├── MEAM_517_Project_Report.pdf ├── MPC_poster.pdf ├── README.md ├── imgs ├── Joint_accelerations.png ├── Joint_pos.png ├── Joint_vel.png ├── convergence.png ├── convergence_convex_set.png ├── convex_set.png ├── franka_mpc.gif ├── mpc_arm_gif.gif ├── mpctestcases.png ├── pandampc.png └── statistics.png └── rename_to__meam520_labs ├── core ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-38.pyc │ ├── interfaces.cpython-38.pyc │ ├── safety.cpython-38.pyc │ └── utils.cpython-38.pyc ├── interfaces.py ├── safety.py └── utils.py ├── labs ├── final │ ├── __init__.py │ └── final.py ├── lab0 │ ├── 19valuesconstraint_q.pkl │ ├── __init__.py │ ├── constraint_q.pkl │ ├── constraints450_q.pkl │ ├── demo.py │ ├── lab0Utils.py │ └── sample.py ├── lab1 │ ├── __init__.py │ ├── visualize.py │ └── workspace.py ├── lab2 │ ├── __init__.py │ ├── follow.py │ └── visualize.py ├── lab3 │ ├── __init__.py │ └── visualize.py └── lab4 │ ├── States_Data │ ├── Time_test_file │ ├── Time_test_file_1 │ ├── Time_test_file_3 │ ├── __init__.py │ ├── demo.py │ ├── mpc_var │ ├── planning_demo.py │ ├── rrt_mpc.py │ ├── saved_state │ ├── saved_state_1 │ ├── saved_state_3 │ ├── saved_state_4 │ └── test.ipynb ├── lib ├── IK_velocity.py ├── PlanarIK.py ├── __init__.py ├── __pycache__ │ ├── IK_velocity.cpython-38.pyc │ ├── __init__.cpython-38.pyc │ ├── arm_sim.cpython-38.pyc │ ├── calcJacobian.cpython-38.pyc │ ├── calculateFK.cpython-38.pyc │ ├── detectCollision.cpython-38.pyc │ ├── loadmap.cpython-38.pyc │ ├── meam517_final_project.cpython-38.pyc │ ├── mpc.cpython-38.pyc │ ├── robotic_arm.cpython-38.pyc │ ├── rrt.cpython-38.pyc │ └── solveIK.cpython-38.pyc ├── arm_sim.py ├── astar.py ├── calcJacobian.py ├── calculateFK.py ├── detectCollision.py ├── final_project.ipynb ├── loadmap.py ├── mpc.py ├── potentialFieldPlanner.py ├── robotic_arm.py ├── rrt.py └── solveIK.py ├── maps ├── emptyMap.txt ├── map1.txt ├── map2.txt ├── map3.txt └── map4.txt └── ros └── meam520_labs ├── CMakeLists.txt ├── config ├── block.rviz ├── detections.rviz ├── final.rviz ├── lab1.rviz ├── lab2.rviz ├── lab3.rviz ├── mpc_final.rviz ├── static.yaml └── turntable_controller.yaml ├── launch ├── block.launch ├── detections.launch ├── final.launch ├── lab0.launch ├── lab1.launch ├── lab2.launch ├── lab3.launch ├── lab4.launch ├── mpc_final.launch ├── object.launch ├── single.launch └── static_detections.launch ├── msg └── TransformStampedList.msg ├── package.xml ├── scripts ├── block_frame.py ├── block_spawner.py ├── detections.py ├── draw.py ├── jig.py ├── plugin_obs.py ├── position_demo.py ├── static_poses.py ├── tf_translator.py ├── torque_demo.py └── worldConverter.py ├── urdf ├── camera.sdf ├── cube.urdf ├── cube.xacro ├── dummy.urdf ├── nogravity.urdf ├── tag.sdf └── turntable.xacro └── worlds ├── empty.world ├── emptymap.world ├── final.world ├── lab1.world ├── lab2.world ├── lab3.world ├── map1.world ├── map2.world ├── map3.world ├── map4.world └── mpc_final.world /MEAM_517_Project_Report.pdf: 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