LiuzhengSJ 2ca5033b46 add urdf files. ...

aligh the function parameter names of qp and rm methods

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base_link.STL

add urdf files.

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link_1.STL

add urdf files.

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link_2.STL

add urdf files.

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link_3.STL

add urdf files.

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link_4.STL

add urdf files.

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link_5.STL

add urdf files.

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link_6.STL

add urdf files.

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link_7.STL

add urdf files.

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