From 9134b122c544fbbc30c0e42716b1346a9767679d Mon Sep 17 00:00:00 2001
From: AndreasKuhner <AndreasKuhner@users.noreply.github.com>
Date: Fri, 6 Sep 2024 13:03:22 +0000
Subject: [PATCH] deploy: f093974e135abb5950d9ac91b1ec57a4b87c64ec

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+  <tr><td class="entry"><a class="el" href="classfranka_1_1Model.html#adf4fdf0404c2acf783493f7e646a6281">pose</a>(Frame frame, const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 16 &gt; &amp;F_T_EE, const std::array&lt; double, 16 &gt; &amp;EE_T_K) const</td><td class="entry"><a class="el" href="classfranka_1_1Model.html">franka::Model</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classfranka_1_1Model.html#a6522f1079e1dc5f6799dde6197b45259">zeroJacobian</a>(Frame frame, const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 16 &gt; &amp;F_T_EE, const std::array&lt; double, 16 &gt; &amp;EE_T_K) const</td><td class="entry"><a class="el" href="classfranka_1_1Model.html">franka::Model</a></td><td class="entry"></td></tr>
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diff --git a/0.14.1/classfranka_1_1Model.html b/0.13.5/classfranka_1_1Model.html
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-<tr class="separator:a8148cf270e52ad9e967d4651fc37d690"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a751d939935eb51f06dcfd18c6c756ceb"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Model.html#a751d939935eb51f06dcfd18c6c756ceb">Model</a> (franka::Network &amp;network)</td></tr>
+<tr class="memdesc:a751d939935eb51f06dcfd18c6c756ceb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a new <a class="el" href="classfranka_1_1Model.html" title="Calculates poses of joints and dynamic properties of the robot.">Model</a> instance.  <a href="classfranka_1_1Model.html#a751d939935eb51f06dcfd18c6c756ceb">More...</a><br /></td></tr>
+<tr class="separator:a751d939935eb51f06dcfd18c6c756ceb"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a8b58ff37f62512aecdcd0e6aabfd9548"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Model.html#a8b58ff37f62512aecdcd0e6aabfd9548">Model</a> (<a class="el" href="classfranka_1_1Model.html">Model</a> &amp;&amp;model) noexcept</td></tr>
 <tr class="memdesc:a8b58ff37f62512aecdcd0e6aabfd9548"><td class="mdescLeft">&#160;</td><td class="mdescRight">Move-constructs a new <a class="el" href="classfranka_1_1Model.html" title="Calculates poses of joints and dynamic properties of the robot.">Model</a> instance.  <a href="classfranka_1_1Model.html#a8b58ff37f62512aecdcd0e6aabfd9548">More...</a><br /></td></tr>
 <tr class="separator:a8b58ff37f62512aecdcd0e6aabfd9548"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -151,8 +148,8 @@
 <dl class="section examples"><dt>Examples</dt><dd><a class="el" href="cartesian_impedance_control_8cpp-example.html#_a2">cartesian_impedance_control.cpp</a>, <a class="el" href="force_control_8cpp-example.html#_a2">force_control.cpp</a>, <a class="el" href="joint_impedance_control_8cpp-example.html#_a5">joint_impedance_control.cpp</a>, and <a class="el" href="print_joint_poses_8cpp-example.html#_a3">print_joint_poses.cpp</a>.</dd>
 </dl>
 </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
-<a id="a8bf08984ec15c041ff1cbbe870945b82"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a8bf08984ec15c041ff1cbbe870945b82">&#9670;&nbsp;</a></span>Model() <span class="overload">[1/3]</span></h2>
+<a id="a751d939935eb51f06dcfd18c6c756ceb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a751d939935eb51f06dcfd18c6c756ceb">&#9670;&nbsp;</a></span>Model() <span class="overload">[1/2]</span></h2>
 
 <div class="memitem">
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@@ -164,18 +161,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#a8bf08984ec15c041ff1cbbe8
           <td class="memname">franka::Model::Model </td>
           <td>(</td>
           <td class="paramtype">franka::Network &amp;&#160;</td>
-          <td class="paramname"><em>network</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
+          <td class="paramname"><em>network</em></td><td>)</td>
           <td></td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>urdf_model</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
         </tr>
       </table>
   </td>
@@ -201,56 +188,10 @@ <h2 class="memtitle"><span class="permalink"><a href="#a8bf08984ec15c041ff1cbbe8
   </dd>
 </dl>
 
-</div>
-</div>
-<a id="a8148cf270e52ad9e967d4651fc37d690"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a8148cf270e52ad9e967d4651fc37d690">&#9670;&nbsp;</a></span>Model() <span class="overload">[2/3]</span></h2>
-
-<div class="memitem">
-<div class="memproto">
-<table class="mlabels">
-  <tr>
-  <td class="mlabels-left">
-      <table class="memname">
-        <tr>
-          <td class="memname">franka::Model::Model </td>
-          <td>(</td>
-          <td class="paramtype">franka::Network &amp;&#160;</td>
-          <td class="paramname"><em>network</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">std::unique_ptr&lt; <a class="el" href="classRobotModelBase.html">RobotModelBase</a> &gt;&#160;</td>
-          <td class="paramname"><em>robot_model</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-  </td>
-  <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">explicit</span></span>  </td>
-  </tr>
-</table>
-</div><div class="memdoc">
-
-<p>Creates a new <a class="el" href="classfranka_1_1Model.html" title="Calculates poses of joints and dynamic properties of the robot.">Model</a> instance only for the tests. </p>
-<p>This constructor is for the unittests for enabling mocks.</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">network</td><td>For internal use. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">robot_model</td><td>unique pointer to the mocked robot_model </td></tr>
-  </table>
-  </dd>
-</dl>
-
 </div>
 </div>
 <a id="a8b58ff37f62512aecdcd0e6aabfd9548"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a8b58ff37f62512aecdcd0e6aabfd9548">&#9670;&nbsp;</a></span>Model() <span class="overload">[3/3]</span></h2>
+<h2 class="memtitle"><span class="permalink"><a href="#a8b58ff37f62512aecdcd0e6aabfd9548">&#9670;&nbsp;</a></span>Model() <span class="overload">[2/2]</span></h2>
 
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diff --git a/0.14.1/classfranka_1_1Robot-members.html b/0.13.5/classfranka_1_1Robot-members.html
similarity index 94%
rename from 0.14.1/classfranka_1_1Robot-members.html
rename to 0.13.5/classfranka_1_1Robot-members.html
index 7464ac91..22849e65 100644
--- a/0.14.1/classfranka_1_1Robot-members.html
+++ b/0.13.5/classfranka_1_1Robot-members.html
@@ -27,10 +27,10 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr style="height: 56px;">
-  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_ROBOTICS_dark.png"/></td>
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">libfranka
-   &#160;<span id="projectnumber">0.14.1</span>
+   &#160;<span id="projectnumber">0.13.5</span>
    </div>
    <div id="projectbrief">FCI C++ API</div>
   </td>
@@ -92,9 +92,7 @@
   <tr><td class="entry"><a class="el" href="classfranka_1_1Robot.html#a6ba6193e52178899dc8c6a34aa4c537c">control</a>(std::function&lt; JointVelocities(const RobotState &amp;, franka::Duration)&gt; motion_generator_callback, ControllerMode controller_mode=ControllerMode::kJointImpedance, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Robot.html#adce4add23b47befadccd30e3dbe9f2f4">control</a>(std::function&lt; CartesianPose(const RobotState &amp;, franka::Duration)&gt; motion_generator_callback, ControllerMode controller_mode=ControllerMode::kJointImpedance, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
   <tr><td class="entry"><a class="el" href="classfranka_1_1Robot.html#a2176c99664b83bb394f0b2dfd416a8ee">control</a>(std::function&lt; CartesianVelocities(const RobotState &amp;, franka::Duration)&gt; motion_generator_callback, ControllerMode controller_mode=ControllerMode::kJointImpedance, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Robot.html#a54565ca0eb7b58727f88a8dcbf2f98ab">getRobotModel</a>() -&gt; std::string</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classfranka_1_1Robot.html#a2da598c539469827409ac7e3bb61d5da">loadModel</a>()</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
-  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>loadModel</b>(std::unique_ptr&lt; RobotModelBase &gt; robot_model) (defined in <a class="el" href="classfranka_1_1Robot.html">franka::Robot</a>)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Robot.html#a2da598c539469827409ac7e3bb61d5da">loadModel</a>()</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
   <tr><td class="entry"><a class="el" href="classfranka_1_1Robot.html#a35465b8497a7adbd277e70e98b7d97a7">operator=</a>(Robot &amp;&amp;other) noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Robot.html#a82f85eed20426901a7e77b66c041664b">read</a>(std::function&lt; bool(const RobotState &amp;)&gt; read_callback)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
   <tr><td class="entry"><a class="el" href="classfranka_1_1Robot.html#ae3c3d7c5c4491a1e96a0a543931e899a">readOnce</a>()</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
diff --git a/0.14.1/classfranka_1_1Robot.html b/0.13.5/classfranka_1_1Robot.html
similarity index 98%
rename from 0.14.1/classfranka_1_1Robot.html
rename to 0.13.5/classfranka_1_1Robot.html
index 17541695..9f880d0e 100644
--- a/0.14.1/classfranka_1_1Robot.html
+++ b/0.13.5/classfranka_1_1Robot.html
@@ -27,10 +27,10 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr style="height: 56px;">
-  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_ROBOTICS_dark.png"/></td>
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">libfranka
-   &#160;<span id="projectnumber">0.14.1</span>
+   &#160;<span id="projectnumber">0.13.5</span>
    </div>
    <div id="projectbrief">FCI C++ API</div>
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@@ -121,9 +121,6 @@
 <tr class="memitem:a2da598c539469827409ac7e3bb61d5da"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classfranka_1_1Model.html">Model</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#a2da598c539469827409ac7e3bb61d5da">loadModel</a> ()</td></tr>
 <tr class="memdesc:a2da598c539469827409ac7e3bb61d5da"><td class="mdescLeft">&#160;</td><td class="mdescRight">Loads the model library from the robot.  <a href="classfranka_1_1Robot.html#a2da598c539469827409ac7e3bb61d5da">More...</a><br /></td></tr>
 <tr class="separator:a2da598c539469827409ac7e3bb61d5da"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a30343104c16e3207ae1e5ee4e5a08e8c"><td class="memItemLeft" align="right" valign="top"><a id="a30343104c16e3207ae1e5ee4e5a08e8c"></a>
-<a class="el" href="classfranka_1_1Model.html">Model</a>&#160;</td><td class="memItemRight" valign="bottom"><b>loadModel</b> (std::unique_ptr&lt; <a class="el" href="classRobotModelBase.html">RobotModelBase</a> &gt; robot_model)</td></tr>
-<tr class="separator:a30343104c16e3207ae1e5ee4e5a08e8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a3b864e16b7accafdf1a755dc21765701"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classfranka_1_1Robot.html#ad1dd3dccff6f33691d2c66eaa5ac5a10">ServerVersion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#a3b864e16b7accafdf1a755dc21765701">serverVersion</a> () const noexcept</td></tr>
 <tr class="memdesc:a3b864e16b7accafdf1a755dc21765701"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the software version reported by the connected server.  <a href="classfranka_1_1Robot.html#a3b864e16b7accafdf1a755dc21765701">More...</a><br /></td></tr>
 <tr class="separator:a3b864e16b7accafdf1a755dc21765701"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -186,8 +183,6 @@
 <tr><td colspan="2"><div class="groupText"><p>Commands are executed by communicating with the robot over the network.</p>
 <p>These functions should therefore not be called from within control or motion generator loops. </p>
 </div></td></tr>
-<tr class="memitem:a54565ca0eb7b58727f88a8dcbf2f98ab"><td class="memItemLeft" align="right" valign="top">auto&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#a54565ca0eb7b58727f88a8dcbf2f98ab">getRobotModel</a> () -&gt; std::string</td></tr>
-<tr class="separator:a54565ca0eb7b58727f88a8dcbf2f98ab"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a168e1214ac36d74ac64f894332b84534"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">setCollisionBehavior</a> (const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_nominal, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_nominal)</td></tr>
 <tr class="memdesc:a168e1214ac36d74ac64f894332b84534"><td class="mdescLeft">&#160;</td><td class="mdescRight">Changes the collision behavior.  <a href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">More...</a><br /></td></tr>
 <tr class="separator:a168e1214ac36d74ac64f894332b84534"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -973,31 +968,6 @@ <h2 class="memtitle"><span class="permalink"><a href="#a76e8b7a9c7e2b874c3e300ba
 </dl>
 <dl class="section see"><dt>See also</dt><dd><a class="el" href="classfranka_1_1Robot.html#ae63bc19390df3d54f3a270814df35eb6" title="Establishes a connection with the robot.">Robot::Robot</a> to change behavior if realtime priority cannot be set. </dd></dl>
 
-</div>
-</div>
-<a id="a54565ca0eb7b58727f88a8dcbf2f98ab"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a54565ca0eb7b58727f88a8dcbf2f98ab">&#9670;&nbsp;</a></span>getRobotModel()</h2>
-
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">auto franka::Robot::getRobotModel </td>
-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
-          <td> -&gt;  std::string</td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<dl class="exception"><dt>Exceptions</dt><dd>
-  <table class="exception">
-    <tr><td class="paramname"><a class="el" href="structfranka_1_1CommandException.html" title="CommandException is thrown if an error occurs during command execution.">CommandException</a></td><td>if the Control reports an error. </td></tr>
-    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout.</td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd>std::string Provides the URDF model of the attached robot arm as json string </dd></dl>
-
 </div>
 </div>
 <a id="a2da598c539469827409ac7e3bb61d5da"></a>
@@ -1088,7 +1058,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a82f85eed20426901a7e77b66
 <div class="line">  std::cout &lt;&lt; robot_state &lt;&lt; std::endl;</div>
 <div class="line">  <span class="keywordflow">return</span> count++ &lt; 100;</div>
 <div class="line">});</div>
-<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:68</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
 </div><!-- fragment --><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramdir">[in]</td><td class="paramname">read_callback</td><td>Callback function for robot state reading.</td></tr>
diff --git a/0.14.1/classfranka_1_1Torques-members.html b/0.13.5/classfranka_1_1Torques-members.html
similarity index 97%
rename from 0.14.1/classfranka_1_1Torques-members.html
