├── .devcontainer └── devcontainer.json ├── .gitignore ├── .readthedocs.yaml ├── CITATION.bib ├── DifferentiableOptimizationCBF ├── __init__.py ├── base_controller.py ├── cbfqp_solver.py ├── dc_utils │ ├── create_arm_capsule.jl │ ├── create_arm_ellipsoid.jl │ ├── get_cbf_link_polygon_obstacle.jl │ ├── get_cbf_three_blocks.jl │ ├── get_cbf_two_walls.jl │ ├── get_cbf_unicycle_env.jl │ ├── three_blocks_exp_setup.jl │ ├── two_wall_exp_setup.jl │ ├── unicycle_env_setup.jl │ ├── unicycle_precompile.jl │ ├── unicycle_sysimage.jl │ └── update_arm.jl ├── envs │ ├── __init__.py │ ├── fr3_base_env.py │ ├── three_blocks_env.py │ ├── two_walls_env.py │ └── unicycle_env.py ├── exp_utils.py ├── robots │ ├── fr3_hand_collision.urdf │ ├── fr3_link3_capsule.urdf │ ├── fr3_link3_ellipsoid.urdf │ ├── fr3_link4_capsule.urdf │ ├── fr3_link4_ellipsoid.urdf │ ├── fr3_link5_1_capsule.urdf │ ├── fr3_link5_1_ellipsoid.urdf │ ├── fr3_link5_2_capsule.urdf │ ├── fr3_link5_2_ellipsoid.urdf │ ├── fr3_link6_capsule.urdf │ ├── fr3_link6_ellipsoid.urdf │ ├── fr3_link7_capsule.urdf │ ├── fr3_link7_ellipsoid.urdf │ ├── meshes │ │ ├── fr3_link3_ellipsoid.obj │ │ ├── fr3_link4_ellipsoid.obj │ │ ├── fr3_link5_1_ellipsoid.obj │ │ ├── fr3_link5_2_ellipsoid.obj │ │ ├── fr3_link6_ellipsoid.obj │ │ └── fr3_link7_ellipsoid.obj │ ├── square_obstacle.urdf │ ├── wall_back_lower.urdf │ ├── wall_back_upper.urdf │ ├── wall_front_lower.urdf │ └── wall_front_upper.urdf ├── three_blocks_controller.py ├── three_blocks_exp.py ├── two_walls_controller.py ├── two_walls_exp.py ├── unicycle_exp.py ├── unicycle_exp_sysimage.py └── unicycle_plot_utils.py ├── LICENSE ├── MANIFEST.in ├── README.md ├── docker ├── Dockerfile ├── config │ └── docker.zshrc └── scripts │ ├── install-julia-pkgs.sh │ ├── install-python-pkgs.sh │ └── install-tools.sh ├── docs ├── .DS_Store ├── Makefile ├── make.bat └── source │ ├── .DS_Store │ ├── _static │ ├── .DS_Store │ ├── github-mark.png │ └── ra-l_paper.png │ ├── conf.py │ ├── index.md │ ├── install.md │ └── tutorials │ ├── controller.md │ ├── index.md │ └── julia.md ├── provisioning └── setup.sh ├── setup.cfg └── setup.py /.devcontainer/devcontainer.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/BolunDai0216/DifferentiableOptimizationCBF/HEAD/.devcontainer/devcontainer.json -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/BolunDai0216/DifferentiableOptimizationCBF/HEAD/.gitignore -------------------------------------------------------------------------------- /.readthedocs.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/BolunDai0216/DifferentiableOptimizationCBF/HEAD/.readthedocs.yaml 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