├── .vscode └── settings.json ├── Images ├── 1_custom_arm.gif ├── 2_bazu_controller.gif ├── 3_panda_jtc.gif ├── 4_panda_multi_goal.gif └── thumbnail.png ├── Notes └── Complete_notes.pdf ├── README.md ├── Robotics_kinematics_solver.ipynb ├── franka_description ├── CMakeLists.txt ├── launch │ └── visualize_franka.launch.py ├── meshes │ ├── collision │ │ ├── hand.stl │ │ ├── link0.stl │ │ ├── link1.stl │ │ ├── link2.stl │ │ ├── link3.stl │ │ ├── link4.stl │ │ ├── link5.stl │ │ ├── link6.stl │ │ └── link7.stl │ └── visual │ │ ├── finger.dae │ │ ├── hand.dae │ │ ├── link0.dae │ │ ├── link1.dae │ │ ├── link2.dae │ │ ├── link3.dae │ │ ├── link4.dae │ │ ├── link5.dae │ │ ├── link6.dae │ │ └── link7.dae ├── package.xml ├── robots │ ├── common │ │ ├── franka_arm.xacro │ │ ├── franka_hand.xacro │ │ ├── franka_robot.xacro │ │ ├── hand.urdf.xacro │ │ ├── inertial.yaml │ │ └── utils.xacro │ ├── dual_panda │ │ └── dual_panda_example.urdf.xacro │ ├── fr3 │ │ ├── fr3.urdf.xacro │ │ └── joint_limits.yaml │ ├── hand.urdf.xacro │ ├── hand.xacro │ ├── panda │ │ ├── joint_limits.yaml │ │ ├── panda.urdf.xacro │ │ └── panda_r1.urdf │ ├── panda_arm.ros2_control.xacro │ ├── panda_arm.urdf.xacro │ ├── panda_arm.xacro │ ├── panda_r2.urdf │ └── panda_ros2.urdf ├── rviz │ └── visualize_franka.rviz └── test │ └── urdf_tests.py └── robotic_arms_control ├── config ├── bazu_jtc_controller.yaml ├── bazu_pos_controller.yaml └── panda_jtc_controller.yaml ├── launch ├── controller_spawner.launch.py ├── gazebo_bringup.launch.py └── rviz_bringup.launch.py ├── package.xml ├── resource └── robotic_arms_control ├── robotic_arms_control ├── __init__.py ├── joint_controller_test.py ├── jtc_multi_goals.py ├── kinematic_solver.py ├── rtb_ikine_fkine.py └── transform_publisher.py ├── setup.cfg ├── setup.py ├── test ├── test_copyright.py ├── test_flake8.py └── test_pep257.py └── urdf ├── bazu.urdf └── panda_arm.urdf /.vscode/settings.json: 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