_to_Finite_Line_Contact.m.type.File.xml │ │ │ │ ├── Circle_to_Finite_Line_DBox_IMAGE.png.type.File.xml │ │ │ │ ├── Circle_to_Ring_Contact.m.type.File.xml │ │ │ │ ├── Circle_to_Ring_DBox_IMAGE.png.type.File.xml │ │ │ │ ├── Contact_Forces_Library_Use.m.type.File.xml │ │ │ │ ├── Contact_Forces_Library_Use_Help1_IMAGE.png.type.File.xml │ │ │ │ ├── Contact_Forces_Library_Use_Help2_IMAGE.png.type.File.xml │ │ │ │ ├── Face_to_Plane_Contact.m.type.File.xml │ │ │ │ ├── Face_to_Plane_DBox_IMAGE.png.type.File.xml │ │ │ │ ├── Force_Laws.m.type.File.xml │ │ │ │ ├── Friction_Laws.m.type.File.xml │ │ │ │ ├── Sphere_in_Sphere_Contact.m.type.File.xml │ │ │ │ ├── Sphere_in_Sphere_DBox_IMAGE.png.type.File.xml │ │ │ │ ├── Sphere_to_Belt_Contact.m.type.File.xml │ │ │ │ ├── Sphere_to_Belt_DBox_IMAGE.png.type.File.xml │ │ │ │ ├── Sphere_to_Cone_Contact.m.type.File.xml │ │ │ │ ├── Sphere_to_Cone_DBox_IMAGE.png.type.File.xml │ │ │ │ ├── Sphere_to_Plane_Contact.m.type.File.xml │ │ │ │ ├── Sphere_to_Plane_DBox_IMAGE.png.type.File.xml │ │ │ │ ├── Sphere_to_Sphere_Contact.m.type.File.xml │ │ │ │ ├── Sphere_to_Sphere_DBox_IMAGE.png.type.File.xml │ │ │ │ ├── Sphere_to_Tube_Contact.m.type.File.xml │ │ │ │ ├── Sphere_to_Tube_DBox_IMAGE.png.type.File.xml │ │ │ │ ├── html.type.File.xml │ │ │ │ └── html.type.File │ │ │ │ │ ├── 1.type.DIR_SIGNIFIER.xml │ │ │ │ │ ├── Box_to_Belt_Contact.html.type.File.xml │ │ │ │ │ ├── Box_to_Belt_Help_IMAGE.png.type.File.xml │ │ │ │ │ ├── Box_to_Box_Contact.html.type.File.xml │ │ │ │ │ ├── Box_to_Box_Contact_Forces_BoxB_Corners.html.type.File.xml │ │ │ │ │ ├── Box_to_Box_Contact_Forces_BoxB_Corners_Help_IMAGE.png.type.File.xml │ │ │ │ │ ├── Box_to_Box_Contact_Forces_BoxF_Corners.html.type.File.xml │ │ │ │ │ ├── Box_to_Box_Contact_Forces_BoxF_Corners_Help_IMAGE.png.type.File.xml │ │ │ │ │ ├── Box_to_Box_Contact_Forces_Help_IMAGE.png.type.File.xml │ │ │ │ │ ├── Circle_to_Circle_Contact.html.type.File.xml │ │ │ │ │ ├── Circle_to_Circle_Help_IMAGE.png.type.File.xml │ │ │ │ │ ├── Circle_to_Finite_Line_Contact.html.type.File.xml │ │ │ │ │ ├── Circle_to_Finite_Line_Help_IMAGE.png.type.File.xml │ │ │ │ │ ├── Circle_to_Ring_Contact.html.type.File.xml │ │ │ │ │ ├── Circle_to_Ring_Help_IMAGE.png.type.File.xml │ │ │ │ │ ├── Contact_Forces_Library_Use.html.type.File.xml │ │ │ │ │ ├── Contact_Forces_Library_Use_Help1_IMAGE.png.type.File.xml │ │ │ │ │ ├── Contact_Forces_Library_Use_Help2_IMAGE.png.type.File.xml │ │ │ │ │ ├── Face_to_Plane_Contact.html.type.File.xml │ │ │ │ │ ├── Face_to_Plane_Help_IMAGE.png.type.File.xml │ │ │ │ │ ├── Force_Laws.html.type.File.xml │ │ │ │ │ ├── Force_Laws_Help_IMAGE.png.type.File.xml │ │ │ │ │ ├── Friction_Laws.html.type.File.xml │ │ │ │ │ ├── Friction_Laws_Help_IMAGE.png.type.File.xml │ │ │ │ │ ├── Sphere_in_Sphere_Contact.html.type.File.xml │ │ │ │ │ ├── Sphere_in_Sphere_Help_IMAGE.png.type.File.xml │ │ │ │ │ ├── Sphere_to_Belt_Contact.html.type.File.xml │ │ │ │ │ ├── Sphere_to_Belt_Help_IMAGE.png.type.File.xml │ │ │ │ │ ├── Sphere_to_Cone_Contact.html.type.File.xml │ │ │ │ │ ├── Sphere_to_Cone_Help_IMAGE.png.type.File.xml │ │ │ │ │ ├── Sphere_to_Plane_Contact.html.type.File.xml │ │ │ │ │ ├── Sphere_to_Plane_Help_IMAGE.png.type.File.xml │ │ │ │ │ ├── Sphere_to_Sphere_Contact.html.type.File.xml │ │ │ │ │ ├── Sphere_to_Sphere_Help_IMAGE.png.type.File.xml │ │ │ │ │ ├── Sphere_to_Tube_Contact.html.type.File.xml │ │ │ │ │ └── Sphere_to_Tube_Help_IMAGE.png.type.File.xml │ │ │ ├── Images.type.File.xml │ │ │ ├── Images.type.File │ │ │ │ ├── 1.type.DIR_SIGNIFIER.xml │ │ │ │ ├── BoxB_Corners_IMAGE.jpg.type.File.xml │ │ │ │ ├── BoxF_Corners_IMAGE.jpg.type.File.xml │ │ │ │ ├── Box_to_Belt_Contact_IMAGE.jpg.type.File.xml │ │ │ │ ├── Box_to_Belt_Ends_IMAGE.jpg.type.File.xml │ │ │ │ ├── Box_to_Belt_Faces_IMAGE.jpg.type.File.xml │ │ │ │ ├── Box_to_Box_Contact_IMAGE.jpg.type.File.xml │ │ │ │ ├── Circle_to_Circle_Contact_Enabled_IMAGE.jpg.type.File.xml │ │ │ │ ├── Circle_to_Circle_Contact_IMAGE.jpg.type.File.xml │ │ │ │ ├── Circle_to_Finite_Line_Contact_Enabled_IMAGE.jpg.type.File.xml │ │ │ │ ├── Circle_to_Finite_Line_Contact_IMAGE.jpg.type.File.xml │ │ │ │ ├── Circle_to_Hole_Attraction_IMAGE.jpg.type.File.xml │ │ │ │ ├── Circle_to_Ring_Contact_IMAGE.jpg.type.File.xml │ │ │ │ ├── Contact_Images.pptx.type.File.xml │ │ │ │ ├── Face_to_Belt_Faces_IMAGE.jpg.type.File.xml │ │ │ │ ├── Face_to_Plane_Contact_IMAGE.jpg.type.File.xml │ │ │ │ ├── Link_End_nx_IMAGE.png.type.File.xml │ │ │ │ ├── Link_End_px_IMAGE.png.type.File.xml │ │ │ │ ├── Link_Seg_2_Hole_IMAGE.png.type.File.xml │ │ │ │ ├── Rod_nZ_IMAGE.png.type.File.xml │ │ │ │ ├── Rod_pZ_IMAGE.png.type.File.xml │ │ │ │ ├── Sphere_in_Sphere_Contact_IMAGE.jpg.type.File.xml │ │ │ │ ├── Sphere_to_Belt_IMAGE.jpg.type.File.xml │ │ │ │ ├── Sphere_to_Cone_Contact_IMAGE.jpg.type.File.xml │ │ │ │ ├── Sphere_to_Plane_Contact_Enabled_IMAGE.jpg.type.File.xml │ │ │ │ ├── Sphere_to_Plane_Contact_IMAGE.jpg.type.File.xml │ │ │ │ ├── Sphere_to_Sphere_Contact_IMAGE.jpg.type.File.xml │ │ │ │ ├── Sphere_to_Tube_Contact_Enabled_IMAGE.jpg.type.File.xml │ │ │ │ ├── Sphere_to_Tube_Contact_IMAGE.jpg.type.File.xml │ │ │ │ └── Triangle_Link_IMAGE.png.type.File.xml │ │ │ ├── Parts_Lib.slx.type.File.xml │ │ │ └── slblocks.m.type.File.xml │ │ ├── README_contact_forces_core.txt.type.File.xml │ │ ├── Scripts_Data.type.File.xml │ │ ├── Scripts_Data.type.File │ │ │ ├── 1.type.DIR_SIGNIFIER.xml │ │ │ ├── CFL_activeVariantBlock.m.type.File.xml │ │ │ ├── CFL_contact_setModel.m.type.File.xml │ │ │ ├── CFL_friction_setModel.m.type.File.xml │ │ │ ├── CFL_visual_setOnOff.m.type.File.xml │ │ │ ├── Doc.type.File.xml │ │ │ ├── Doc.type.File │ │ │ │ ├── 1.type.DIR_SIGNIFIER.xml │ │ │ │ ├── CFL_publish_all_scripts.m.type.File.xml │ │ │ │ ├── Contact_Forces_Demo_Script_Library_Only.html.type.File.xml │ │ │ │ ├── Contact_Forces_Demo_Script_Library_Only.m.type.File.xml │ │ │ │ └── Contact_Forces_Sphere_Cone.pptx.type.File.xml │ │ │ └── startup_Contact_Forces_Core.m.type.File.xml │ │ ├── Test_Models.type.File.xml │ │ └── Test_Models.type.File │ │ │ ├── 1.type.DIR_SIGNIFIER.xml │ │ │ ├── Test2D_Disks_in_Box.slx.type.File.xml │ │ │ ├── Test2D_Disks_in_Box_plot1diskpos.m.type.File.xml │ │ │ ├── Test3D_Balls_in_Box.slx.type.File.xml │ │ │ └── Test3D_Balls_in_Box_plot1ballpos.m.type.File.xml │ │ ├── Root.type.ProjectPath │ │ ├── 224154e8-e8c9-495c-a80d-fda8a029a147.type.Reference.xml │ │ ├── 3f9848d3-a4a8-45f5-97c9-1c145258abe5.type.Reference.xml │ │ ├── 3fc27bca-2485-4719-aada-5c5a2a61aa2b.type.Reference.xml │ │ ├── 8e9967b0-a2d8-41ad-a6e1-dcc84287c152.type.Reference.xml │ │ ├── af09a29b-124e-4f32-a28c-2e9d92e805e5.type.Reference.xml │ │ ├── b5eafdb8-6faf-4e6a-b26f-5ece86a492ce.type.Reference.xml │ │ ├── d21e07a6-e5ce-4730-bb9d-89ee7d7a97f1.type.Reference.xml │ │ ├── d704a52e-544c-427d-b411-02eb384c26ab.type.Reference.xml │ │ └── ef85410d-0d6b-41fb-9a5e-f0b9e77169df.type.Reference.xml │ │ ├── Root.type.WorkingFolders │ │ ├── SimulinkCacheFolder.type.Reference.xml │ │ └── SimulinkCodeGenFolder.type.Reference.xml │ │ └── uuid-bac69023-8cdd-4d39-9666-5b08560c5b4c.xml └── Motor_Lib.slx ├── Overview ├── html │ ├── youBot_Arm.html │ ├── youBot_Arm.png │ ├── youBot_Arm_01.png │ ├── youBot_Arm_02.png │ ├── youBot_Arm_03.png │ ├── youBot_Arm_04.png │ ├── youBot_Arm_05.png │ ├── youBot_Arm_06.png │ ├── youBot_Arm_07.png │ ├── youBot_Arm_08.png │ ├── youBot_Arm_09.png │ ├── youBot_Arm_10.png │ ├── youBot_Arm_11.png │ ├── youBot_Arm_12.png │ ├── youBot_Arm_13.png │ ├── youBot_Arm_14.png │ ├── youBot_Arm_15.png │ ├── youBot_Arm_16.png │ ├── youBot_Arm_17.png │ ├── youBot_Arm_18.png │ ├── youBot_Arm_19.png │ ├── youBot_Arm_20.png │ ├── youBot_Arm_21.png │ ├── youBot_Arm_fullTest.html │ ├── youBot_Arm_fullTest.png │ ├── youBot_Arm_fullTest_01.png │ ├── youBot_Arm_fullTest_02.png │ ├── youBot_Arm_fullTest_03.png │ ├── youBot_Arm_fullTest_04.png │ ├── youBot_Arm_fullTest_05.png │ ├── youBot_Arm_fullTest_06.png │ ├── youBot_Arm_fullTest_07.png │ ├── youBot_Arm_fullTest_08.png │ ├── youBot_Arm_fullTest_09.png │ ├── youBot_Arm_fullTest_10.png │ ├── youBot_Arm_fullTest_11.png │ ├── youBot_Arm_fullTest_12.png │ ├── youBot_Arm_fullTest_13.png │ └── youBot_Arm_fullTest_14.png ├── youBot_Arm.m └── youBot_Arm_fullTest.m ├── README.md ├── SECURITY.md ├── Scripts_Data ├── Belts_BusObject.mat ├── shutdown_youBot.m ├── startup_youBot.m ├── youBot_Arm_Demo_Script.html ├── youBot_Arm_Demo_Script.m ├── youBot_Arm_Demo_Script_web.m ├── youBot_Arm_Overview.png ├── youBot_Arm_System_demoScript_IMAGE.jpg ├── youBot_Arm_System_demoScript_IMAGE_noLogo.jpg ├── youBot_Arm_System_demoScript_IMAGE_withLogo.jpg ├── youBot_Arm_activeVariantBlock.m ├── youBot_Arm_plot1currents.m ├── youBot_Arm_plot2boxposition.m ├── youBot_Arm_plot3torques.m ├── youBot_Arm_plot4jointangles.m ├── youBot_Arm_plot5constraintforce.m ├── youBot_Arm_viewOnshape.m ├── youBot_Arm_webopen_file.m ├── youBot_Arm_winopen_file.m ├── youBot_Data │ ├── Joint_Motor.slx │ └── youBot_Detailed_Specifications_PDF.pdf ├── youBot_PARAM.m ├── youBot_configureActuation.m ├── youBot_configureInput.m ├── youBot_configureLoad.m ├── youBot_configureMotors.m ├── youBot_configureTest.m └── youBot_logoShowHide.m ├── Workflows ├── Import_URDF │ ├── youBot_STEP.urdf │ └── youBot_STEP_URDF.slx ├── Optimize │ ├── youBot_optim.m │ ├── youBot_optim_compare_trajectories.m │ ├── youBot_optim_plotEExyz.m │ ├── youBot_optim_plotEExyz_animated.m │ ├── youBot_optim_plotResFriction.m │ ├── youBot_optim_plotResNoFriction.m │ ├── youBot_optim_res_Compare_Trajectories.png │ ├── youBot_optim_res_Friction.html │ ├── youBot_optim_res_Friction_allTrajectories.png │ ├── youBot_optim_res_Friction_allTrajectories_clr.png │ ├── youBot_optim_res_Friction_initialFinal.png │ ├── youBot_optim_res_noFriction.html │ ├── youBot_optim_res_noFriction_allTrajectories.png │ ├── youBot_optim_res_noFriction_allTrajectories_clr.png │ ├── youBot_optim_res_noFriction_initialFinal.png │ ├── youBot_optim_saveFigs2Image.m │ ├── youBot_optim_test_friction.m │ ├── youBot_optim_test_noFriction.m │ └── youBot_optim_tests.m └── Testing │ └── publish_youBot_Arm.m ├── YouBot_Arm.prj ├── resources └── project │ ├── Project.xml │ ├── ProjectData.type.Info.xml │ ├── Root.type.Categories │ ├── FileClassCategory.type.Category.xml │ └── FileClassCategory.type.Category │ │ ├── 20545165-5b50-44d0-a832-6a13a3cddbd2.type.Label.xml │ │ ├── 2273350c-ec4b-4fa6-bb19-542181c1c5e8.type.Label.xml │ │ ├── artifact.type.Label.xml │ │ ├── convenience.type.Label.xml │ │ ├── derived.type.Label.xml │ │ ├── design.type.Label.xml │ │ ├── none.type.Label.xml │ │ ├── other.type.Label.xml │ │ └── test.type.Label.xml │ ├── Root.type.EntryPoints │ ├── 0f7dfbfc-c40e-4318-a37a-5daa6a9ac50a.type.EntryPoint.xml │ ├── 27abb5b8-d24f-4deb-98b9-921908bb282b.type.EntryPoint.xml │ ├── 7fac9767-efe6-4f7b-be3e-6e9af1ae32e4.type.EntryPoint.xml │ └── ddb7d6c1-71a3-45ba-b903-39915df69d72.type.EntryPoint.xml │ ├── Root.type.Export │ ├── b8a88ba5-4e98-49c9-bd33-86d5d74eaebe.type.ExportProfile.xml │ └── b8a88ba5-4e98-49c9-bd33-86d5d74eaebe.type.ExportProfile │ │ └── FileLabel.type.Filter │ │ └── 20545165-5b50-44d0-a832-6a13a3cddbd2.type.Filter.xml │ ├── Root.type.Files │ ├── CAD.type.File.xml │ ├── CAD.type.File │ │ ├── 1.type.DIR_SIGNIFIER.xml │ │ ├── Base.step.type.File.xml │ │ ├── Bicep.step.type.File.xml │ │ ├── Electronics Board.step.type.File.xml │ │ ├── Finger A.step.type.File.xml │ │ ├── Finger B.step.type.File.xml │ │ ├── Forearm Black Inlay.step.type.File.xml │ │ ├── Forearm.step.type.File.xml │ │ ├── Gripper Housing A.step.type.File.xml │ │ ├── Gripper Housing B.step.type.File.xml │ │ ├── Gripper Pivot.step.type.File.xml │ │ ├── Motor Finger A.step.type.File.xml │ │ ├── Motor Finger B.step.type.File.xml │ │ ├── Onshape.type.File.xml │ │ ├── Onshape.type.File │ │ │ ├── 1.type.DIR_SIGNIFIER.xml │ │ │ └── Get_Onshape_youBot_Model.m.type.File.xml │ │ ├── Pin Gripper Pivot 1.step.type.File.xml │ │ ├── Pin Gripper Pivot 2.step.type.File.xml │ │ ├── Pin Gripper Pivot 3.step.type.File.xml │ │ ├── Pin Gripper Pivot 4.step.type.File.xml │ │ ├── Pin Housing A1.step.type.File.xml │ │ ├── Pin Housing A2.step.type.File.xml │ │ ├── Pin Housing B1.step.type.File.xml │ │ ├── Pin Housing B2.step.type.File.xml │ │ ├── Pin Housing C1.step.type.File.xml │ │ ├── Pin Housing C2.step.type.File.xml │ │ ├── Pivot Black Inlay.step.type.File.xml │ │ ├── Pivot.step.type.File.xml │ │ ├── Wrist.step.type.File.xml │ │ ├── youBot.slx.type.File.xml │ │ ├── youBot.xml.type.File.xml │ │ ├── youBot_DataFile.m.type.File.xml │ │ └── youBot_damping.slx.type.File.xml │ ├── Images.type.File.xml │ ├── Images.type.File │ │ ├── 1.type.DIR_SIGNIFIER.xml │ │ ├── youBot_Arm_Actuation_Motion_IMAGE.jpg.type.File.xml │ │ ├── youBot_Arm_Actuation_MotorPris_Ideal_IMAGE.jpg.type.File.xml │ │ ├── youBot_Arm_Actuation_Motor_IMAGE.jpg.type.File.xml │ │ ├── youBot_Arm_Actuation_Motor_Ideal_IMAGE.jpg.type.File.xml │ │ ├── youBot_Arm_Actuation_Motor_Motor_IMAGE.jpg.type.File.xml │ │ ├── youBot_Arm_Base_IMAGE.jpg.type.File.xml │ │ ├── youBot_Arm_Belt_IMAGE.jpg.type.File.xml │ │ ├── youBot_Arm_Belt_Light_Curtain_IMAGE.jpg.type.File.xml │ │ ├── youBot_Arm_Bicep_IMAGE.jpg.type.File.xml │ │ ├── youBot_Arm_Box_IMAGE.jpg.type.File.xml │ │ ├── youBot_Arm_Control_Logic_IMAGE.jpg.type.File.xml │ │ ├── youBot_Arm_Conveyors_IMAGE.jpg.type.File.xml │ │ ├── youBot_Arm_Environment_IMAGE.jpg.type.File.xml │ │ ├── youBot_Arm_Finger_A_IMAGE.jpg.type.File.xml │ │ ├── youBot_Arm_Finger_B_IMAGE.jpg.type.File.xml │ │ ├── youBot_Arm_Forearm_IMAGE.jpg.type.File.xml │ │ ├── youBot_Arm_Forearm_IMAGE_noLogo.jpg.type.File.xml │ │ ├── youBot_Arm_Forearm_IMAGE_withLogo.jpg.type.File.xml │ │ ├── youBot_Arm_Gripper_Force_Damper_IMAGE.jpg.type.File.xml │ │ ├── youBot_Arm_Gripper_Force_Payload_IMAGE.jpg.type.File.xml │ │ ├── youBot_Arm_Gripper_Force_Penalty_IMAGE.jpg.type.File.xml │ │ ├── youBot_Arm_Gripper_IMAGE.jpg.type.File.xml │ │ ├── youBot_Arm_Input_Control_Belt_IMAGE.jpg.type.File.xml │ │ ├── youBot_Arm_Input_Control_IMAGE.jpg.type.File.xml │ │ ├── youBot_Arm_Input_Signals_IMAGE.jpg.type.File.xml │ │ ├── youBot_Arm_Input_Splines_IMAGE.jpg.type.File.xml │ │ ├── youBot_Arm_Motor_JointIntf_IMAGE.jpg.type.File.xml │ │ ├── youBot_Arm_Pivot_IMAGE.jpg.type.File.xml │ │ ├── youBot_Arm_Pivot_IMAGE_noLogo.jpg.type.File.xml │ │ ├── youBot_Arm_Pivot_IMAGE_withLogo.jpg.type.File.xml │ │ ├── youBot_Arm_System_IMAGE.jpg.type.File.xml │ │ ├── youBot_Arm_System_IMAGE_noLogo.jpg.type.File.xml │ │ ├── youBot_Arm_System_IMAGE_withLogo.jpg.type.File.xml │ │ └── youBot_Arm_Wrist_IMAGE.jpg.type.File.xml │ ├── LICENSE.md.type.File.xml │ ├── Libraries.type.File.xml │ ├── Libraries.type.File │ │ ├── +MyMath.type.File.xml │ │ ├── +MyMath.type.File │ │ │ ├── 1.type.DIR_SIGNIFIER.xml │ │ │ ├── myAbs.ssc.type.File.xml │ │ │ └── myAbs.svg.type.File.xml │ │ ├── 1.type.DIR_SIGNIFIER.xml │ │ └── Motor_Lib.slx.type.File.xml │ ├── Overview.type.File.xml │ ├── Overview.type.File │ │ ├── 1.type.DIR_SIGNIFIER.xml │ │ ├── html.type.File.xml │ │ ├── html.type.File │ │ │ ├── 1.type.DIR_SIGNIFIER.xml │ │ │ ├── youBot_Arm.html.type.File.xml │ │ │ ├── youBot_Arm.png.type.File.xml │ │ │ ├── youBot_Arm_01.png.type.File.xml │ │ │ ├── youBot_Arm_02.png.type.File.xml │ │ │ ├── youBot_Arm_03.png.type.File.xml │ │ │ ├── youBot_Arm_04.png.type.File.xml │ │ │ ├── youBot_Arm_05.png.type.File.xml │ │ │ ├── youBot_Arm_06.png.type.File.xml │ │ │ ├── youBot_Arm_07.png.type.File.xml │ │ │ ├── youBot_Arm_08.png.type.File.xml │ │ │ ├── youBot_Arm_09.png.type.File.xml │ │ │ ├── youBot_Arm_10.png.type.File.xml │ │ │ ├── youBot_Arm_11.png.type.File.xml │ │ │ ├── youBot_Arm_12.png.type.File.xml │ │ │ ├── youBot_Arm_13.png.type.File.xml │ │ │ ├── youBot_Arm_14.png.type.File.xml │ │ │ ├── youBot_Arm_15.png.type.File.xml │ │ │ ├── youBot_Arm_16.png.type.File.xml │ │ │ ├── youBot_Arm_17.png.type.File.xml │ │ │ ├── youBot_Arm_18.png.type.File.xml │ │ │ ├── youBot_Arm_19.png.type.File.xml │ │ │ ├── youBot_Arm_20.png.type.File.xml │ │ │ ├── youBot_Arm_21.png.type.File.xml │ │ │ ├── youBot_Arm_fullTest.html.type.File.xml │ │ │ ├── youBot_Arm_fullTest.png.type.File.xml │ │ │ ├── youBot_Arm_fullTest_01.png.type.File.xml │ │ │ ├── youBot_Arm_fullTest_02.png.type.File.xml │ │ │ ├── youBot_Arm_fullTest_03.png.type.File.xml │ │ │ ├── youBot_Arm_fullTest_04.png.type.File.xml │ │ │ ├── youBot_Arm_fullTest_05.png.type.File.xml │ │ │ ├── youBot_Arm_fullTest_06.png.type.File.xml │ │ │ ├── youBot_Arm_fullTest_07.png.type.File.xml │ │ │ ├── youBot_Arm_fullTest_08.png.type.File.xml │ │ │ ├── youBot_Arm_fullTest_09.png.type.File.xml │ │ │ ├── youBot_Arm_fullTest_10.png.type.File.xml │ │ │ ├── youBot_Arm_fullTest_11.png.type.File.xml │ │ │ ├── youBot_Arm_fullTest_12.png.type.File.xml │ │ │ ├── youBot_Arm_fullTest_13.png.type.File.xml │ │ │ └── youBot_Arm_fullTest_14.png.type.File.xml │ │ ├── youBot_Arm.m.type.File.xml │ │ └── youBot_Arm_fullTest.m.type.File.xml │ ├── README.md.type.File.xml │ ├── SECURITY.md.type.File.xml │ ├── Scripts_Data.type.File.xml │ ├── Scripts_Data.type.File │ │ ├── 1.type.DIR_SIGNIFIER.xml │ │ ├── Belts_BusObject.mat.type.File.xml │ │ ├── shutdown_youBot.m.type.File.xml │ │ ├── startup_youBot.m.type.File.xml │ │ ├── youBot_Arm_Demo_Script.html.type.File.xml │ │ ├── youBot_Arm_Demo_Script.m.type.File.xml │ │ ├── youBot_Arm_Demo_Script_web.m.type.File.xml │ │ ├── youBot_Arm_Overview.png.type.File.xml │ │ ├── youBot_Arm_System_demoScript_IMAGE.jpg.type.File.xml │ │ ├── youBot_Arm_System_demoScript_IMAGE_noLogo.jpg.type.File.xml │ │ ├── youBot_Arm_System_demoScript_IMAGE_withLogo.jpg.type.File.xml │ │ ├── youBot_Arm_activeVariantBlock.m.type.File.xml │ │ ├── youBot_Arm_plot1currents.m.type.File.xml │ │ ├── youBot_Arm_plot2boxposition.m.type.File.xml │ │ ├── youBot_Arm_plot3torques.m.type.File.xml │ │ ├── youBot_Arm_plot4jointangles.m.type.File.xml │ │ ├── youBot_Arm_plot5constraintforce.m.type.File.xml │ │ ├── youBot_Arm_viewOnshape.m.type.File.xml │ │ ├── youBot_Arm_webopen_file.m.type.File.xml │ │ ├── youBot_Arm_winopen_file.m.type.File.xml │ │ ├── youBot_Data.type.File.xml │ │ ├── youBot_Data.type.File │ │ │ ├── 1.type.DIR_SIGNIFIER.xml │ │ │ ├── Joint_Motor.slx.type.File.xml │ │ │ └── youBot_Detailed_Specifications_PDF.pdf.type.File.xml │ │ ├── youBot_PARAM.m.type.File.xml │ │ ├── youBot_configureActuation.m.type.File.xml │ │ ├── youBot_configureInput.m.type.File.xml │ │ ├── youBot_configureLoad.m.type.File.xml │ │ ├── youBot_configureMotors.m.type.File.xml │ │ ├── youBot_configureTest.m.type.File.xml │ │ └── youBot_logoShowHide.m.type.File.xml │ ├── Workflows.type.File.xml │ ├── Workflows.type.File │ │ ├── 1.type.DIR_SIGNIFIER.xml │ │ ├── Import_URDF.type.File.xml │ │ ├── Import_URDF.type.File │ │ │ ├── 1.type.DIR_SIGNIFIER.xml │ │ │ ├── youBot_STEP.urdf.type.File.xml │ │ │ └── youBot_STEP_URDF.slx.type.File.xml │ │ ├── Optimize.type.File.xml │ │ ├── Optimize.type.File │ │ │ ├── 1.type.DIR_SIGNIFIER.xml │ │ │ ├── youBot_optim.m.type.File.xml │ │ │ ├── youBot_optim_compare_trajectories.m.type.File.xml │ │ │ ├── youBot_optim_plotEExyz.m.type.File.xml │ │ │ ├── youBot_optim_plotEExyz_animated.m.type.File.xml │ │ │ ├── youBot_optim_plotResFriction.m.type.File.xml │ │ │ ├── youBot_optim_plotResNoFriction.m.type.File.xml │ │ │ ├── youBot_optim_res_Compare_Trajectories.png.type.File.xml │ │ │ ├── youBot_optim_res_Friction.html.type.File.xml │ │ │ ├── youBot_optim_res_Friction_allTrajectories.png.type.File.xml │ │ │ ├── youBot_optim_res_Friction_allTrajectories_clr.png.type.File.xml │ │ │ ├── youBot_optim_res_Friction_initialFinal.png.type.File.xml │ │ │ ├── youBot_optim_res_noFriction.html.type.File.xml │ │ │ ├── youBot_optim_res_noFriction_allTrajectories.png.type.File.xml │ │ │ ├── youBot_optim_res_noFriction_allTrajectories_clr.png.type.File.xml │ │ │ ├── youBot_optim_res_noFriction_initialFinal.png.type.File.xml │ │ │ ├── youBot_optim_saveFigs2Image.m.type.File.xml │ │ │ ├── youBot_optim_test_friction.m.type.File.xml │ │ │ ├── youBot_optim_test_noFriction.m.type.File.xml │ │ │ └── youBot_optim_tests.m.type.File.xml │ │ ├── Testing.type.File.xml │ │ └── Testing.type.File │ │ │ ├── 1.type.DIR_SIGNIFIER.xml │ │ │ └── publish_youBot_Arm.m.type.File.xml │ └── youBot_Arm.slx.type.File.xml │ ├── Root.type.ProjectPath │ ├── 2f38785a-6b5e-40ce-b211-6e0d026b9bf7.type.Reference.xml │ ├── 39cd7916-cc05-4658-a959-751f5c72b00f.type.Reference.xml │ ├── 3d5c9c24-1833-4683-ab93-635f0d369bf9.type.Reference.xml │ ├── 44ad79bc-4b65-4076-83e6-e85d2a27896c.type.Reference.xml │ ├── 4c03c8ee-b36c-4a96-9da2-d952f28427f9.type.Reference.xml │ ├── 6e09777b-dba0-4043-b91c-a1bba659c4ef.type.Reference.xml │ ├── aa7d9e31-c219-4e0c-a882-b7b5686e96de.type.Reference.xml │ ├── d582d1fc-fe89-468a-8c04-33c4fcf64880.type.Reference.xml │ ├── d5e00da1-63a6-4afb-82b5-2e88057d5232.type.Reference.xml │ └── e6502a2a-b68a-4812-b11d-c40784f218de.type.Reference.xml │ ├── Root.type.References │ └── 22f35a28-2b4c-4a2c-b1fa-c5d72eaea578.type.Reference.xml │ ├── Root.type.WorkingFolders │ ├── SimulinkCacheFolder.type.Reference.xml │ └── SimulinkCodeGenFolder.type.Reference.xml │ └── uuid-8e80a8b8-03f2-4cee-8e45-1019286a362a.xml └── youBot_Arm.slx /CAD/Base.step: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mathworks/Simscape-Robot-Conveyor-Belts/HEAD/CAD/Base.step -------------------------------------------------------------------------------- /CAD/Bicep.step: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mathworks/Simscape-Robot-Conveyor-Belts/HEAD/CAD/Bicep.step -------------------------------------------------------------------------------- /CAD/Electronics Board.step: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mathworks/Simscape-Robot-Conveyor-Belts/HEAD/CAD/Electronics Board.step 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