rename to 0.13.5/classfranka_1_1Torques-members.html
index 3aedd329..22caa4d2 100644
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+++ b/0.13.5/classfranka_1_1Torques-members.html
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-  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_ROBOTICS_dark.png"/></td>
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">libfranka
-   &#160;<span id="projectnumber">0.14.1</span>
+   &#160;<span id="projectnumber">0.13.5</span>
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diff --git a/0.14.1/classfranka_1_1Torques.html b/0.13.5/classfranka_1_1Torques.html
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rename to 0.13.5/classfranka_1_1Torques.html
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-  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_ROBOTICS_dark.png"/></td>
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
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+   &#160;<span id="projectnumber">0.13.5</span>
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diff --git a/0.14.1/classfranka_1_1Torques__coll__graph.map b/0.13.5/classfranka_1_1Torques__coll__graph.map
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rename from 0.14.1/classfranka_1_1Torques__coll__graph.map
rename to 0.13.5/classfranka_1_1Torques__coll__graph.map
diff --git a/0.14.1/classfranka_1_1Torques__coll__graph.md5 b/0.13.5/classfranka_1_1Torques__coll__graph.md5
similarity index 100%
rename from 0.14.1/classfranka_1_1Torques__coll__graph.md5
rename to 0.13.5/classfranka_1_1Torques__coll__graph.md5
diff --git a/0.14.1/classfranka_1_1Torques__coll__graph.png b/0.13.5/classfranka_1_1Torques__coll__graph.png
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@@ -159,7 +159,7 @@
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+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
 <div class="ttc" id="aclassfranka_1_1Robot_html_a0d5effba5daff2fee123802bbd5f95d1"><div class="ttname"><a href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">franka::Robot::control</a></div><div class="ttdeci">void control(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</div><div class="ttdoc">Starts a control loop for sending joint-level torque commands.</div></div>
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rename to 0.13.5/generate_cartesian_velocity_motion_external_control_loop_8cpp-example.html
index 87dc5bed..1b3c0501 100644
--- a/0.14.1/generate_cartesian_velocity_motion_external_control_loop_8cpp-example.html
+++ b/0.13.5/generate_cartesian_velocity_motion_external_control_loop_8cpp-example.html
@@ -27,10 +27,10 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr style="height: 56px;">
-  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_ROBOTICS_dark.png"/></td>
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">libfranka
-   &#160;<span id="projectnumber">0.14.1</span>
+   &#160;<span id="projectnumber">0.13.5</span>
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   </td>
@@ -178,7 +178,7 @@
 <div class="ttc" id="aclassMotionGenerator_html"><div class="ttname"><a href="classMotionGenerator.html">MotionGenerator</a></div><div class="ttdoc">An example showing how to generate a joint pose motion to a goal position.</div><div class="ttdef"><b>Definition:</b> examples_common.h:31</div></div>
 <div class="ttc" id="aclassfranka_1_1CartesianVelocities_html"><div class="ttname"><a href="classfranka_1_1CartesianVelocities.html">franka::CartesianVelocities</a></div><div class="ttdoc">Stores values for Cartesian velocity motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:211</div></div>
 <div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
-<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:68</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
 <div class="ttc" id="aclassfranka_1_1Robot_html_a0d5effba5daff2fee123802bbd5f95d1"><div class="ttname"><a href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">franka::Robot::control</a></div><div class="ttdeci">void control(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</div><div class="ttdoc">Starts a control loop for sending joint-level torque commands.</div></div>
 <div class="ttc" id="aclassfranka_1_1Robot_html_a168e1214ac36d74ac64f894332b84534"><div class="ttname"><a href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">franka::Robot::setCollisionBehavior</a></div><div class="ttdeci">void setCollisionBehavior(const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_nominal, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_nominal)</div><div class="ttdoc">Changes the collision behavior.</div></div>
 <div class="ttc" id="aclassfranka_1_1Robot_html_a838e2cfba6b08dd87742bbcfe62f15bf"><div class="ttname"><a href="classfranka_1_1Robot.html#a838e2cfba6b08dd87742bbcfe62f15bf">franka::Robot::startCartesianVelocityControl</a></div><div class="ttdeci">virtual std::unique_ptr&lt; ActiveControlBase &gt; startCartesianVelocityControl(const research_interface::robot::Move::ControllerMode &amp;control_type)</div><div class="ttdoc">Starts a new cartesian velocity motion generator.</div></div>
diff --git a/0.14.1/generate_consecutive_motions_8cpp-example.html b/0.13.5/generate_consecutive_motions_8cpp-example.html
similarity index 98%
rename from 0.14.1/generate_consecutive_motions_8cpp-example.html
rename to 0.13.5/generate_consecutive_motions_8cpp-example.html
index a9ceba54..8143dc17 100644
--- a/0.14.1/generate_consecutive_motions_8cpp-example.html
+++ b/0.13.5/generate_consecutive_motions_8cpp-example.html
@@ -27,10 +27,10 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr style="height: 56px;">
-  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_ROBOTICS_dark.png"/></td>
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">libfranka
-   &#160;<span id="projectnumber">0.14.1</span>
+   &#160;<span id="projectnumber">0.13.5</span>
    </div>
    <div id="projectbrief">FCI C++ API</div>
   </td>
@@ -152,7 +152,7 @@
 <div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
 <div class="ttc" id="aclassfranka_1_1Duration_html_a497af77a3280159547f231f0374e9ac1"><div class="ttname"><a href="classfranka_1_1Duration.html#a497af77a3280159547f231f0374e9ac1">franka::Duration::toSec</a></div><div class="ttdeci">double toSec() const noexcept</div><div class="ttdoc">Returns the stored duration in .</div></div>
 <div class="ttc" id="aclassfranka_1_1JointVelocities_html"><div class="ttname"><a href="classfranka_1_1JointVelocities.html">franka::JointVelocities</a></div><div class="ttdoc">Stores values for joint velocity motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:99</div></div>
-<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:68</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
 <div class="ttc" id="aclassfranka_1_1Robot_html_a0d5effba5daff2fee123802bbd5f95d1"><div class="ttname"><a href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">franka::Robot::control</a></div><div class="ttdeci">void control(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</div><div class="ttdoc">Starts a control loop for sending joint-level torque commands.</div></div>
 <div class="ttc" id="aclassfranka_1_1Robot_html_a168e1214ac36d74ac64f894332b84534"><div class="ttname"><a href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">franka::Robot::setCollisionBehavior</a></div><div class="ttdeci">void setCollisionBehavior(const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_nominal, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_nominal)</div><div class="ttdoc">Changes the collision behavior.</div></div>
 <div class="ttc" id="aclassfranka_1_1Robot_html_af682aa673415718715bd859116bc2fed"><div class="ttname"><a href="classfranka_1_1Robot.html#af682aa673415718715bd859116bc2fed">franka::Robot::automaticErrorRecovery</a></div><div class="ttdeci">void automaticErrorRecovery()</div><div class="ttdoc">Runs automatic error recovery on the robot.</div></div>
diff --git a/0.14.1/generate_elbow_motion_8cpp-example.html b/0.13.5/generate_elbow_motion_8cpp-example.html
similarity index 92%
rename from 0.14.1/generate_elbow_motion_8cpp-example.html
rename to 0.13.5/generate_elbow_motion_8cpp-example.html
index 9004402a..8058b036 100644
--- a/0.14.1/generate_elbow_motion_8cpp-example.html
+++ b/0.13.5/generate_elbow_motion_8cpp-example.html
@@ -27,10 +27,10 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr style="height: 56px;">
-  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_ROBOTICS_dark.png"/></td>
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">libfranka
-   &#160;<span id="projectnumber">0.14.1</span>
+   &#160;<span id="projectnumber">0.13.5</span>
    </div>
    <div id="projectbrief">FCI C++ API</div>
   </td>
@@ -122,8 +122,8 @@
 <div class="line">          time += period.<a name="a8"></a><a class="code" href="classfranka_1_1Duration.html#a497af77a3280159547f231f0374e9ac1">toSec</a>();</div>
 <div class="line"> </div>
 <div class="line">          <span class="keywordflow">if</span> (time == 0.0) {</div>
-<div class="line">            initial_pose = robot_state.<a name="a9"></a><a class="code" href="structfranka_1_1RobotState.html#a193781d47722b32925e0ea7ac415f442">O_T_EE</a>;</div>
-<div class="line">            initial_elbow = robot_state.<a name="a10"></a><a class="code" href="structfranka_1_1RobotState.html#a43485841c427d70e7f36a912cc3116d1">elbow</a>;</div>
+<div class="line">            initial_pose = robot_state.<a name="a9"></a><a class="code" href="structfranka_1_1RobotState.html#a395c48eff099419ea5d42eaf0870fc18">O_T_EE_c</a>;</div>
+<div class="line">            initial_elbow = robot_state.<a name="a10"></a><a class="code" href="structfranka_1_1RobotState.html#a16cfc844894e8b5b1ad829be529962f0">elbow_c</a>;</div>
 <div class="line">          }</div>
 <div class="line"> </div>
 <div class="line">          <span class="keywordtype">double</span> angle = M_PI / 10.0 * (1.0 - std::cos(M_PI / 5.0 * time));</div>
@@ -149,7 +149,7 @@
 <div class="ttc" id="aclassfranka_1_1CartesianPose_html"><div class="ttname"><a href="classfranka_1_1CartesianPose.html">franka::CartesianPose</a></div><div class="ttdoc">Stores values for Cartesian pose motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:127</div></div>
 <div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
 <div class="ttc" id="aclassfranka_1_1Duration_html_a497af77a3280159547f231f0374e9ac1"><div class="ttname"><a href="classfranka_1_1Duration.html#a497af77a3280159547f231f0374e9ac1">franka::Duration::toSec</a></div><div class="ttdeci">double toSec() const noexcept</div><div class="ttdoc">Returns the stored duration in .</div></div>
-<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:68</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
 <div class="ttc" id="aclassfranka_1_1Robot_html_a0d5effba5daff2fee123802bbd5f95d1"><div class="ttname"><a href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">franka::Robot::control</a></div><div class="ttdeci">void control(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</div><div class="ttdoc">Starts a control loop for sending joint-level torque commands.</div></div>
 <div class="ttc" id="aclassfranka_1_1Robot_html_a168e1214ac36d74ac64f894332b84534"><div class="ttname"><a href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">franka::Robot::setCollisionBehavior</a></div><div class="ttdeci">void setCollisionBehavior(const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_nominal, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_nominal)</div><div class="ttdoc">Changes the collision behavior.</div></div>
 <div class="ttc" id="acontrol__types_8h_html_a20791f7142d78bbbe3c957cc66a23ade"><div class="ttname"><a href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a></div><div class="ttdeci">Torques MotionFinished(Torques command) noexcept</div><div class="ttdoc">Helper method to indicate that a motion should stop after processing the given command.</div><div class="ttdef"><b>Definition:</b> control_types.h:294</div></div>
@@ -159,8 +159,8 @@
 <div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div><div class="ttdoc">Contains the franka::Robot type.</div></div>
 <div class="ttc" id="astructfranka_1_1Exception_html"><div class="ttname"><a href="structfranka_1_1Exception.html">franka::Exception</a></div><div class="ttdoc">Base class for all exceptions used by libfranka.</div><div class="ttdef"><b>Definition:</b> exception.h:20</div></div>
 <div class="ttc" id="astructfranka_1_1RobotState_html"><div class="ttname"><a href="structfranka_1_1RobotState.html">franka::RobotState</a></div><div class="ttdoc">Describes the robot state.</div><div class="ttdef"><b>Definition:</b> robot_state.h:34</div></div>
-<div class="ttc" id="astructfranka_1_1RobotState_html_a193781d47722b32925e0ea7ac415f442"><div class="ttname"><a href="structfranka_1_1RobotState.html#a193781d47722b32925e0ea7ac415f442">franka::RobotState::O_T_EE</a></div><div class="ttdeci">std::array&lt; double, 16 &gt; O_T_EE</div><div class="ttdoc">Measured end effector pose in base frame.</div><div class="ttdef"><b>Definition:</b> robot_state.h:40</div></div>
-<div class="ttc" id="astructfranka_1_1RobotState_html_a43485841c427d70e7f36a912cc3116d1"><div class="ttname"><a href="structfranka_1_1RobotState.html#a43485841c427d70e7f36a912cc3116d1">franka::RobotState::elbow</a></div><div class="ttdeci">std::array&lt; double, 2 &gt; elbow</div><div class="ttdoc">Elbow configuration.</div><div class="ttdef"><b>Definition:</b> robot_state.h:161</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a16cfc844894e8b5b1ad829be529962f0"><div class="ttname"><a href="structfranka_1_1RobotState.html#a16cfc844894e8b5b1ad829be529962f0">franka::RobotState::elbow_c</a></div><div class="ttdeci">std::array&lt; double, 2 &gt; elbow_c</div><div class="ttdoc">Commanded elbow configuration.</div><div class="ttdef"><b>Definition:</b> robot_state.h:191</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a395c48eff099419ea5d42eaf0870fc18"><div class="ttname"><a href="structfranka_1_1RobotState.html#a395c48eff099419ea5d42eaf0870fc18">franka::RobotState::O_T_EE_c</a></div><div class="ttdeci">std::array&lt; double, 16 &gt; O_T_EE_c</div><div class="ttdoc">Last commanded end effector pose of motion generation in base frame.</div><div class="ttdef"><b>Definition:</b> robot_state.h:342</div></div>
 </div><!-- fragment --> </div><!-- contents -->
 <!-- start footer part -->
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diff --git a/0.14.1/generate_joint_position_motion_8cpp-example.html b/0.13.5/generate_joint_position_motion_8cpp-example.html
similarity index 96%
rename from 0.14.1/generate_joint_position_motion_8cpp-example.html
rename to 0.13.5/generate_joint_position_motion_8cpp-example.html
index 09b4263d..a296c64a 100644
--- a/0.14.1/generate_joint_position_motion_8cpp-example.html
+++ b/0.13.5/generate_joint_position_motion_8cpp-example.html
@@ -27,10 +27,10 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr style="height: 56px;">
-  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_ROBOTICS_dark.png"/></td>
