├── .gitignore ├── HISTORY ├── LICENSE ├── README.md ├── app ├── bvh2ztk.c ├── cad2ztk.c ├── chain2gp.c ├── chain2mshape.c ├── config.app ├── makefile ├── mshape2chain.c ├── rk_chain_convexify.c ├── rk_fk.c ├── rk_ground.c ├── rk_id.c ├── rk_ik.c ├── rk_ikcell_merge.c ├── rk_mp.c ├── urdf2ztk.c ├── zvs2zkci.c └── zvs2zkcs.c ├── config.org ├── doc ├── dox.conf ├── fig │ ├── roki_logo.eps │ ├── roki_logo.obj │ ├── roki_logo120.png │ └── roki_logo240.png └── makefile ├── example ├── body │ ├── body_angularmomentum_test.c │ ├── body_com_test.c │ ├── body_wrench_test.c │ └── makefile ├── cd │ ├── cd_test.c │ └── makefile ├── chain │ ├── boundingball_test.c │ ├── chain2vert_test.c │ ├── com_vel_humanoid_test.c │ ├── makefile │ ├── read_write_test.c │ ├── urdf_test.c │ └── zmp_test.c ├── contact │ ├── contact.ztk │ ├── makefile │ └── ztk_test.c ├── ik │ ├── H5_ik_test.c │ ├── closed_loop_test.c │ ├── ik_cell_test.c │ ├── ik_conf_ztk_test.c │ ├── ik_test.c │ ├── ik_test.ztk │ ├── makefile │ ├── prioritized_ik_test.c │ ├── puma_ik_test.c │ └── puma_vel_track_test.c ├── jacobi │ ├── makefile │ ├── manip_test.c │ └── sv_test.c ├── joint │ ├── makefile │ ├── resttorque_test.c │ └── revol_dyn_test.c ├── makeall.sh ├── makefile └── model │ ├── H5.ztk │ ├── arm.ztk │ ├── arm_2DoF.ztk │ ├── arm_2DoF_trq.ztk │ ├── box.ztk │ ├── contactinfo.ztk │ ├── crawler.ztk │ ├── cube.ztk │ ├── double_fourbar_linkage.ztk │ ├── dualarm.ztk │ ├── floor.ztk │ ├── floor2.ztk │ ├── floor_hardsoft.ztk │ ├── invpend.ztk │ ├── magnum.ztk │ ├── mighty.ztk │ ├── puma.ztk │ └── wall.ztk ├── include └── roki │ ├── rk_abi.h │ ├── rk_body.h │ ├── rk_cd.h │ ├── rk_chain.h │ ├── rk_chain_urdf.h │ ├── rk_contact.h │ ├── rk_errmsg.h │ ├── rk_force.h │ ├── rk_g.h │ ├── rk_g3d.h │ ├── rk_ik.h │ ├── rk_ik_cell.h │ ├── rk_ik_imp.h │ ├── rk_ik_seq.h │ ├── rk_jacobi.h │ ├── rk_joint.h │ ├── rk_joint_brfloat.h │ ├── rk_joint_cylin.h │ ├── rk_joint_fixed.h │ ├── rk_joint_float.h │ ├── rk_joint_hooke.h │ ├── rk_joint_plana.h │ ├── rk_joint_prism.h │ ├── rk_joint_revol.h │ ├── rk_joint_spher.h │ ├── rk_link.h │ ├── rk_misc.h │ ├── rk_motor.h │ ├── rk_motor_dc.h │ ├── rk_motor_none.h │ ├── rk_motor_trq.h │ └── roki.h ├── lib └── .gitkeep ├── libinfo ├── makefile ├── src ├── config.lib ├── makefile ├── rk_abi.c ├── rk_body.c ├── rk_cd.c ├── rk_chain.c ├── rk_chain_urdf.c ├── rk_contact.c ├── rk_force.c ├── rk_g3d.c ├── rk_ik.c ├── rk_ik_cell.c ├── rk_ik_imp.c ├── rk_ik_seq.c ├── rk_jacobi.c ├── rk_joint.c ├── rk_joint_brfloat.c ├── rk_joint_cylin.c ├── rk_joint_fixed.c ├── rk_joint_float.c ├── rk_joint_hooke.c ├── rk_joint_plana.c ├── rk_joint_prism.c ├── rk_joint_revol.c ├── rk_joint_spher.c ├── rk_link.c ├── rk_motor.c ├── rk_motor_dc.c ├── rk_motor_none.c └── rk_motor_trq.c ├── test ├── body_test.c ├── chain_test.c ├── contact.ztk ├── contact_test.c ├── force_test.c ├── ik_test.c ├── invpend.ztk ├── invpend_test.c ├── jacobi_test.c ├── joint_clone_test.c ├── joint_cylin_test.c ├── 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