Authors

• Caelan Garrett <caelan@csail.mit.edu> @caelan

• Yijiang Huang <yijiangh@mit.edu> @yijiangh

Acknowledgements

We thank the authors for the following models that we use in the unit tests.

• The clamp c1 URDF model is designed by @yck011522.

• The dms gripper mesh model is designed by @stefanaparascho.

• The kuka_kr6_r900 URDF model is from @ros-industrial/kuka_experimental.

• The universal_robot URDF model is from @ros-industrial/universal_robot.