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">libfranka
-   &#160;<span id="projectnumber">0.14.1</span>
+   &#160;<span id="projectnumber">0.13.5</span>
    </div>
    <div id="projectbrief">FCI C++ API</div>
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@@ -120,7 +120,7 @@
 <div class="line">      time += period.<a name="a8"></a><a class="code" href="classfranka_1_1Duration.html#a497af77a3280159547f231f0374e9ac1">toSec</a>();</div>
 <div class="line"> </div>
 <div class="line">      <span class="keywordflow">if</span> (time == 0.0) {</div>
-<div class="line">        initial_position = robot_state.<a name="a9"></a><a class="code" href="structfranka_1_1RobotState.html#ade3335d1ac2f6c44741a916d565f7091">q</a>;</div>
+<div class="line">        initial_position = robot_state.<a name="a9"></a><a class="code" href="structfranka_1_1RobotState.html#a706045af1b176049e9e56df755325bd2">q_d</a>;</div>
 <div class="line">      }</div>
 <div class="line"> </div>
 <div class="line">      <span class="keywordtype">double</span> delta_angle = M_PI / 8.0 * (1 - std::cos(M_PI / 2.5 * time));</div>
@@ -147,7 +147,7 @@
 <div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
 <div class="ttc" id="aclassfranka_1_1Duration_html_a497af77a3280159547f231f0374e9ac1"><div class="ttname"><a href="classfranka_1_1Duration.html#a497af77a3280159547f231f0374e9ac1">franka::Duration::toSec</a></div><div class="ttdeci">double toSec() const noexcept</div><div class="ttdoc">Returns the stored duration in .</div></div>
 <div class="ttc" id="aclassfranka_1_1JointPositions_html"><div class="ttname"><a href="classfranka_1_1JointPositions.html">franka::JointPositions</a></div><div class="ttdoc">Stores values for joint position motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:72</div></div>
-<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:68</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
 <div class="ttc" id="aclassfranka_1_1Robot_html_a0d5effba5daff2fee123802bbd5f95d1"><div class="ttname"><a href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">franka::Robot::control</a></div><div class="ttdeci">void control(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</div><div class="ttdoc">Starts a control loop for sending joint-level torque commands.</div></div>
 <div class="ttc" id="aclassfranka_1_1Robot_html_a168e1214ac36d74ac64f894332b84534"><div class="ttname"><a href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">franka::Robot::setCollisionBehavior</a></div><div class="ttdeci">void setCollisionBehavior(const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_nominal, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_nominal)</div><div class="ttdoc">Changes the collision behavior.</div></div>
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@@ -157,7 +157,7 @@
 <div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div><div class="ttdoc">Contains the franka::Robot type.</div></div>
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-<div class="ttc" id="astructfranka_1_1RobotState_html_ade3335d1ac2f6c44741a916d565f7091"><div class="ttname"><a href="structfranka_1_1RobotState.html#ade3335d1ac2f6c44741a916d565f7091">franka::RobotState::q</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; q</div><div class="ttdoc">Measured joint position.</div><div class="ttdef"><b>Definition:</b> robot_state.h:233</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a706045af1b176049e9e56df755325bd2"><div class="ttname"><a href="structfranka_1_1RobotState.html#a706045af1b176049e9e56df755325bd2">franka::RobotState::q_d</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; q_d</div><div class="ttdoc">Desired joint position.</div><div class="ttdef"><b>Definition:</b> robot_state.h:239</div></div>
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diff --git a/0.14.1/generate_joint_position_motion_external_control_loop_8cpp-example.html b/0.13.5/generate_joint_position_motion_external_control_loop_8cpp-example.html
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 <div class="ttc" id="aclassMotionGenerator_html"><div class="ttname"><a href="classMotionGenerator.html">MotionGenerator</a></div><div class="ttdoc">An example showing how to generate a joint pose motion to a goal position.</div><div class="ttdef"><b>Definition:</b> examples_common.h:31</div></div>
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-<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:68</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
 <div class="ttc" id="aclassfranka_1_1Robot_html_a0d5effba5daff2fee123802bbd5f95d1"><div class="ttname"><a href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">franka::Robot::control</a></div><div class="ttdeci">void control(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</div><div class="ttdoc">Starts a control loop for sending joint-level torque commands.</div></div>
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-<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:68</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
 <div class="ttc" id="aclassfranka_1_1Robot_html_a0d5effba5daff2fee123802bbd5f95d1"><div class="ttname"><a href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">franka::Robot::control</a></div><div class="ttdeci">void control(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</div><div class="ttdoc">Starts a control loop for sending joint-level torque commands.</div></div>
 <div class="ttc" id="aclassfranka_1_1Robot_html_a168e1214ac36d74ac64f894332b84534"><div class="ttname"><a href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">franka::Robot::setCollisionBehavior</a></div><div class="ttdeci">void setCollisionBehavior(const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_nominal, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_nominal)</div><div class="ttdoc">Changes the collision behavior.</div></div>
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diff --git a/0.14.1/generate_joint_velocity_motion_external_control_loop_8cpp-example.html b/0.13.5/generate_joint_velocity_motion_external_control_loop_8cpp-example.html
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-<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:68</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
 <div class="ttc" id="aclassfranka_1_1Robot_html_a0d5effba5daff2fee123802bbd5f95d1"><div class="ttname"><a href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">franka::Robot::control</a></div><div class="ttdeci">void control(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</div><div class="ttdoc">Starts a control loop for sending joint-level torque commands.</div></div>
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 <tr id="row_8_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1Record.html" target="_self">franka::Record</a></td><td class="desc">One row of the log contains a robot command of timestamp n and a corresponding robot state of timestamp n+1 </td></tr>
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-<tr id="row_11_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_11_" class="arrow" onclick="toggleFolder('11_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classRobotModelBase.html" target="_self">RobotModelBase</a></td><td class="desc">Robot dynamic parameters computed from the URDF model with Pinocchio </td></tr>
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+<tr id="row_11_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1RobotState.html" target="_self">franka::RobotState</a></td><td class="desc">Describes the robot state </td></tr>
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+<tr id="row_12_0_1_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1ControlException.html" target="_self">franka::ControlException</a></td><td class="desc"><a class="el" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control.">ControlException</a> is thrown if an error occurs during motion generation or torque control </td></tr>
+<tr id="row_12_0_2_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1IncompatibleVersionException.html" target="_self">franka::IncompatibleVersionException</a></td><td class="desc"><a class="el" href="structfranka_1_1IncompatibleVersionException.html" title="IncompatibleVersionException is thrown if the robot does not support this version of libfranka.">IncompatibleVersionException</a> is thrown if the robot does not support this version of libfranka </td></tr>
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+<tr id="row_12_0_4_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1ModelException.html" target="_self">franka::ModelException</a></td><td class="desc"><a class="el" href="structfranka_1_1ModelException.html" title="ModelException is thrown if an error occurs when loading the model library.">ModelException</a> is thrown if an error occurs when loading the model library </td></tr>
+<tr id="row_12_0_5_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1NetworkException.html" target="_self">franka::NetworkException</a></td><td class="desc"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a> is thrown if a connection to the robot cannot be established, or when a timeout occurs </td></tr>
+<tr id="row_12_0_6_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1ProtocolException.html" target="_self">franka::ProtocolException</a></td><td class="desc"><a class="el" href="structfranka_1_1ProtocolException.html" title="ProtocolException is thrown if the robot returns an incorrect message.">ProtocolException</a> is thrown if the robot returns an incorrect message </td></tr>
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+<tr id="row_13_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1VacuumGripper.html" target="_self">franka::VacuumGripper</a></td><td class="desc">Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state, and allows the execution of commands </td></tr>
+<tr id="row_14_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1VacuumGripperState.html" target="_self">franka::VacuumGripperState</a></td><td class="desc">Describes the vacuum gripper state </td></tr>
 </table>
 </div><!-- directory -->
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diff --git a/0.14.1/model_8h_source.html b/0.13.5/model_8h_source.html
similarity index 68%
rename from 0.14.1/model_8h_source.html
rename to 0.13.5/model_8h_source.html
index e0afa2b1..f70147b5 100644
--- a/0.14.1/model_8h_source.html
+++ b/0.13.5/model_8h_source.html
@@ -27,10 +27,10 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr style="height: 56px;">
-  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_ROBOTICS_dark.png"/></td>
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">libfranka
-   &#160;<span id="projectnumber">0.14.1</span>
+   &#160;<span id="projectnumber">0.13.5</span>
    </div>
    <div id="projectbrief">FCI C++ API</div>
   </td>
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+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="robot__state_8h.html">franka/robot_state.h</a>&gt;</span></div>
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+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">   21</a></span>&#160;<span class="keyword">enum class</span> <a class="code" href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">Frame</a> {</div>
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+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;};</div>
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+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">class </span>Network;</div>
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+<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classfranka_1_1Model.html#a9ceca00546fa221f15ddaa7c0d27c40e">  142</a></span>&#160;  std::array&lt;<span class="keywordtype">double</span>, 42&gt; <a class="code" href="classfranka_1_1Model.html#a914a197a900a275799cf8d7461bb9d8a">bodyJacobian</a>(</div>
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+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 7&gt;&amp; q,</div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 16&gt;&amp; F_T_EE,  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 16&gt;&amp; EE_T_K)  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      const;</div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
+<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classfranka_1_1Model.html#a6fb6347b571a6759bad10b3a9e28a28f">  159</a></span>&#160;  std::array&lt;<span class="keywordtype">double</span>, 42&gt; <a class="code" href="classfranka_1_1Model.html#a6fb6347b571a6759bad10b3a9e28a28f">zeroJacobian</a>(<a class="code" href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">Frame</a> frame, const franka::<a class="code" href="structfranka_1_1RobotState.html">RobotState</a>&amp; robot_state) const;</div>
 <div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
-<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="classfranka_1_1Model.html#a6fb6347b571a6759bad10b3a9e28a28f">  171</a></span>&#160;  std::array&lt;<span class="keywordtype">double</span>, 42&gt; <a class="code" href="classfranka_1_1Model.html#a6fb6347b571a6759bad10b3a9e28a28f">zeroJacobian</a>(<a class="code" href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">Frame</a> frame, const franka::<a class="code" href="structfranka_1_1RobotState.html">RobotState</a>&amp; robot_state) const;</div>
-<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
-<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classfranka_1_1Model.html#a6522f1079e1dc5f6799dde6197b45259">  185</a></span>&#160;  std::array&lt;<span class="keywordtype">double</span>, 42&gt; <a class="code" href="classfranka_1_1Model.html#a6fb6347b571a6759bad10b3a9e28a28f">zeroJacobian</a>(</div>
-<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      <a class="code" href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">Frame</a> frame,</div>
-<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 7&gt;&amp; q,</div>
-<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 16&gt;&amp; F_T_EE,  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
-<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 16&gt;&amp; EE_T_K)  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
-<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      const;</div>
-<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
-<div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="classfranka_1_1Model.html#ad5f6156064bc18e42fc0b6d2f36b2006">  199</a></span>&#160;  std::array&lt;<span class="keywordtype">double</span>, 49&gt; <a class="code" href="classfranka_1_1Model.html#ad5f6156064bc18e42fc0b6d2f36b2006">mass</a>(const franka::<a class="code" href="structfranka_1_1RobotState.html">RobotState</a>&amp; robot_state) const noexcept;</div>
-<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
-<div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="classfranka_1_1Model.html#a61c3a8968e927c8629f1d549d20aaf85">  214</a></span>&#160;  std::array&lt;<span class="keywordtype">double</span>, 49&gt; <a class="code" href="classfranka_1_1Model.html#ad5f6156064bc18e42fc0b6d2f36b2006">mass</a>(</div>
