├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── database.config ├── iCubHeidelberg01_fixed ├── iCubHeidelberg01_fixed.sdf └── model.config ├── iCubHeidelberg01_model ├── README.md ├── conf │ ├── FT │ │ ├── gazebo_iCubHeidelberg01_left_foot_ft.ini │ │ ├── gazebo_iCubHeidelberg01_left_leg_ft.ini │ │ ├── gazebo_iCubHeidelberg01_right_foot_ft.ini │ │ └── gazebo_iCubHeidelberg01_right_leg_ft.ini │ ├── gazebo_iCubHeidelberg01_left_leg.ini │ ├── gazebo_iCubHeidelberg01_right_leg.ini │ ├── gazebo_iCubHeidelberg01_robotname.ini │ ├── gazebo_iCubHeidelberg01_torso.ini │ └── yarpmotorgui.ini ├── convert.sh ├── dae_meshes │ ├── sim_kor_chest_prt.dae │ ├── sim_kor_lap_belt_2_prt.dae │ ├── sim_sea_l_ankle_prt.dae │ ├── sim_sea_l_foot_prt.dae │ ├── sim_sea_l_hip_1_prt.dae │ ├── sim_sea_l_hip_2_prt.dae │ ├── sim_sea_l_shank_prt.dae │ ├── sim_sea_l_sole_prt.dae │ ├── sim_sea_l_thigh_prt.dae │ ├── sim_sea_l_upper_thigh_prt.dae │ ├── sim_sea_lap_belt_1_prt.dae │ ├── sim_sea_r_ankle_prt.dae │ ├── sim_sea_r_foot_prt.dae │ ├── sim_sea_r_hip_1_prt.dae │ ├── sim_sea_r_hip_2_prt.dae │ ├── sim_sea_r_shank_prt.dae │ ├── sim_sea_r_sole_prt.dae │ ├── sim_sea_r_thigh_prt.dae │ ├── sim_sea_r_upper_thigh_prt.dae │ ├── sim_sea_root_link_prt.dae │ └── weight-1kg_prt.dae ├── iCubHeidelberg01.sdf ├── iCubHeidelberg01.urdf ├── iCubHeidelberg01_SIM_MODEL.xml ├── iCubHeidelberg01_joint_parameters.csv ├── iCubHeidelberg01_simmechanics_options.yaml └── model.config ├── icub ├── conf │ ├── FT │ │ ├── gazebo_icub_left_arm_ft.ini │ │ ├── gazebo_icub_left_foot_ft.ini │ │ ├── gazebo_icub_left_leg_ft.ini │ │ ├── gazebo_icub_right_arm_ft.ini │ │ ├── gazebo_icub_right_foot_ft.ini │ │ └── gazebo_icub_right_leg_ft.ini │ ├── gazebo_icub_head.ini │ ├── gazebo_icub_inertial.ini │ ├── gazebo_icub_left_arm.ini │ ├── gazebo_icub_left_arm_no_hand.ini │ ├── gazebo_icub_left_arm_no_hand_for_no_hand_model.ini │ ├── gazebo_icub_left_hand.ini │ ├── gazebo_icub_left_hand_finger.ini │ ├── gazebo_icub_left_hand_fingers.ini │ ├── gazebo_icub_left_hand_index.ini │ ├── gazebo_icub_left_hand_mais.ini │ ├── gazebo_icub_left_hand_middle.ini │ ├── gazebo_icub_left_hand_pinky.ini │ ├── gazebo_icub_left_hand_thumb.ini │ ├── gazebo_icub_left_leg.ini │ ├── gazebo_icub_right_arm.ini │ ├── gazebo_icub_right_arm_no_hand.ini │ ├── gazebo_icub_right_arm_no_hand_for_no_hand_model.ini │ ├── gazebo_icub_right_hand.ini │ ├── gazebo_icub_right_hand_finger.ini │ ├── gazebo_icub_right_hand_fingers.ini │ ├── gazebo_icub_right_hand_index.ini │ ├── gazebo_icub_right_hand_mais.ini │ ├── gazebo_icub_right_hand_middle.ini │ ├── gazebo_icub_right_hand_pinky.ini │ ├── gazebo_icub_right_hand_thumb.ini │ ├── gazebo_icub_right_leg.ini │ ├── gazebo_icub_robotname.ini │ ├── gazebo_icub_torso.ini │ ├── left_camera.ini │ ├── right_camera.ini │ └── yarpmotorgui.ini ├── icub.sdf ├── l_hand │ ├── l_hand.sdf │ └── model.config ├── l_leg │ ├── l_leg.sdf │ └── model.config ├── meshes │ ├── collision │ │ ├── icub_simple_collision_chest.dae │ │ ├── icub_simple_collision_head.dae │ │ ├── icub_simple_collision_l_ankle_1.dae │ │ ├── icub_simple_collision_l_arm.dae │ │ ├── icub_simple_collision_l_foot.dae │ │ ├── icub_simple_collision_l_forearm.dae │ │ ├── icub_simple_collision_l_hand.dae │ │ ├── icub_simple_collision_l_hip_1.dae │ │ ├── icub_simple_collision_l_hip_2.dae │ │ ├── icub_simple_collision_l_shank.dae │ │ ├── icub_simple_collision_l_shoulder_1.dae │ │ ├── icub_simple_collision_l_shoulder_2.dae │ │ ├── icub_simple_collision_l_thigh.dae │ │ ├── icub_simple_collision_lap_belt_1.dae │ │ ├── icub_simple_collision_neck_1.dae │ │ ├── icub_simple_collision_neck_2.dae │ │ ├── icub_simple_collision_r_ankle_1.dae │ │ ├── icub_simple_collision_r_arm.dae │ │ ├── icub_simple_collision_r_foot.dae │ │ ├── icub_simple_collision_r_forearm.dae │ │ ├── icub_simple_collision_r_hand.dae │ │ ├── icub_simple_collision_r_hip_1.dae │ │ ├── icub_simple_collision_r_hip_2.dae │ │ ├── icub_simple_collision_r_shank.dae │ │ ├── icub_simple_collision_r_shoulder_1.dae │ │ ├── icub_simple_collision_r_shoulder_2.dae │ │ ├── icub_simple_collision_r_thigh.dae │ │ ├── icub_simple_collision_root_link.dae │ │ ├── l_hand │ │ │ ├── l_ail0.dae │ │ │ ├── l_ail1.dae │ │ │ ├── l_ail2.dae │ │ │ ├── l_ail3.dae │ │ │ ├── l_indexbase.dae │ │ │ ├── l_lil0.dae │ │ │ ├── l_lil1.dae │ │ │ ├── l_lil2.dae │ │ │ ├── l_lil3.dae │ │ │ ├── l_littlebase.dae │ │ │ ├── l_middlebase.dae │ │ │ ├── l_ml0.dae │ │ │ ├── l_ml1.dae │ │ │ ├── l_ml2.dae │ │ │ ├── l_ml3.dae │ │ │ ├── l_palm.dae │ │ │ ├── l_ril0.dae │ │ │ ├── l_ril1.dae │ │ │ ├── l_ril2.dae │ │ │ ├── l_ril3.dae │ │ │ ├── l_ringbase.dae │ │ │ ├── l_tl0.dae │ │ │ ├── l_tl1.dae │ │ │ ├── l_tl2.dae │ │ │ ├── l_tl3.dae │ │ │ └── l_tl4.dae │ │ └── r_hand │ │ │ ├── r_ail0.dae │ │ │ ├── r_ail1.dae │ │ │ ├── r_ail2.dae │ │ │ ├── r_ail3.dae │ │ │ ├── r_indexbase.dae │ │ │ ├── r_lil0.dae │ │ │ ├── r_lil1.dae │ │ │ ├── r_lil2.dae │ │ │ ├── r_lil3.dae │ │ │ ├── r_littlebase.dae │ │ │ ├── r_middlebase.dae │ │ │ ├── r_ml0.dae │ │ │ ├── r_ml1.dae │ │ │ ├── r_ml2.dae │ │ │ ├── r_ml3.dae │ │ │ ├── r_palm.dae │ │ │ ├── r_ril0.dae │ │ │ ├── r_ril1.dae │ │ │ ├── r_ril2.dae │ │ │ ├── r_ril3.dae │ │ │ ├── r_ringbase.dae │ │ │ ├── r_tl0.dae │ │ │ ├── r_tl1.dae │ │ │ ├── r_tl2.dae │ │ │ ├── r_tl3.dae │ │ │ └── r_tl4.dae │ └── visual │ │ ├── icub_chest.dae │ │ ├── icub_eye.dae │ │ ├── icub_head.dae │ │ ├── icub_head_without_eyes.dae │ │ ├── icub_l_ankle_1.dae │ │ ├── icub_l_arm.dae │ │ ├── icub_l_foot.dae │ │ ├── icub_l_forearm.dae │ │ ├── icub_l_hand.dae │ │ ├── icub_l_hip_1.dae │ │ ├── icub_l_hip_2.dae │ │ ├── icub_l_shank.dae │ │ ├── icub_l_shoulder_1.dae │ │ ├── icub_l_shoulder_2.dae │ │ ├── icub_l_thigh.dae │ │ ├── icub_lap_belt_1.dae │ │ ├── icub_neck_1.dae │ │ ├── icub_neck_2.dae │ │ ├── icub_r_ankle_1.dae │ │ ├── icub_r_arm.dae │ │ ├── icub_r_foot.dae │ │ ├── icub_r_forearm.dae │ │ ├── icub_r_hand.dae │ │ ├── icub_r_hip_1.dae │ │ ├── icub_r_hip_2.dae │ │ ├── icub_r_shank.dae │ │ ├── icub_r_shoulder_1.dae │ │ ├── icub_r_shoulder_2.dae │ │ ├── icub_r_thigh.dae │ │ ├── icub_root_link.dae │ │ ├── l_hand │ │ ├── l_ail0.dae │ │ ├── l_ail1.dae │ │ ├── l_ail2.dae │ │ ├── l_ail3.dae │ │ ├── l_indexbase.dae │ │ ├── l_lil0.dae │ │ ├── l_lil1.dae │ │ ├── l_lil2.dae │ │ ├── l_lil3.dae │ │ ├── l_littlebase.dae │ │ ├── l_middlebase.dae │ │ ├── l_ml0.dae │ │ ├── l_ml1.dae │ │ ├── l_ml2.dae │ │ ├── l_ml3.dae │ │ ├── l_palm.dae │ │ ├── l_ril0.dae │ │ ├── l_ril1.dae │ │ ├── l_ril2.dae │ │ ├── l_ril3.dae │ │ ├── l_ringbase.dae │ │ ├── l_tl0.dae │ │ ├── l_tl1.dae │ │ ├── l_tl2.dae │ │ ├── l_tl3.dae │ │ └── l_tl4.dae │ │ └── r_hand │ │ ├── r_ail0.dae │ │ ├── r_ail1.dae │ │ ├── r_ail2.dae │ │ ├── r_ail3.dae │ │ ├── r_indexbase.dae │ │ ├── r_lil0.dae │ │ ├── r_lil1.dae │ │ ├── r_lil2.dae │ │ ├── r_lil3.dae │ │ ├── r_littlebase.dae │ │ ├── r_middlebase.dae │ │ ├── r_ml0.dae │ │ ├── r_ml1.dae │ │ ├── r_ml2.dae │ │ ├── r_ml3.dae │ │ ├── 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