-<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 7&gt;&amp; q,</div>
-<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 9&gt;&amp; I_total,  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
-<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      <span class="keywordtype">double</span> m_total,</div>
-<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 3&gt;&amp; F_x_Ctotal)  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
-<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      const noexcept;</div>
-<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
-<div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="classfranka_1_1Model.html#a91424f181a93bb47bda6af2d3567c65c">  229</a></span>&#160;  std::array&lt;<span class="keywordtype">double</span>, 7&gt; <a class="code" href="classfranka_1_1Model.html#a91424f181a93bb47bda6af2d3567c65c">coriolis</a>(const franka::<a class="code" href="structfranka_1_1RobotState.html">RobotState</a>&amp; robot_state) const noexcept;</div>
-<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
-<div class="line"><a name="l00246"></a><span class="lineno"><a class="line" href="classfranka_1_1Model.html#a3445ad932ddda2e3540768af9b7b4852">  246</a></span>&#160;  std::array&lt;<span class="keywordtype">double</span>, 7&gt; <a class="code" href="classfranka_1_1Model.html#a91424f181a93bb47bda6af2d3567c65c">coriolis</a>(</div>
-<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 7&gt;&amp; q,</div>
-<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 7&gt;&amp; dq,</div>
-<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 9&gt;&amp; I_total,  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
-<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      <span class="keywordtype">double</span> m_total,</div>
-<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 3&gt;&amp; F_x_Ctotal)  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
-<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      const noexcept;</div>
-<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
-<div class="line"><a name="l00267"></a><span class="lineno"><a class="line" href="classfranka_1_1Model.html#a9b28a648cf413297d80f383e62363ab9">  267</a></span>&#160;  std::array&lt;<span class="keywordtype">double</span>, 7&gt; <a class="code" href="classfranka_1_1Model.html#a9b28a648cf413297d80f383e62363ab9">gravity</a>(</div>
-<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 7&gt;&amp; q,</div>
-<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      <span class="keywordtype">double</span> m_total,</div>
-<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 3&gt;&amp; F_x_Ctotal,  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
-<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 3&gt;&amp; gravity_earth = {{0., 0., -9.81}}) <span class="keyword">const</span> noexcept;</div>
-<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
-<div class="line"><a name="l00281"></a><span class="lineno"><a class="line" href="classfranka_1_1Model.html#a76a94e1ddb45cf1cdded25be4cf2dcae">  281</a></span>&#160;  std::array&lt;double, 7&gt; <a class="code" href="classfranka_1_1Model.html#a76a94e1ddb45cf1cdded25be4cf2dcae">gravity</a>(<span class="keyword">const</span> <a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp; robot_state,</div>
-<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;                                <span class="keyword">const</span> std::array&lt;double, 3&gt;&amp; gravity_earth) <span class="keyword">const</span> noexcept;</div>
-<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
-<div class="line"><a name="l00291"></a><span class="lineno"><a class="line" href="classfranka_1_1Model.html#a983611785e894e1cd1f07a2df97ddbdd">  291</a></span>&#160;  std::array&lt;double, 7&gt; <a class="code" href="classfranka_1_1Model.html#a983611785e894e1cd1f07a2df97ddbdd">gravity</a>(<span class="keyword">const</span> <a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp; robot_state) <span class="keyword">const</span> noexcept;</div>
-<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
-<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;  <a class="code" href="classfranka_1_1Model.html#a8bf08984ec15c041ff1cbbe870945b82">Model</a>(<span class="keyword">const</span> <a class="code" href="classfranka_1_1Model.html">Model</a>&amp;) = <span class="keyword">delete</span>;</div>
-<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  <a class="code" href="classfranka_1_1Model.html">Model</a>&amp; <a class="code" href="classfranka_1_1Model.html#a625529a4c9aed7783c9c6e150dbba793">operator=</a>(<span class="keyword">const</span> <a class="code" href="classfranka_1_1Model.html">Model</a>&amp;) = <span class="keyword">delete</span>;</div>
-<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160; </div>
-<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; <span class="keyword">private</span>:</div>
-<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  std::unique_ptr&lt;ModelLibrary&gt; library_;</div>
-<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  std::unique_ptr&lt;RobotModelBase&gt; robot_model_;</div>
-<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;};</div>
-<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
-<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;}  <span class="comment">// namespace franka</span></div>
-<div class="ttc" id="aclassfranka_1_1Model_html"><div class="ttname"><a href="classfranka_1_1Model.html">franka::Model</a></div><div class="ttdoc">Calculates poses of joints and dynamic properties of the robot.</div><div class="ttdef"><b>Definition:</b> model.h:52</div></div>
+<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="classfranka_1_1Model.html#a6522f1079e1dc5f6799dde6197b45259">  173</a></span>&#160;  std::array&lt;<span class="keywordtype">double</span>, 42&gt; <a class="code" href="classfranka_1_1Model.html#a6fb6347b571a6759bad10b3a9e28a28f">zeroJacobian</a>(</div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <a class="code" href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">Frame</a> frame,</div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 7&gt;&amp; q,</div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 16&gt;&amp; F_T_EE,  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 16&gt;&amp; EE_T_K)  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      const;</div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
+<div class="line"><a name="l00187"></a><span class="lineno"><a class="line" href="classfranka_1_1Model.html#ad5f6156064bc18e42fc0b6d2f36b2006">  187</a></span>&#160;  std::array&lt;<span class="keywordtype">double</span>, 49&gt; <a class="code" href="classfranka_1_1Model.html#ad5f6156064bc18e42fc0b6d2f36b2006">mass</a>(const franka::<a class="code" href="structfranka_1_1RobotState.html">RobotState</a>&amp; robot_state) const noexcept;</div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
+<div class="line"><a name="l00202"></a><span class="lineno"><a class="line" href="classfranka_1_1Model.html#a61c3a8968e927c8629f1d549d20aaf85">  202</a></span>&#160;  std::array&lt;<span class="keywordtype">double</span>, 49&gt; <a class="code" href="classfranka_1_1Model.html#ad5f6156064bc18e42fc0b6d2f36b2006">mass</a>(</div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 7&gt;&amp; q,</div>
+<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 9&gt;&amp; I_total,  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      <span class="keywordtype">double</span> m_total,</div>
+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 3&gt;&amp; F_x_Ctotal)  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      const noexcept;</div>
+<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
+<div class="line"><a name="l00217"></a><span class="lineno"><a class="line" href="classfranka_1_1Model.html#a91424f181a93bb47bda6af2d3567c65c">  217</a></span>&#160;  std::array&lt;<span class="keywordtype">double</span>, 7&gt; <a class="code" href="classfranka_1_1Model.html#a91424f181a93bb47bda6af2d3567c65c">coriolis</a>(const franka::<a class="code" href="structfranka_1_1RobotState.html">RobotState</a>&amp; robot_state) const noexcept;</div>
+<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
+<div class="line"><a name="l00234"></a><span class="lineno"><a class="line" href="classfranka_1_1Model.html#a3445ad932ddda2e3540768af9b7b4852">  234</a></span>&#160;  std::array&lt;<span class="keywordtype">double</span>, 7&gt; <a class="code" href="classfranka_1_1Model.html#a91424f181a93bb47bda6af2d3567c65c">coriolis</a>(</div>
+<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 7&gt;&amp; q,</div>
+<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 7&gt;&amp; dq,</div>
+<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 9&gt;&amp; I_total,  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      <span class="keywordtype">double</span> m_total,</div>
+<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 3&gt;&amp; F_x_Ctotal)  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      const noexcept;</div>
+<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
+<div class="line"><a name="l00255"></a><span class="lineno"><a class="line" href="classfranka_1_1Model.html#a9b28a648cf413297d80f383e62363ab9">  255</a></span>&#160;  std::array&lt;<span class="keywordtype">double</span>, 7&gt; <a class="code" href="classfranka_1_1Model.html#a9b28a648cf413297d80f383e62363ab9">gravity</a>(</div>
+<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 7&gt;&amp; q,</div>
+<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      <span class="keywordtype">double</span> m_total,</div>
+<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 3&gt;&amp; F_x_Ctotal,  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 3&gt;&amp; gravity_earth = {{0., 0., -9.81}}) <span class="keyword">const</span> noexcept;</div>
+<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
+<div class="line"><a name="l00269"></a><span class="lineno"><a class="line" href="classfranka_1_1Model.html#a76a94e1ddb45cf1cdded25be4cf2dcae">  269</a></span>&#160;  std::array&lt;double, 7&gt; <a class="code" href="classfranka_1_1Model.html#a76a94e1ddb45cf1cdded25be4cf2dcae">gravity</a>(<span class="keyword">const</span> <a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp; robot_state,</div>
+<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;                                <span class="keyword">const</span> std::array&lt;double, 3&gt;&amp; gravity_earth) <span class="keyword">const</span> noexcept;</div>
+<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
+<div class="line"><a name="l00279"></a><span class="lineno"><a class="line" href="classfranka_1_1Model.html#a983611785e894e1cd1f07a2df97ddbdd">  279</a></span>&#160;  std::array&lt;double, 7&gt; <a class="code" href="classfranka_1_1Model.html#a983611785e894e1cd1f07a2df97ddbdd">gravity</a>(<span class="keyword">const</span> <a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp; robot_state) <span class="keyword">const</span> noexcept;</div>
+<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
+<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  <a class="code" href="classfranka_1_1Model.html#a751d939935eb51f06dcfd18c6c756ceb">Model</a>(<span class="keyword">const</span> <a class="code" href="classfranka_1_1Model.html">Model</a>&amp;) = <span class="keyword">delete</span>;</div>
+<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  <a class="code" href="classfranka_1_1Model.html">Model</a>&amp; <a class="code" href="classfranka_1_1Model.html#a625529a4c9aed7783c9c6e150dbba793">operator=</a>(<span class="keyword">const</span> <a class="code" href="classfranka_1_1Model.html">Model</a>&amp;) = <span class="keyword">delete</span>;</div>
+<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
+<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  std::unique_ptr&lt;ModelLibrary&gt; library_;</div>
+<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;};</div>
+<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160; </div>
+<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;}  <span class="comment">// namespace franka</span></div>
+<div class="ttc" id="aclassfranka_1_1Model_html"><div class="ttname"><a href="classfranka_1_1Model.html">franka::Model</a></div><div class="ttdoc">Calculates poses of joints and dynamic properties of the robot.</div><div class="ttdef"><b>Definition:</b> model.h:51</div></div>
 <div class="ttc" id="aclassfranka_1_1Model_html_a1d6ffa26afc6cfdff7e329d15b8bd65e"><div class="ttname"><a href="classfranka_1_1Model.html#a1d6ffa26afc6cfdff7e329d15b8bd65e">franka::Model::~Model</a></div><div class="ttdeci">~Model() noexcept</div><div class="ttdoc">Unloads the model library.</div></div>
 <div class="ttc" id="aclassfranka_1_1Model_html_a593c39dae76a6801cdd2402c2a783157"><div class="ttname"><a href="classfranka_1_1Model.html#a593c39dae76a6801cdd2402c2a783157">franka::Model::pose</a></div><div class="ttdeci">std::array&lt; double, 16 &gt; pose(Frame frame, const franka::RobotState &amp;robot_state) const</div><div class="ttdoc">Gets the 4x4 pose matrix for the given frame in base frame.</div></div>
 <div class="ttc" id="aclassfranka_1_1Model_html_a625529a4c9aed7783c9c6e150dbba793"><div class="ttname"><a href="classfranka_1_1Model.html#a625529a4c9aed7783c9c6e150dbba793">franka::Model::operator=</a></div><div class="ttdeci">Model &amp; operator=(Model &amp;&amp;model) noexcept</div><div class="ttdoc">Move-assigns this Model from another Model instance.</div></div>
 <div class="ttc" id="aclassfranka_1_1Model_html_a6fb6347b571a6759bad10b3a9e28a28f"><div class="ttname"><a href="classfranka_1_1Model.html#a6fb6347b571a6759bad10b3a9e28a28f">franka::Model::zeroJacobian</a></div><div class="ttdeci">std::array&lt; double, 42 &gt; zeroJacobian(Frame frame, const franka::RobotState &amp;robot_state) const</div><div class="ttdoc">Gets the 6x7 Jacobian for the given joint relative to the base frame.</div></div>
+<div class="ttc" id="aclassfranka_1_1Model_html_a751d939935eb51f06dcfd18c6c756ceb"><div class="ttname"><a href="classfranka_1_1Model.html#a751d939935eb51f06dcfd18c6c756ceb">franka::Model::Model</a></div><div class="ttdeci">Model(franka::Network &amp;network)</div><div class="ttdoc">Creates a new Model instance.</div></div>
 <div class="ttc" id="aclassfranka_1_1Model_html_a76a94e1ddb45cf1cdded25be4cf2dcae"><div class="ttname"><a href="classfranka_1_1Model.html#a76a94e1ddb45cf1cdded25be4cf2dcae">franka::Model::gravity</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; gravity(const franka::RobotState &amp;robot_state, const std::array&lt; double, 3 &gt; &amp;gravity_earth) const noexcept</div><div class="ttdoc">Calculates the gravity vector.</div></div>
-<div class="ttc" id="aclassfranka_1_1Model_html_a8148cf270e52ad9e967d4651fc37d690"><div class="ttname"><a href="classfranka_1_1Model.html#a8148cf270e52ad9e967d4651fc37d690">franka::Model::Model</a></div><div class="ttdeci">Model(franka::Network &amp;network, std::unique_ptr&lt; RobotModelBase &gt; robot_model)</div><div class="ttdoc">Creates a new Model instance only for the tests.</div></div>
 <div class="ttc" id="aclassfranka_1_1Model_html_a8b58ff37f62512aecdcd0e6aabfd9548"><div class="ttname"><a href="classfranka_1_1Model.html#a8b58ff37f62512aecdcd0e6aabfd9548">franka::Model::Model</a></div><div class="ttdeci">Model(Model &amp;&amp;model) noexcept</div><div class="ttdoc">Move-constructs a new Model instance.</div></div>
-<div class="ttc" id="aclassfranka_1_1Model_html_a8bf08984ec15c041ff1cbbe870945b82"><div class="ttname"><a href="classfranka_1_1Model.html#a8bf08984ec15c041ff1cbbe870945b82">franka::Model::Model</a></div><div class="ttdeci">Model(franka::Network &amp;network, const std::string &amp;urdf_model)</div><div class="ttdoc">Creates a new Model instance.</div></div>
 <div class="ttc" id="aclassfranka_1_1Model_html_a91424f181a93bb47bda6af2d3567c65c"><div class="ttname"><a href="classfranka_1_1Model.html#a91424f181a93bb47bda6af2d3567c65c">franka::Model::coriolis</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; coriolis(const franka::RobotState &amp;robot_state) const noexcept</div><div class="ttdoc">Calculates the Coriolis force vector (state-space equation): , in .</div></div>
 <div class="ttc" id="aclassfranka_1_1Model_html_a914a197a900a275799cf8d7461bb9d8a"><div class="ttname"><a href="classfranka_1_1Model.html#a914a197a900a275799cf8d7461bb9d8a">franka::Model::bodyJacobian</a></div><div class="ttdeci">std::array&lt; double, 42 &gt; bodyJacobian(Frame frame, const franka::RobotState &amp;robot_state) const</div><div class="ttdoc">Gets the 6x7 Jacobian for the given frame, relative to that frame.</div></div>
 <div class="ttc" id="aclassfranka_1_1Model_html_a983611785e894e1cd1f07a2df97ddbdd"><div class="ttname"><a href="classfranka_1_1Model.html#a983611785e894e1cd1f07a2df97ddbdd">franka::Model::gravity</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; gravity(const franka::RobotState &amp;robot_state) const noexcept</div><div class="ttdoc">Calculates the gravity vector using the robot state.</div></div>
 <div class="ttc" id="aclassfranka_1_1Model_html_a9b28a648cf413297d80f383e62363ab9"><div class="ttname"><a href="classfranka_1_1Model.html#a9b28a648cf413297d80f383e62363ab9">franka::Model::gravity</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; gravity(const std::array&lt; double, 7 &gt; &amp;q, double m_total, const std::array&lt; double, 3 &gt; &amp;F_x_Ctotal, const std::array&lt; double, 3 &gt; &amp;gravity_earth={{0., 0., -9.81}}) const noexcept</div><div class="ttdoc">Calculates the gravity vector.</div></div>
 <div class="ttc" id="aclassfranka_1_1Model_html_ad5f6156064bc18e42fc0b6d2f36b2006"><div class="ttname"><a href="classfranka_1_1Model.html#ad5f6156064bc18e42fc0b6d2f36b2006">franka::Model::mass</a></div><div class="ttdeci">std::array&lt; double, 49 &gt; mass(const franka::RobotState &amp;robot_state) const noexcept</div><div class="ttdoc">Calculates the 7x7 mass matrix.</div></div>
-<div class="ttc" id="amodel_8h_html_a00b729ddce916481d3f0d10febec4f5b"><div class="ttname"><a href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">franka::Frame</a></div><div class="ttdeci">Frame</div><div class="ttdoc">Enumerates the seven joints, the flange, and the end effector of a robot.</div><div class="ttdef"><b>Definition:</b> model.h:22</div></div>
+<div class="ttc" id="amodel_8h_html_a00b729ddce916481d3f0d10febec4f5b"><div class="ttname"><a href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">franka::Frame</a></div><div class="ttdeci">Frame</div><div class="ttdoc">Enumerates the seven joints, the flange, and the end effector of a robot.</div><div class="ttdef"><b>Definition:</b> model.h:21</div></div>
 <div class="ttc" id="amodel_8h_html_ae39c3a098fdb1bc9a097a262312454d0"><div class="ttname"><a href="model_8h.html#ae39c3a098fdb1bc9a097a262312454d0">franka::operator++</a></div><div class="ttdeci">Frame operator++(Frame &amp;frame, int) noexcept</div><div class="ttdoc">Post-increments the given Frame by one.</div></div>
 <div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div><div class="ttdoc">Contains the franka::Robot type.</div></div>
 <div class="ttc" id="arobot__state_8h_html"><div class="ttname"><a href="robot__state_8h.html">robot_state.h</a></div><div class="ttdoc">Contains the franka::RobotState types.</div></div>
diff --git a/0.14.1/motion_with_control_8cpp-example.html b/0.13.5/motion_with_control_8cpp-example.html
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rename from 0.14.1/motion_with_control_8cpp-example.html
rename to 0.13.5/motion_with_control_8cpp-example.html
index 85d8ce1c..806aa980 100644
--- a/0.14.1/motion_with_control_8cpp-example.html
+++ b/0.13.5/motion_with_control_8cpp-example.html
@@ -27,10 +27,10 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr style="height: 56px;">
-  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_ROBOTICS_dark.png"/></td>
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">libfranka
-   &#160;<span id="projectnumber">0.14.1</span>
+   &#160;<span id="projectnumber">0.13.5</span>
    </div>
    <div id="projectbrief">FCI C++ API</div>
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@@ -281,7 +281,7 @@
 <div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
 <div class="ttc" id="aclassfranka_1_1JointVelocities_html"><div class="ttname"><a href="classfranka_1_1JointVelocities.html">franka::JointVelocities</a></div><div class="ttdoc">Stores values for joint velocity motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:99</div></div>
 <div class="ttc" id="aclassfranka_1_1JointVelocities_html_a14fddb6fe7a7c4034dc82c283de8c2d3"><div class="ttname"><a href="classfranka_1_1JointVelocities.html#a14fddb6fe7a7c4034dc82c283de8c2d3">franka::JointVelocities::dq</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; dq</div><div class="ttdoc">Desired joint velocities in .</div><div class="ttdef"><b>Definition:</b> control_types.h:121</div></div>
-<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:68</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
 <div class="ttc" id="aclassfranka_1_1Torques_html"><div class="ttname"><a href="classfranka_1_1Torques.html">franka::Torques</a></div><div class="ttdoc">Stores joint-level torque commands without gravity and friction.</div><div class="ttdef"><b>Definition:</b> control_types.h:45</div></div>
 <div class="ttc" id="acontrol__types_8h_html_a20791f7142d78bbbe3c957cc66a23ade"><div class="ttname"><a href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a></div><div class="ttdeci">Torques MotionFinished(Torques command) noexcept</div><div class="ttdoc">Helper method to indicate that a motion should stop after processing the given command.</div><div class="ttdef"><b>Definition:</b> control_types.h:294</div></div>
 <div class="ttc" id="aexamples__common_8h_html"><div class="ttname"><a href="examples__common_8h.html">examples_common.h</a></div><div class="ttdoc">Contains common types and functions for the examples.</div></div>
diff --git a/0.14.1/motion_with_control_external_control_loop_8cpp-example.html b/0.13.5/motion_with_control_external_control_loop_8cpp-example.html
similarity index 99%
rename from 0.14.1/motion_with_control_external_control_loop_8cpp-example.html
rename to 0.13.5/motion_with_control_external_control_loop_8cpp-example.html
index b87835cd..f14f3ebd 100644
--- a/0.14.1/motion_with_control_external_control_loop_8cpp-example.html
+++ b/0.13.5/motion_with_control_external_control_loop_8cpp-example.html
@@ -27,10 +27,10 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr style="height: 56px;">
-  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_ROBOTICS_dark.png"/></td>
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">libfranka
-   &#160;<span id="projectnumber">0.14.1</span>
+   &#160;<span id="projectnumber">0.13.5</span>
    </div>
    <div id="projectbrief">FCI C++ API</div>
   </td>
@@ -302,7 +302,7 @@
 <div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
 <div class="ttc" id="aclassfranka_1_1JointVelocities_html"><div class="ttname"><a href="classfranka_1_1JointVelocities.html">franka::JointVelocities</a></div><div class="ttdoc">Stores values for joint velocity motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:99</div></div>
 <div class="ttc" id="aclassfranka_1_1JointVelocities_html_a14fddb6fe7a7c4034dc82c283de8c2d3"><div class="ttname"><a href="classfranka_1_1JointVelocities.html#a14fddb6fe7a7c4034dc82c283de8c2d3">franka::JointVelocities::dq</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; dq</div><div class="ttdoc">Desired joint velocities in .</div><div class="ttdef"><b>Definition:</b> control_types.h:121</div></div>
-<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:68</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
 <div class="ttc" id="aclassfranka_1_1Torques_html"><div class="ttname"><a href="classfranka_1_1Torques.html">franka::Torques</a></div><div class="ttdoc">Stores joint-level torque commands without gravity and friction.</div><div class="ttdef"><b>Definition:</b> control_types.h:45</div></div>
 <div class="ttc" id="acontrol__types_8h_html_a20791f7142d78bbbe3c957cc66a23ade"><div class="ttname"><a href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a></div><div class="ttdeci">Torques MotionFinished(Torques command) noexcept</div><div class="ttdoc">Helper method to indicate that a motion should stop after processing the given command.</div><div class="ttdef"><b>Definition:</b> control_types.h:294</div></div>
 <div class="ttc" id="aexamples__common_8h_html"><div class="ttname"><a href="examples__common_8h.html">examples_common.h</a></div><div class="ttdoc">Contains common types and functions for the examples.</div></div>
diff --git a/0.14.1/nav_f.png b/0.13.5/nav_f.png
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rename from 0.14.1/nav_f.png
rename to 0.13.5/nav_f.png
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similarity index 100%
rename from 0.14.1/nav_g.png
rename to 0.13.5/nav_g.png
diff --git a/0.14.1/nav_h.png b/0.13.5/nav_h.png
similarity index 100%
rename from 0.14.1/nav_h.png
rename to 0.13.5/nav_h.png
diff --git a/0.14.1/open.png b/0.13.5/open.png
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rename from 0.14.1/print_joint_poses_8cpp-example.html
rename to 0.13.5/print_joint_poses_8cpp-example.html
index 7565cd6e..487e8570 100644
--- a/0.14.1/print_joint_poses_8cpp-example.html
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@@ -27,10 +27,10 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr style="height: 56px;">
-  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_ROBOTICS_dark.png"/></td>
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">libfranka
-   &#160;<span id="projectnumber">0.14.1</span>
+   &#160;<span id="projectnumber">0.13.5</span>
    </div>
    <div id="projectbrief">FCI C++ API</div>
   </td>
@@ -116,12 +116,12 @@
 <div class="line"> </div>
 <div class="line">  <span class="keywordflow">return</span> 0;</div>
 <div class="line">}</div>
-<div class="ttc" id="aclassfranka_1_1Model_html"><div class="ttname"><a href="classfranka_1_1Model.html">franka::Model</a></div><div class="ttdoc">Calculates poses of joints and dynamic properties of the robot.</div><div class="ttdef"><b>Definition:</b> model.h:52</div></div>
-<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:68</div></div>
+<div class="ttc" id="aclassfranka_1_1Model_html"><div class="ttname"><a href="classfranka_1_1Model.html">franka::Model</a></div><div class="ttdoc">Calculates poses of joints and dynamic properties of the robot.</div><div class="ttdef"><b>Definition:</b> model.h:51</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
 <div class="ttc" id="aerrors_8h_html_ad1027058086c3c154f4bbc9cade1f197"><div class="ttname"><a href="errors_8h.html#ad1027058086c3c154f4bbc9cade1f197">franka::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;ostream, const Errors &amp;errors)</div><div class="ttdoc">Streams the errors as JSON array.</div></div>
 <div class="ttc" id="aexception_8h_html"><div class="ttname"><a href="exception_8h.html">exception.h</a></div><div class="ttdoc">Contains exception definitions.</div></div>
 <div class="ttc" id="amodel_8h_html"><div class="ttname"><a href="model_8h.html">model.h</a></div><div class="ttdoc">Contains model library types.</div></div>
-<div class="ttc" id="amodel_8h_html_a00b729ddce916481d3f0d10febec4f5b"><div class="ttname"><a href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">franka::Frame</a></div><div class="ttdeci">Frame</div><div class="ttdoc">Enumerates the seven joints, the flange, and the end effector of a robot.</div><div class="ttdef"><b>Definition:</b> model.h:22</div></div>
+<div class="ttc" id="amodel_8h_html_a00b729ddce916481d3f0d10febec4f5b"><div class="ttname"><a href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">franka::Frame</a></div><div class="ttdeci">Frame</div><div class="ttdoc">Enumerates the seven joints, the flange, and the end effector of a robot.</div><div class="ttdef"><b>Definition:</b> model.h:21</div></div>
 <div class="ttc" id="astructfranka_1_1Exception_html"><div class="ttname"><a href="structfranka_1_1Exception.html">franka::Exception</a></div><div class="ttdoc">Base class for all exceptions used by libfranka.</div><div class="ttdef"><b>Definition:</b> exception.h:20</div></div>
 <div class="ttc" id="astructfranka_1_1RobotState_html"><div class="ttname"><a href="structfranka_1_1RobotState.html">franka::RobotState</a></div><div class="ttdoc">Describes the robot state.</div><div class="ttdef"><b>Definition:</b> robot_state.h:34</div></div>
 </div><!-- fragment --> </div><!-- contents -->
diff --git a/0.14.1/rate__limiting_8h.html b/0.13.5/rate__limiting_8h.html
similarity index 99%
rename from 0.14.1/rate__limiting_8h.html
rename to 0.13.5/rate__limiting_8h.html
index d4d914bf..73512bbe 100644
--- a/0.14.1/rate__limiting_8h.html
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@@ -27,10 +27,10 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr style="height: 56px;">
-  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_ROBOTICS_dark.png"/></td>
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">libfranka
-   &#160;<span id="projectnumber">0.14.1</span>
+   &#160;<span id="projectnumber">0.13.5</span>
    </div>
    <div id="projectbrief">FCI C++ API</div>
   </td>
diff --git a/0.14.1/rate__limiting_8h__incl.map b/0.13.5/rate__limiting_8h__incl.map
similarity index 100%
rename from 0.14.1/rate__limiting_8h__incl.map
rename to 0.13.5/rate__limiting_8h__incl.map
diff --git a/0.14.1/rate__limiting_8h__incl.md5 b/0.13.5/rate__limiting_8h__incl.md5
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 <code>#include &lt;research_interface/robot/service_types.h&gt;</code><br />
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diff --git a/0.14.1/robot_8h_source.html b/0.13.5/robot_8h_source.html
similarity index 73%
rename from 0.14.1/robot_8h_source.html
rename to 0.13.5/robot_8h_source.html
index 30211d11..e63f481f 100644
--- a/0.14.1/robot_8h_source.html
+++ b/0.13.5/robot_8h_source.html
@@ -27,10 +27,10 @@
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  <tbody>
  <tr style="height: 56px;">
-  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_ROBOTICS_dark.png"/></td>
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">libfranka
-   &#160;<span id="projectnumber">0.14.1</span>
+   &#160;<span id="projectnumber">0.13.5</span>
    </div>
    <div id="projectbrief">FCI C++ API</div>
   </td>
@@ -91,173 +91,165 @@
 <div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="control__types_8h.html">franka/control_types.h</a>&gt;</span></div>
 <div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="duration_8h.html">franka/duration.h</a>&gt;</span></div>
 <div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="lowpass__filter_8h.html">franka/lowpass_filter.h</a>&gt;</span></div>
-<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;franka/robot_model_base.h&gt;</span></div>
-<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="robot__state_8h.html">franka/robot_state.h</a>&gt;</span></div>
-<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;research_interface/robot/service_types.h&gt;</span></div>
-<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;franka/commands/get_robot_model_command.hpp&gt;</span></div>
-<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
-<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="keyword">namespace </span>franka {</div>
-<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160; </div>
-<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keyword">class </span>Model;</div>
-<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
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-<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160; </div>
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-<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      std::function&lt;<a class="code" href="classfranka_1_1Torques.html">Torques</a>(const <a class="code" href="structfranka_1_1RobotState.html">RobotState</a>&amp;, franka::<a class="code" href="classfranka_1_1Duration.html">Duration</a>)&gt; control_callback,</div>
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-<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      <span class="keywordtype">double</span> cutoff_frequency = kDefaultCutoffFrequency);</div>
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-<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      std::function&lt;<a class="code" href="classfranka_1_1Torques.html">Torques</a>(const <a class="code" href="structfranka_1_1RobotState.html">RobotState</a>&amp;, franka::<a class="code" href="classfranka_1_1Duration.html">Duration</a>)&gt; control_callback,</div>
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-<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160; </div>
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-<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;      const research_interface::robot::Move::<a class="code" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">ControllerMode</a>&amp; control_type);</div>
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-<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;      const research_interface::robot::Move::<a class="code" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">ControllerMode</a>&amp; control_type);</div>
-<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160; </div>
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-<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;      const research_interface::robot::Move::<a class="code" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">ControllerMode</a>&amp; control_type);</div>
-<div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160; </div>
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-<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;      const research_interface::robot::Move::<a class="code" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">ControllerMode</a>&amp; control_type);</div>
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-<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160; </div>
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-<div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160; </div>
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+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="robot__state_8h.html">franka/robot_state.h</a>&gt;</span></div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;research_interface/robot/service_types.h&gt;</span></div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">namespace </span>franka {</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">class </span>Model;</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; </div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="keyword">class </span>ActiveControlBase;</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; </div>
+<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html">   67</a></span>&#160;<span class="keyword">class </span><a class="code" href="classfranka_1_1Robot.html">Robot</a> {</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#ad1dd3dccff6f33691d2c66eaa5ac5a10">   72</a></span>&#160;  <span class="keyword">using</span> <a class="code" href="classfranka_1_1Robot.html#ad1dd3dccff6f33691d2c66eaa5ac5a10">ServerVersion</a> = uint16_t;</div>
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+<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#ae63bc19390df3d54f3a270814df35eb6">   86</a></span>&#160;  <span class="keyword">explicit</span> <a class="code" href="classfranka_1_1Robot.html#ae63bc19390df3d54f3a270814df35eb6">Robot</a>(<span class="keyword">const</span> std::string&amp; franka_address,</div>
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+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
+<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#a378d415475336082e81a35b9811dc6c2">   95</a></span>&#160;  <a class="code" href="classfranka_1_1Robot.html#a378d415475336082e81a35b9811dc6c2">Robot</a>(<a class="code" href="classfranka_1_1Robot.html">Robot</a>&amp;&amp; other) noexcept;</div>
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+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
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+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      <span class="keywordtype">bool</span> limit_rate = false,</div>
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+<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      <span class="keywordtype">bool</span> limit_rate = false,</div>
+<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      <span class="keywordtype">double</span> cutoff_frequency = kDefaultCutoffFrequency);</div>
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+<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      <span class="keywordtype">bool</span> limit_rate = false,</div>
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-<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160; </div>
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-<div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;  class Impl;</div>
-<div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160; </div>
-<div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160; protected:</div>
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-<div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160; private:</div>
-<div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;  template &lt;typename T&gt;</div>
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-<div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;      const research_interface::robot::Move::<a class="code" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">ControllerMode</a>&amp; controller_type);</div>
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-<div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;  std::shared_ptr&lt;Impl&gt; impl_;</div>
-<div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;  std::mutex control_mutex_;</div>
-<div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;};</div>
-<div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160; </div>
-<div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;}  <span class="comment">// namespace franka</span></div>
-<div class="ttc" id="aclassRobotModelBase_html"><div class="ttname"><a href="classRobotModelBase.html">RobotModelBase</a></div><div class="ttdoc">Robot dynamic parameters computed from the URDF model with Pinocchio.</div><div class="ttdef"><b>Definition:</b> robot_model_base.h:10</div></div>
+<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;  class Impl;</div>
+<div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160; </div>
+<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160; protected:</div>
+<div class="line"><a name="l00762"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#a7cb49336d7e8b261b590a364daff2913">  762</a></span>&#160;  <a class="code" href="classfranka_1_1Robot.html">Robot</a>(std::shared_ptr&lt;Impl&gt; robot_impl);</div>
+<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160; </div>
+<div class="line"><a name="l00767"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#abf60ce0434f4dc262f04fcab0beff5ac">  767</a></span>&#160;  <a class="code" href="classfranka_1_1Robot.html">Robot</a>() = default;</div>
+<div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160; </div>
+<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160; private:</div>
+<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;  template &lt;typename T&gt;</div>
+<div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160;  std::unique_ptr&lt;<a class="code" href="classfranka_1_1ActiveControlBase.html">ActiveControlBase</a>&gt; startControl(</div>
+<div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160;      const research_interface::robot::Move::<a class="code" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">ControllerMode</a>&amp; controller_type);</div>
+<div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160; </div>
+<div class="line"><a name="l00788"></a><span class="lineno">  788</span>&#160;  std::shared_ptr&lt;Impl&gt; impl_;</div>
+<div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;  std::mutex control_mutex_;</div>
+<div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160;};</div>
+<div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160; </div>
+<div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;}  <span class="comment">// namespace franka</span></div>
 <div class="ttc" id="aclassfranka_1_1ActiveControlBase_html"><div class="ttname"><a href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a></div><div class="ttdoc">Allows the user to read the state of a Robot and to send new control commands after starting a contro...</div><div class="ttdef"><b>Definition:</b> active_control_base.h:27</div></div>
 <div class="ttc" id="aclassfranka_1_1CartesianPose_html"><div class="ttname"><a href="classfranka_1_1CartesianPose.html">franka::CartesianPose</a></div><div class="ttdoc">Stores values for Cartesian pose motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:127</div></div>
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 <div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
 <div class="ttc" id="aclassfranka_1_1JointPositions_html"><div class="ttname"><a href="classfranka_1_1JointPositions.html">franka::JointPositions</a></div><div class="ttdoc">Stores values for joint position motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:72</div></div>
 <div class="ttc" id="aclassfranka_1_1JointVelocities_html"><div class="ttname"><a href="classfranka_1_1JointVelocities.html">franka::JointVelocities</a></div><div class="ttdoc">Stores values for joint velocity motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:99</div></div>
-<div class="ttc" id="aclassfranka_1_1Model_html"><div class="ttname"><a href="classfranka_1_1Model.html">franka::Model</a></div><div class="ttdoc">Calculates poses of joints and dynamic properties of the robot.</div><div class="ttdef"><b>Definition:</b> model.h:52</div></div>
-<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:68</div></div>
+<div class="ttc" id="aclassfranka_1_1Model_html"><div class="ttname"><a href="classfranka_1_1Model.html">franka::Model</a></div><div class="ttdoc">Calculates poses of joints and dynamic properties of the robot.</div><div class="ttdef"><b>Definition:</b> model.h:51</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
 <div class="ttc" id="aclassfranka_1_1Robot_html_a0d5effba5daff2fee123802bbd5f95d1"><div class="ttname"><a href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">franka::Robot::control</a></div><div class="ttdeci">void control(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</div><div class="ttdoc">Starts a control loop for sending joint-level torque commands.</div></div>
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 <div class="ttc" id="aclassfranka_1_1Robot_html_a2da598c539469827409ac7e3bb61d5da"><div class="ttname"><a href="classfranka_1_1Robot.html#a2da598c539469827409ac7e3bb61d5da">franka::Robot::loadModel</a></div><div class="ttdeci">Model loadModel()</div><div class="ttdoc">Loads the model library from the robot.</div></div>
@@ -265,7 +257,6 @@
 <div class="ttc" id="aclassfranka_1_1Robot_html_a378d415475336082e81a35b9811dc6c2"><div class="ttname"><a href="classfranka_1_1Robot.html#a378d415475336082e81a35b9811dc6c2">franka::Robot::Robot</a></div><div class="ttdeci">Robot(Robot &amp;&amp;other) noexcept</div><div class="ttdoc">Move-constructs a new Robot instance.</div></div>
 <div class="ttc" id="aclassfranka_1_1Robot_html_a3822866cf931fab955d3dcfc6cf746e5"><div class="ttname"><a href="classfranka_1_1Robot.html#a3822866cf931fab955d3dcfc6cf746e5">franka::Robot::startCartesianPoseControl</a></div><div class="ttdeci">virtual std::unique_ptr&lt; ActiveControlBase &gt; startCartesianPoseControl(const research_interface::robot::Move::ControllerMode &amp;control_type)</div><div class="ttdoc">Starts a new cartesian position motion generator.</div></div>
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-<div class="ttc" id="aclassfranka_1_1Robot_html_a54565ca0eb7b58727f88a8dcbf2f98ab"><div class="ttname"><a href="classfranka_1_1Robot.html#a54565ca0eb7b58727f88a8dcbf2f98ab">franka::Robot::getRobotModel</a></div><div class="ttdeci">auto getRobotModel() -&gt; std::string</div></div>
 <div class="ttc" id="aclassfranka_1_1Robot_html_a69cb08e075a81ecf3f26e94d26a06296"><div class="ttname"><a href="classfranka_1_1Robot.html#a69cb08e075a81ecf3f26e94d26a06296">franka::Robot::stop</a></div><div class="ttdeci">void stop()</div><div class="ttdoc">Stops all currently running motions.</div></div>
 <div class="ttc" id="aclassfranka_1_1Robot_html_a7992cee203e66f9a61fe2f318ef88a26"><div class="ttname"><a href="classfranka_1_1Robot.html#a7992cee203e66f9a61fe2f318ef88a26">franka::Robot::setGuidingMode</a></div><div class="ttdeci">void setGuidingMode(const std::array&lt; bool, 6 &gt; &amp;guiding_mode, bool elbow)</div><div class="ttdoc">Locks or unlocks guiding mode movement in (x, y, z, roll, pitch, yaw).</div></div>
 <div class="ttc" id="aclassfranka_1_1Robot_html_a8146de9e50217068672b6f726a91de91"><div class="ttname"><a href="classfranka_1_1Robot.html#a8146de9e50217068672b6f726a91de91">franka::Robot::startTorqueControl</a></div><div class="ttdeci">virtual std::unique_ptr&lt; ActiveControlBase &gt; startTorqueControl()</div><div class="ttdoc">Starts a new torque controller.</div></div>
@@ -276,7 +267,7 @@
 <div class="ttc" id="aclassfranka_1_1Robot_html_ac2678c5c31cc8c0627ecda7485f81f6d"><div class="ttname"><a href="classfranka_1_1Robot.html#ac2678c5c31cc8c0627ecda7485f81f6d">franka::Robot::setCartesianImpedance</a></div><div class="ttdeci">void setCartesianImpedance(const std::array&lt; double, 6 &gt; &amp;K_x)</div><div class="ttdoc">Sets the Cartesian stiffness/compliance (for x, y, z, roll, pitch, yaw) in the internal controller.</div></div>
 <div class="ttc" id="aclassfranka_1_1Robot_html_aca7ecf76cf9c5af49cc5a878c91e19a9"><div class="ttname"><a href="classfranka_1_1Robot.html#aca7ecf76cf9c5af49cc5a878c91e19a9">franka::Robot::startJointPositionControl</a></div><div class="ttdeci">virtual std::unique_ptr&lt; ActiveControlBase &gt; startJointPositionControl(const research_interface::robot::Move::ControllerMode &amp;control_type)</div><div class="ttdoc">Starts a new joint position motion generator.</div></div>
 <div class="ttc" id="aclassfranka_1_1Robot_html_ad1cf59d1b11306d80cd3c7144a989c56"><div class="ttname"><a href="classfranka_1_1Robot.html#ad1cf59d1b11306d80cd3c7144a989c56">franka::Robot::setK</a></div><div class="ttdeci">void setK(const std::array&lt; double, 16 &gt; &amp;EE_T_K)</div><div class="ttdoc">Sets the transformation  from end effector frame to stiffness frame.</div></div>
-<div class="ttc" id="aclassfranka_1_1Robot_html_ad1dd3dccff6f33691d2c66eaa5ac5a10"><div class="ttname"><a href="classfranka_1_1Robot.html#ad1dd3dccff6f33691d2c66eaa5ac5a10">franka::Robot::ServerVersion</a></div><div class="ttdeci">uint16_t ServerVersion</div><div class="ttdoc">Version of the robot server.</div><div class="ttdef"><b>Definition:</b> robot.h:73</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_ad1dd3dccff6f33691d2c66eaa5ac5a10"><div class="ttname"><a href="classfranka_1_1Robot.html#ad1dd3dccff6f33691d2c66eaa5ac5a10">franka::Robot::ServerVersion</a></div><div class="ttdeci">uint16_t ServerVersion</div><div class="ttdoc">Version of the robot server.</div><div class="ttdef"><b>Definition:</b> robot.h:72</div></div>
 <div class="ttc" id="aclassfranka_1_1Robot_html_ae3c3d7c5c4491a1e96a0a543931e899a"><div class="ttname"><a href="classfranka_1_1Robot.html#ae3c3d7c5c4491a1e96a0a543931e899a">franka::Robot::readOnce</a></div><div class="ttdeci">virtual RobotState readOnce()</div><div class="ttdoc">Waits for a robot state update and returns it.</div></div>
 <div class="ttc" id="aclassfranka_1_1Robot_html_ae63bc19390df3d54f3a270814df35eb6"><div class="ttname"><a href="classfranka_1_1Robot.html#ae63bc19390df3d54f3a270814df35eb6">franka::Robot::Robot</a></div><div class="ttdeci">Robot(const std::string &amp;franka_address, RealtimeConfig realtime_config=RealtimeConfig::kEnforce, size_t log_size=50)</div><div class="ttdoc">Establishes a connection with the robot.</div></div>
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diff --git a/0.14.1/robot__state_8h.html b/0.13.5/robot__state_8h.html
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rename from 0.14.1/robot__state_8h.html
rename to 0.13.5/robot__state_8h.html
index 8d3988ca..bcfed1c0 100644
--- a/0.14.1/robot__state_8h.html
+++ b/0.13.5/robot__state_8h.html
@@ -27,10 +27,10 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr style="height: 56px;">
-  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_ROBOTICS_dark.png"/></td>
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">libfranka
-   &#160;<span id="projectnumber">0.14.1</span>
+   &#160;<span id="projectnumber">0.13.5</span>
    </div>
    <div id="projectbrief">FCI C++ API</div>
   </td>
diff --git a/0.14.1/robot__state_8h__dep__incl.map b/0.13.5/robot__state_8h__dep__incl.map
similarity index 100%
rename from 0.14.1/robot__state_8h__dep__incl.map
rename to 0.13.5/robot__state_8h__dep__incl.map
diff --git a/0.14.1/robot__state_8h__dep__incl.md5 b/0.13.5/robot__state_8h__dep__incl.md5
similarity index 100%
rename from 0.14.1/robot__state_8h__dep__incl.md5
rename to 0.13.5/robot__state_8h__dep__incl.md5
diff --git a/0.14.1/robot__state_8h__dep__incl.png b/0.13.5/robot__state_8h__dep__incl.png
similarity index 100%
rename from 0.14.1/robot__state_8h__dep__incl.png
rename to 0.13.5/robot__state_8h__dep__incl.png
diff --git a/0.14.1/robot__state_8h__incl.map b/0.13.5/robot__state_8h__incl.map
similarity index 100%
rename from 0.14.1/robot__state_8h__incl.map
rename to 0.13.5/robot__state_8h__incl.map
diff --git a/0.14.1/robot__state_8h__incl.md5 b/0.13.5/robot__state_8h__incl.md5
similarity index 100%
rename from 0.14.1/robot__state_8h__incl.md5
rename to 0.13.5/robot__state_8h__incl.md5
diff --git a/0.14.1/robot__state_8h__incl.png b/0.13.5/robot__state_8h__incl.png
similarity index 100%
rename from 0.14.1/robot__state_8h__incl.png
rename to 0.13.5/robot__state_8h__incl.png
diff --git a/0.14.1/robot__state_8h_source.html b/0.13.5/robot__state_8h_source.html
similarity index 99%
rename from 0.14.1/robot__state_8h_source.html
rename to 0.13.5/robot__state_8h_source.html
index 46a4ef04..3f85ea58 100644
--- a/0.14.1/robot__state_8h_source.html
+++ b/0.13.5/robot__state_8h_source.html
@@ -27,10 +27,10 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr style="height: 56px;">
-  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_ROBOTICS_dark.png"/></td>
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">libfranka
-   &#160;<span id="projectnumber">0.14.1</span>
+   &#160;<span id="projectnumber">0.13.5</span>
    </div>
    <div id="projectbrief">FCI C++ API</div>
   </td>
@@ -79,7 +79,7 @@
 <div class="title">robot_state.h</div>  </div>
 </div><!--header-->
 <div class="contents">
-<a href="robot__state_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Copyright (c) 2024 Franka Robotics GmbH</span></div>
+<a href="robot__state_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
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-  <tr class="even"><td class="entry"><a class="el" href="classRobotModelBase.html#a45226fbc547a27d5e7cff8a78e9bd0b4">coriolis</a>(const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 7 &gt; &amp;dq, const std::array&lt; double, 9 &gt; &amp;i_total, double m_total, const std::array&lt; double, 3 &gt; &amp;f_x_ctotal, std::array&lt; double, 7 &gt; &amp;c_ne)=0</td><td class="entry"><a class="el" href="classRobotModelBase.html">RobotModelBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classRobotModelBase.html#ace835cdef4ae60d965c9faf57c3914e1">gravity</a>(const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 3 &gt; &amp;g_earth, double m_total, const std::array&lt; double, 3 &gt; &amp;f_x_ctotal, std::array&lt; double, 7 &gt; &amp;g_ne)=0</td><td class="entry"><a class="el" href="classRobotModelBase.html">RobotModelBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classRobotModelBase.html#ad6205b8405cc76be5b3e8fe3a3a2c1f9">mass</a>(const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 9 &gt; &amp;i_total, double m_total, const std::array&lt; double, 3 &gt; &amp;f_x_ctotal, std::array&lt; double, 49 &gt; &amp;m_ne)=0</td><td class="entry"><a class="el" href="classRobotModelBase.html">RobotModelBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
-  <tr bgcolor="#f0f0f0"><td class="entry"><b>~RobotModelBase</b>()=default (defined in <a class="el" href="classRobotModelBase.html">RobotModelBase</a>)</td><td class="entry"><a class="el" href="classRobotModelBase.html">RobotModelBase</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
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-<a href="#pub-methods">Public Member Functions</a> &#124;
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-  <div class="headertitle">
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-
-<p>Robot dynamic parameters computed from the URDF model with Pinocchio.  
- <a href="classRobotModelBase.html#details">More...</a></p>
-
-<p><code>#include &lt;<a class="el" href="robot__model__base_8h_source.html">robot_model_base.h</a>&gt;</code></p>
-<div class="dynheader">
-Inheritance diagram for RobotModelBase:</div>
-<div class="dyncontent">
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-<table class="memberdecls">
-<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
-Public Member Functions</h2></td></tr>
-<tr class="memitem:a45226fbc547a27d5e7cff8a78e9bd0b4"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRobotModelBase.html#a45226fbc547a27d5e7cff8a78e9bd0b4">coriolis</a> (const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 7 &gt; &amp;dq, const std::array&lt; double, 9 &gt; &amp;i_total, double m_total, const std::array&lt; double, 3 &gt; &amp;f_x_ctotal, std::array&lt; double, 7 &gt; &amp;c_ne)=0</td></tr>
-<tr class="memdesc:a45226fbc547a27d5e7cff8a78e9bd0b4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculates the Coriolis force vector (state-space equation): \( c= C \times dq\), in \([Nm]\).  <a href="classRobotModelBase.html#a45226fbc547a27d5e7cff8a78e9bd0b4">More...</a><br /></td></tr>
-<tr class="separator:a45226fbc547a27d5e7cff8a78e9bd0b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:ace835cdef4ae60d965c9faf57c3914e1"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRobotModelBase.html#ace835cdef4ae60d965c9faf57c3914e1">gravity</a> (const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 3 &gt; &amp;g_earth, double m_total, const std::array&lt; double, 3 &gt; &amp;f_x_ctotal, std::array&lt; double, 7 &gt; &amp;g_ne)=0</td></tr>
-<tr class="memdesc:ace835cdef4ae60d965c9faf57c3914e1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculates the gravity vector.  <a href="classRobotModelBase.html#ace835cdef4ae60d965c9faf57c3914e1">More...</a><br /></td></tr>
-<tr class="separator:ace835cdef4ae60d965c9faf57c3914e1"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:ad6205b8405cc76be5b3e8fe3a3a2c1f9"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRobotModelBase.html#ad6205b8405cc76be5b3e8fe3a3a2c1f9">mass</a> (const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 9 &gt; &amp;i_total, double m_total, const std::array&lt; double, 3 &gt; &amp;f_x_ctotal, std::array&lt; double, 49 &gt; &amp;m_ne)=0</td></tr>
-<tr class="memdesc:ad6205b8405cc76be5b3e8fe3a3a2c1f9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculates the 7x7 mass matrix.  <a href="classRobotModelBase.html#ad6205b8405cc76be5b3e8fe3a3a2c1f9">More...</a><br /></td></tr>
-<tr class="separator:ad6205b8405cc76be5b3e8fe3a3a2c1f9"><td class="memSeparator" colspan="2">&#160;</td></tr>
-</table>
-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>Robot dynamic parameters computed from the URDF model with Pinocchio. </p>
-</div><h2 class="groupheader">Member Function Documentation</h2>
-<a id="a45226fbc547a27d5e7cff8a78e9bd0b4"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a45226fbc547a27d5e7cff8a78e9bd0b4">&#9670;&nbsp;</a></span>coriolis()</h2>
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-          <td>(</td>
-          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
-          <td class="paramname"><em>q</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
-          <td class="paramname"><em>dq</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const std::array&lt; double, 9 &gt; &amp;&#160;</td>
-          <td class="paramname"><em>i_total</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>m_total</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const std::array&lt; double, 3 &gt; &amp;&#160;</td>
-          <td class="paramname"><em>f_x_ctotal</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">std::array&lt; double, 7 &gt; &amp;&#160;</td>
-          <td class="paramname"><em>c_ne</em>&#160;</td>
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-<p>Calculates the Coriolis force vector (state-space equation): \( c= C \times dq\), in \([Nm]\). </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">q</td><td>Joint position. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">dq</td><td>Joint velocity. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">i_total</td><td>Inertia of the attached total load including end effector, relative to center of mass, given as vectorized 3x3 column-major matrix. Unit: \([kg \times m^2]\). </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">m_total</td><td>Weight of the attached total load including end effector. Unit: \([kg]\). </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">f_x_ctotal</td><td>Translation from flange to center of mass of the attached total load. Unit: \([m]\). </td></tr>
-    <tr><td class="paramdir">[out]</td><td class="paramname">c_ne</td><td>Coriolis force vector. Unit: \([Nm]\). </td></tr>
-  </table>
-  </dd>
-</dl>
-
-<p>Implemented in <a class="el" href="classfranka_1_1RobotModel.html#ae8b6b42f32ffb0ca654e76080c8ee347">franka::RobotModel</a>.</p>
-
-</div>
-</div>
-<a id="ace835cdef4ae60d965c9faf57c3914e1"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ace835cdef4ae60d965c9faf57c3914e1">&#9670;&nbsp;</a></span>gravity()</h2>
-
-<div class="memitem">
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-          <td class="memname">virtual void RobotModelBase::gravity </td>
-          <td>(</td>
-          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
-          <td class="paramname"><em>q</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const std::array&lt; double, 3 &gt; &amp;&#160;</td>
-          <td class="paramname"><em>g_earth</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>m_total</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const std::array&lt; double, 3 &gt; &amp;&#160;</td>
-          <td class="paramname"><em>f_x_ctotal</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">std::array&lt; double, 7 &gt; &amp;&#160;</td>
-          <td class="paramname"><em>g_ne</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-  </td>
-  <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
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-
-<p>Calculates the gravity vector. </p>
-<p>Unit: \([Nm]\).</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">q</td><td>Joint position. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">gravity_earth</td><td>Earth's gravity vector. Unit: \(\frac{m}{s^2}\). </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">m_total</td><td>Weight of the attached total load including end effector. Unit: \([kg]\). </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">f_x_Ctotal</td><td>Translation from flange to center of mass of the attached total load. </td></tr>
-    <tr><td class="paramdir">[out]</td><td class="paramname">g_ne</td><td>Gravity vector. Unit: \([Nm]\). </td></tr>
-  </table>
-  </dd>
-</dl>
-
-<p>Implemented in <a class="el" href="classfranka_1_1RobotModel.html#a027d8e2e713b66cdbaf17201a30236f1">franka::RobotModel</a>.</p>
-
-</div>
-</div>
-<a id="ad6205b8405cc76be5b3e8fe3a3a2c1f9"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ad6205b8405cc76be5b3e8fe3a3a2c1f9">&#9670;&nbsp;</a></span>mass()</h2>
-
-<div class="memitem">
-<div class="memproto">
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-          <td class="memname">virtual void RobotModelBase::mass </td>
-          <td>(</td>
-          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
-          <td class="paramname"><em>q</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const std::array&lt; double, 9 &gt; &amp;&#160;</td>
-          <td class="paramname"><em>i_total</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>m_total</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const std::array&lt; double, 3 &gt; &amp;&#160;</td>
-          <td class="paramname"><em>f_x_ctotal</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">std::array&lt; double, 49 &gt; &amp;&#160;</td>
-          <td class="paramname"><em>m_ne</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
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-  </td>
-  <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
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-<p>Calculates the 7x7 mass matrix. </p>
-<p>Unit: \([kg \times m^2]\).</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">q</td><td>Joint position. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">i_total</td><td>Inertia of the attached total load including end effector, relative to center of mass, given as vectorized 3x3 column-major matrix. Unit: \([kg \times m^2]\). </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">m_total</td><td>Weight of the attached total load including end effector. Unit: \([kg]\). </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">f_x_ctotal</td><td>Translation from flange to center of mass of the attached total load. Unit: \([m]\). </td></tr>
-    <tr><td class="paramdir">[out]</td><td class="paramname">m_ne</td><td>Vectorized 7x7 mass matrix, column-major. </td></tr>
-  </table>
-  </dd>
-</dl>
-
-<p>Implemented in <a class="el" href="classfranka_1_1RobotModel.html#abbff56dc8a77bb3bead7efb7f891f8ed">franka::RobotModel</a>.</p>
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-<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="classfranka_1_1RobotModel.html">RobotModel</a></li>  </ul>
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-  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1RobotModel.html#ae8b6b42f32ffb0ca654e76080c8ee347">coriolis</a>(const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 7 &gt; &amp;dq, const std::array&lt; double, 9 &gt; &amp;i_total, double m_total, const std::array&lt; double, 3 &gt; &amp;f_x_ctotal, std::array&lt; double, 7 &gt; &amp;c_ne) override</td><td class="entry"><a class="el" href="classfranka_1_1RobotModel.html">franka::RobotModel</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classfranka_1_1RobotModel.html#a027d8e2e713b66cdbaf17201a30236f1">gravity</a>(const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 3 &gt; &amp;g_earth, double m_total, const std::array&lt; double, 3 &gt; &amp;f_x_ctotal, std::array&lt; double, 7 &gt; &amp;g_ne) override</td><td class="entry"><a class="el" href="classfranka_1_1RobotModel.html">franka::RobotModel</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1RobotModel.html#abbff56dc8a77bb3bead7efb7f891f8ed">mass</a>(const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 9 &gt; &amp;i_total, double m_total, const std::array&lt; double, 3 &gt; &amp;f_x_ctotal, std::array&lt; double, 49 &gt; &amp;m_ne) override</td><td class="entry"><a class="el" href="classfranka_1_1RobotModel.html">franka::RobotModel</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
-  <tr bgcolor="#f0f0f0"><td class="entry"><b>RobotModel</b>(const std::string &amp;urdf) (defined in <a class="el" href="classfranka_1_1RobotModel.html">franka::RobotModel</a>)</td><td class="entry"><a class="el" href="classfranka_1_1RobotModel.html">franka::RobotModel</a></td><td class="entry"></td></tr>
-  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~RobotModelBase</b>()=default (defined in <a class="el" href="classRobotModelBase.html">RobotModelBase</a>)</td><td class="entry"><a class="el" href="classRobotModelBase.html">RobotModelBase</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
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-<a href="#pub-methods">Public Member Functions</a> &#124;
-<a href="classfranka_1_1RobotModel-members.html">List of all members</a>  </div>
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-
-<p>Implements <a class="el" href="classRobotModelBase.html" title="Robot dynamic parameters computed from the URDF model with Pinocchio.">RobotModelBase</a> using Pinocchio.  
- <a href="classfranka_1_1RobotModel.html#details">More...</a></p>
-
-<p><code>#include &lt;<a class="el" href="robot__model_8h_source.html">robot_model.h</a>&gt;</code></p>
-<div class="dynheader">
-Inheritance diagram for franka::RobotModel:</div>
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-Public Member Functions</h2></td></tr>
-<tr class="memitem:ab469dcfcf9673743596e360653f191fb"><td class="memItemLeft" align="right" valign="top"><a id="ab469dcfcf9673743596e360653f191fb"></a>
-&#160;</td><td class="memItemRight" valign="bottom"><b>RobotModel</b> (const std::string &amp;urdf)</td></tr>
-<tr class="separator:ab469dcfcf9673743596e360653f191fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:ae8b6b42f32ffb0ca654e76080c8ee347"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1RobotModel.html#ae8b6b42f32ffb0ca654e76080c8ee347">coriolis</a> (const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 7 &gt; &amp;dq, const std::array&lt; double, 9 &gt; &amp;i_total, double m_total, const std::array&lt; double, 3 &gt; &amp;f_x_ctotal, std::array&lt; double, 7 &gt; &amp;c_ne) override</td></tr>
-<tr class="memdesc:ae8b6b42f32ffb0ca654e76080c8ee347"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculates the Coriolis force vector (state-space equation): \( c= C \times dq\), in \([Nm]\).  <a href="classfranka_1_1RobotModel.html#ae8b6b42f32ffb0ca654e76080c8ee347">More...</a><br /></td></tr>
-<tr class="separator:ae8b6b42f32ffb0ca654e76080c8ee347"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a027d8e2e713b66cdbaf17201a30236f1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1RobotModel.html#a027d8e2e713b66cdbaf17201a30236f1">gravity</a> (const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 3 &gt; &amp;g_earth, double m_total, const std::array&lt; double, 3 &gt; &amp;f_x_ctotal, std::array&lt; double, 7 &gt; &amp;g_ne) override</td></tr>
-<tr class="memdesc:a027d8e2e713b66cdbaf17201a30236f1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculates the gravity vector.  <a href="classfranka_1_1RobotModel.html#a027d8e2e713b66cdbaf17201a30236f1">More...</a><br /></td></tr>
-<tr class="separator:a027d8e2e713b66cdbaf17201a30236f1"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:abbff56dc8a77bb3bead7efb7f891f8ed"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1RobotModel.html#abbff56dc8a77bb3bead7efb7f891f8ed">mass</a> (const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 9 &gt; &amp;i_total, double m_total, const std::array&lt; double, 3 &gt; &amp;f_x_ctotal, std::array&lt; double, 49 &gt; &amp;m_ne) override</td></tr>
-<tr class="memdesc:abbff56dc8a77bb3bead7efb7f891f8ed"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculates the 7x7 mass matrix.  <a href="classfranka_1_1RobotModel.html#abbff56dc8a77bb3bead7efb7f891f8ed">More...</a><br /></td></tr>
-<tr class="separator:abbff56dc8a77bb3bead7efb7f891f8ed"><td class="memSeparator" colspan="2">&#160;</td></tr>
-</table>
-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>Implements <a class="el" href="classRobotModelBase.html" title="Robot dynamic parameters computed from the URDF model with Pinocchio.">RobotModelBase</a> using Pinocchio. </p>
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-<h2 class="memtitle"><span class="permalink"><a href="#ae8b6b42f32ffb0ca654e76080c8ee347">&#9670;&nbsp;</a></span>coriolis()</h2>
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-        <tr>
-          <td class="paramkey"></td>
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-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>m_total</em>, </td>
-        </tr>
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-          <td class="paramkey"></td>
-          <td></td>
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-          <td class="paramkey"></td>
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-          <td class="paramname"><em>c_ne</em>&#160;</td>
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-<p>Calculates the Coriolis force vector (state-space equation): \( c= C \times dq\), in \([Nm]\). </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">q</td><td>Joint position. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">dq</td><td>Joint velocity. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">i_total</td><td>Inertia of the attached total load including end effector, relative to center of mass, given as vectorized 3x3 column-major matrix. Unit: \([kg \times m^2]\). </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">m_total</td><td>Weight of the attached total load including end effector. Unit: \([kg]\). </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">f_x_ctotal</td><td>Translation from flange to center of mass of the attached total load. Unit: \([m]\). </td></tr>
-    <tr><td class="paramdir">[out]</td><td class="paramname">c_ne</td><td>Coriolis force vector. Unit: \([Nm]\). </td></tr>
-  </table>
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-<p>Implements <a class="el" href="classRobotModelBase.html#a45226fbc547a27d5e7cff8a78e9bd0b4">RobotModelBase</a>.</p>
-
-</div>
-</div>
-<a id="a027d8e2e713b66cdbaf17201a30236f1"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a027d8e2e713b66cdbaf17201a30236f1">&#9670;&nbsp;</a></span>gravity()</h2>
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-          <td>(</td>
-          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
-          <td class="paramname"><em>q</em>, </td>
-        </tr>
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-          <td class="paramkey"></td>
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-        </tr>
-        <tr>
-          <td class="paramkey"></td>
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-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>m_total</em>, </td>
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-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const std::array&lt; double, 3 &gt; &amp;&#160;</td>
-          <td class="paramname"><em>f_x_ctotal</em>, </td>
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-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">std::array&lt; double, 7 &gt; &amp;&#160;</td>
-          <td class="paramname"><em>g_ne</em>&#160;</td>
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-          <td>)</td>
-          <td></td><td></td>
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-<p>Calculates the gravity vector. </p>
-<p>Unit: \([Nm]\).</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">q</td><td>Joint position. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">gravity_earth</td><td>Earth's gravity vector. Unit: \(\frac{m}{s^2}\). </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">m_total</td><td>Weight of the attached total load including end effector. Unit: \([kg]\). </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">f_x_Ctotal</td><td>Translation from flange to center of mass of the attached total load. </td></tr>
-    <tr><td class="paramdir">[out]</td><td class="paramname">g_ne</td><td>Gravity vector. Unit: \([Nm]\). </td></tr>
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-<p>Implements <a class="el" href="classRobotModelBase.html#ace835cdef4ae60d965c9faf57c3914e1">RobotModelBase</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#abbff56dc8a77bb3bead7efb7f891f8ed">&#9670;&nbsp;</a></span>mass()</h2>
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-<p>Calculates the 7x7 mass matrix. </p>
-<p>Unit: \([kg \times m^2]\).</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">q</td><td>Joint position. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">i_total</td><td>Inertia of the attached total load including end effector, relative to center of mass, given as vectorized 3x3 column-major matrix. Unit: \([kg \times m^2]\). </td></tr>
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diff --git a/0.14.1/robot_8h__incl.map b/0.14.1/robot_8h__incl.map
deleted file mode 100644
index 48f1474d..00000000
--- a/0.14.1/robot_8h__incl.map
+++ /dev/null
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-<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Copyright (c) 2024 Franka Robotics GmbH</span></div>
-<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
-<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
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-<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Copyright (c) 2024 Franka Robotics GmbH</span></div>
-<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
-<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
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-<div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="classRobotModelBase.html">   10</a></span>&#160;<span class="keyword">class </span><a class="code" href="classRobotModelBase.html">RobotModelBase</a> {</div>
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-<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="classRobotModelBase.html#a45226fbc547a27d5e7cff8a78e9bd0b4">   27</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classRobotModelBase.html#a45226fbc547a27d5e7cff8a78e9bd0b4">coriolis</a>(<span class="keyword">const</span> std::array&lt;double, 7&gt;&amp; q,</div>
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-<div class="ttc" id="aclassRobotModelBase_html_a45226fbc547a27d5e7cff8a78e9bd0b4"><div class="ttname"><a href="classRobotModelBase.html#a45226fbc547a27d5e7cff8a78e9bd0b4">RobotModelBase::coriolis</a></div><div class="ttdeci">virtual void coriolis(const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 7 &gt; &amp;dq, const std::array&lt; double, 9 &gt; &amp;i_total, double m_total, const std::array&lt; double, 3 &gt; &amp;f_x_ctotal, std::array&lt; double, 7 &gt; &amp;c_ne)=0</div><div class="ttdoc">Calculates the Coriolis force vector (state-space equation): , in .</div></div>
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