├── .github └── workflows │ ├── ci-conda.yml │ └── ci.yml ├── .gitignore ├── CHANGELOG ├── CMakeLists.txt ├── LICENSE.AGPLV3.Clause11.txt ├── LICENSE.AGPLV3.txt ├── README.md ├── SoftRobots.Inverse.html ├── SoftRobots.Inverse.md ├── SoftRobots.Inverse.pyscn ├── SoftRobots.InverseConfig.cmake.in ├── cmake ├── Modules │ ├── FindHIDAPI.cmake │ ├── FindROBOTINO.cmake │ ├── FindVRPN.cmake │ └── FindqpOASES.cmake ├── environment.cmake ├── packaging.cmake └── utils.cmake ├── docs ├── images │ └── PluginImage.png └── sofacomponentlifetime.svg ├── examples ├── .scene-tests ├── sofapython3 │ ├── component │ │ ├── constraint │ │ │ ├── BarycentricCenterEffector │ │ │ │ └── BarycentricCenterEffector_Rigid.py │ │ │ ├── CableActuator │ │ │ │ ├── CableActuator.html │ │ │ │ ├── CableActuator.py │ │ │ │ ├── Finger.py │ │ │ │ ├── images │ │ │ │ │ ├── CableActuator_SlidingPoints_1.png │ │ │ │ │ └── CableActuator_SlidingPoints_2.png │ │ │ │ └── mesh │ │ │ │ │ ├── Hollow_Stanford_Bunny.vtu │ │ │ │ │ ├── finger.stl │ │ │ │ │ └── finger.vtk │ │ │ ├── CableEffector │ │ │ │ ├── PneuNets.html │ │ │ │ ├── PneuNets.py │ │ │ │ ├── images │ │ │ │ │ ├── PneuNets_1.png │ │ │ │ │ └── PneuNets_2.png │ │ │ │ └── mesh │ │ │ │ │ ├── Hollow_Bunny_Body_Cavity.obj │ │ │ │ │ ├── Hollow_Stanford_Bunny.vtu │ │ │ │ │ ├── PneuNets.stl │ │ │ │ │ ├── PneuNets.vtk │ │ │ │ │ └── PneuNets_Cavity.stl │ │ │ ├── CableEquality │ │ │ │ ├── CableEquality.py │ │ │ │ ├── ConstantsAccordeon.py │ │ │ │ ├── GeneratedMeshes │ │ │ │ │ ├── Accordeon_Cavity.stl │ │ │ │ │ ├── Accordeon_Surface.stl │ │ │ │ │ └── Accordeon_Volumetric.vtk │ │ │ │ └── PythonScripts │ │ │ │ │ ├── EqController.py │ │ │ │ │ └── __init__.py │ │ │ ├── ForcePointActuator │ │ │ │ ├── Tissues.html │ │ │ │ ├── Tissues.py │ │ │ │ ├── images │ │ │ │ │ ├── Tissues1.png │ │ │ │ │ └── Tissues2.png │ │ │ │ └── mesh │ │ │ │ │ ├── skin.stl │ │ │ │ │ ├── skin.vtk │ │ │ │ │ ├── skinVisu.stl │ │ │ │ │ ├── sphere.stl │ │ │ │ │ ├── sphere.vtk │ │ │ │ │ └── sphereVisu.stl │ │ │ ├── ForceSurfaceActuator │ │ │ │ ├── ForceSurfaceActuator.py │ │ │ │ ├── mesh │ │ │ │ │ ├── cylinder.brep │ │ │ │ │ ├── cylinder.vtk │ │ │ │ │ ├── cylinder_forces.stl │ │ │ │ │ └── cylinder_visu.stl │ │ │ │ └── trajectoryCylinder.tkt │ │ │ ├── JointActuator │ │ │ │ ├── JointActuator.py │ │ │ │ └── mesh │ │ │ │ │ └── arm.stl │ │ │ ├── SlidingActuator │ │ │ │ ├── actuatedBeam.py │ │ │ │ └── actuatedRigidCube.py │ │ │ ├── SurfacePressureActuator │ │ │ │ ├── PneuNets.py │ │ │ │ ├── README.txt │ │ │ │ ├── SurfacePressureActuator.html │ │ │ │ ├── SurfacePressureActuator.py │ │ │ │ ├── SurfacePressureAndCableActuator.py │ │ │ │ ├── images │ │ │ │ │ ├── PneuNets_1.png │ │ │ │ │ ├── PneuNets_2.png │ │ │ │ │ ├── PneuNets_3.png │ │ │ │ │ ├── SurfacePressureActuator.png │ │ │ │ │ └── SurfacePressureActuator_1.png │ │ │ │ └── mesh │ │ │ │ │ ├── Hollow_Bunny_Body_Cavity.obj │ │ │ │ │ ├── Hollow_Stanford_Bunny.vtu │ │ │ │ │ ├── PneuNets.stl │ │ │ │ │ ├── PneuNets.vtk │ │ │ │ │ └── PneuNets_Cavity.stl │ │ │ ├── SurfacePressureEquality │ │ │ │ ├── ConstantsAccordeon.py │ │ │ │ ├── GeneratedMeshes │ │ │ │ │ ├── Accordeon_Cavity.stl │ │ │ │ │ ├── Accordeon_Surface.stl │ │ │ │ │ └── Accordeon_Volumetric.vtk │ │ │ │ ├── PythonScripts │ │ │ │ │ ├── EqController.py │ │ │ │ │ └── __init__.py │ │ │ │ └── SurfacePressureEquality.py │ │ │ ├── VolumeEffector │ │ │ │ ├── VolumeEffector.py │ │ │ │ └── mesh │ │ │ │ │ ├── Hollow_Bunny_Body_Cavity.obj │ │ │ │ │ └── Hollow_Stanford_Bunny.vtu │ │ │ └── YoungModulusActuator │ │ │ │ ├── YoungModulusActuator.html │ │ │ │ ├── YoungModulusActuator.py │ │ │ │ ├── images │ │ │ │ └── bunny.png │ │ │ │ └── mesh │ │ │ │ ├── bunny.vtu │ │ │ │ ├── bunnyVisu.mtl │ │ │ │ └── bunnyVisu.obj │ │ └── solver │ │ │ └── QPInverseProblemSolver │ │ │ └── README.txt │ ├── plugintests.pyscn │ └── robots │ │ ├── Diamond.py │ │ └── mesh │ │ └── diamond.vtk └── xml │ └── component │ └── constraint │ └── PositionEffector │ ├── PositionEffector_Rigid.html │ ├── PositionEffector_Rigid.scn │ ├── README.txt │ └── images │ ├── PositionEffector_Rigid_1.png │ └── PositionEffector_Rigid_2.png ├── extlibs └── qpOASES-3.2.0 │ ├── AUTHORS │ ├── AUTHORS.txt │ ├── CMakeFiles │ ├── example1.dir │ │ ├── depend.internal │ │ └── depend.make │ ├── example1a.dir │ │ ├── depend.internal │ │ └── depend.make │ ├── example1b.dir │ │ ├── depend.internal │ │ └── depend.make │ ├── example2.dir │ │ ├── depend.internal │ │ └── depend.make │ ├── example3.dir │ │ ├── depend.internal │ │ └── depend.make │ ├── example3b.dir │ │ ├── depend.internal │ │ └── depend.make │ ├── example4.dir │ │ ├── depend.internal │ │ └── depend.make │ ├── example5.dir │ │ ├── depend.internal │ │ └── depend.make │ ├── exampleLP.dir │ │ ├── depend.internal │ │ └── depend.make │ ├── qpOASES.dir │ │ ├── depend.internal │ │ └── depend.make │ ├── qrecipe.dir │ │ ├── depend.internal │ │ └── depend.make │ └── qrecipeSchur.dir │ │ ├── depend.internal │ │ └── depend.make │ ├── CMakeLists.txt │ ├── INSTALL │ ├── INSTALL.txt │ ├── LICENSE │ ├── LICENSE.txt │ ├── Makefile │ ├── README │ ├── README.txt │ ├── VERSIONS │ ├── VERSIONS.txt │ ├── doc │ ├── DoxygenLayout.xml │ ├── Makefile │ ├── doxygen.config │ ├── mainpage.dox │ └── manual.pdf │ ├── examples │ ├── Makefile │ ├── example1.cpp │ ├── example1a.cpp │ ├── example1b.cpp │ ├── example2.cpp │ ├── example3.cpp │ ├── example3b.cpp │ ├── example4.cpp │ ├── example4CP.cpp │ ├── example5.cpp │ ├── exampleLP.cpp │ ├── qrecipe.cpp │ ├── qrecipeSchur.cpp │ └── qrecipe_data.hpp │ ├── include │ ├── qpOASES.hpp │ └── qpOASES │ │ ├── Bounds.hpp │ │ ├── Bounds.ipp │ │ ├── Constants.hpp │ │ ├── ConstraintProduct.hpp │ │ ├── Constraints.hpp │ │ ├── Constraints.ipp │ │ ├── Flipper.hpp │ │ ├── Indexlist.hpp │ │ ├── Indexlist.ipp │ │ ├── Matrices.hpp │ │ ├── MessageHandling.hpp │ │ ├── MessageHandling.ipp │ │ ├── Options.hpp │ │ ├── QProblem.hpp │ │ ├── QProblem.ipp │ │ ├── QProblemB.hpp │ │ ├── QProblemB.ipp │ │ ├── SQProblem.hpp │ │ ├── SQProblem.ipp │ │ ├── SQProblemSchur.hpp │ │ ├── SQProblemSchur.ipp │ │ ├── SparseSolver.hpp │ │ ├── SubjectTo.hpp │ │ ├── SubjectTo.ipp │ │ ├── Types.hpp │ │ ├── UnitTesting.hpp │ │ ├── Utils.hpp │ │ ├── Utils.ipp │ │ └── extras │ │ ├── OQPinterface.hpp │ │ ├── SolutionAnalysis.hpp │ │ └── SolutionAnalysis.ipp │ ├── interfaces │ ├── CUTEst │ │ ├── Makefile │ │ ├── makeprob │ │ ├── qpoasesCutest.cpp │ │ └── readme.txt │ ├── c │ │ ├── Makefile │ │ ├── c_example1.c │ │ ├── c_example1a.c │ │ ├── c_example1b.c │ │ ├── qpOASES_wrapper.cpp │ │ └── qpOASES_wrapper.h │ ├── matlab │ │ ├── Makefile │ │ ├── example1.mat │ │ ├── example1a.mat │ │ ├── example1b.mat │ │ ├── make.m │ │ ├── qpOASES.cpp │ │ ├── qpOASES.m │ │ ├── qpOASES_auxInput.m │ │ ├── qpOASES_matlab_utils.cpp │ │ ├── qpOASES_matlab_utils.hpp │ │ ├── qpOASES_options.m │ │ ├── qpOASES_sequence.cpp │ │ └── qpOASES_sequence.m │ ├── octave │ │ ├── clean │ │ ├── clean.sh │ │ ├── example1.mat │ │ ├── example1a.mat │ │ ├── example1b.mat │ │ ├── make.m │ │ ├── qpOASES.cpp │ │ ├── qpOASES.m │ │ ├── qpOASES_auxInput.m │ │ ├── qpOASES_octave_utils.cpp │ │ ├── qpOASES_octave_utils.hpp │ │ ├── qpOASES_options.m │ │ ├── qpOASES_sequence.cpp │ │ └── qpOASES_sequence.m │ ├── python │ │ ├── README.rst │ │ ├── examples │ │ │ ├── cython │ │ │ │ ├── example1.pyx │ │ │ │ └── setup.py │ │ │ ├── example1.py │ │ │ ├── example1b.py │ │ │ └── example2.py │ │ ├── qpoases.pxd │ │ ├── qpoases.pyx │ │ ├── setup.py │ │ └── tests │ │ │ ├── __init__.py │ │ │ └── test_examples.py │ ├── scilab │ │ ├── Makefile │ │ ├── example1.dat │ │ ├── example1a.dat │ │ ├── example1b.dat │ │ ├── qpOASESinterface.c │ │ ├── qpOASESinterface.sce │ │ └── qpOASESroutines.cpp │ └── simulink │ │ ├── example_QProblem.mdl │ │ ├── example_QProblemB.mdl │ │ ├── example_SQProblem.mdl │ │ ├── load_example_QProblem.m │ │ ├── load_example_QProblemB.m │ │ ├── load_example_SQProblem.m │ │ ├── make.m │ │ ├── qpOASES_QProblem.cpp │ │ ├── qpOASES_QProblemB.cpp │ │ ├── qpOASES_SQProblem.cpp │ │ └── qpOASES_simulink_utils.cpp │ ├── libqpOASESConfig.cmake.in │ ├── make.mk │ ├── make_cygwin.mk │ ├── make_linux.mk │ ├── make_osx.mk │ ├── make_windows.mk │ ├── src │ ├── BLASReplacement.cpp │ ├── Bounds.cpp │ ├── Constraints.cpp │ ├── Flipper.cpp │ ├── Indexlist.cpp │ ├── LAPACKReplacement.cpp │ ├── Makefile │ ├── Matrices.cpp │ ├── MessageHandling.cpp │ ├── OQPinterface.cpp │ ├── Options.cpp │ ├── QProblem.cpp │ ├── QProblemB.cpp │ ├── SQProblem.cpp │ ├── SQProblemSchur.cpp │ ├── SolutionAnalysis.cpp │ ├── SparseSolver.cpp │ ├── SubjectTo.cpp │ └── Utils.cpp │ └── testing │ ├── c │ ├── Makefile │ ├── test_c_example1.c │ ├── test_c_example1a.c │ └── test_c_example1b.c │ ├── checkForMemoryLeaks │ ├── cpp │ ├── Makefile │ ├── data │ │ └── fetch_cpp_data │ ├── test_bench.cpp │ ├── test_constraintProduct1.cpp │ ├── test_constraintProduct2.cpp │ ├── test_example1.cpp │ ├── test_example1a.cpp │ ├── test_example1b.cpp │ ├── test_example2.cpp │ ├── test_example4.cpp │ ├── test_example5.cpp │ ├── test_example6.cpp │ ├── test_example7.cpp │ ├── test_exampleLP.cpp │ ├── test_externalChol1.cpp │ ├── test_gradientShift.cpp │ ├── test_guessedWS1.cpp │ ├── test_hs268.cpp │ ├── test_indexlist.cpp │ ├── test_infeasible1.cpp │ ├── test_janick1.cpp │ ├── test_janick2.cpp │ ├── test_matrices.cpp │ ├── test_matrices2.cpp │ ├── test_matrices3.cpp │ ├── test_qrecipe.cpp │ ├── test_qrecipeSchur.cpp │ ├── test_qrecipe_data.hpp │ ├── test_runAllOqpExamples.cpp │ ├── test_sebastien1.cpp │ └── test_vanBarelsUnboundedQP.cpp │ ├── matlab │ ├── auxFiles │ │ ├── generateExample.m │ │ ├── generateRandomQp.m │ │ ├── getKktResidual.m │ │ ├── isoctave.m │ │ ├── setupQpDataStruct.m │ │ └── setupQpFeaturesStruct.m │ ├── data │ │ └── fetch_matlab_data │ ├── runAllTests.m │ ├── setupTestingPaths.m │ └── tests │ │ ├── runAlexInfeas1.m │ │ ├── runAlexInfeas2.m │ │ ├── runAlternativeX0Test.m │ │ ├── runBenchmarkCHAIN1.m │ │ ├── runBenchmarkCHAIN1A.m │ │ ├── runBenchmarkCRANE1.m │ │ ├── runBenchmarkCRANE2.m │ │ ├── runBenchmarkCRANE3.m │ │ ├── runBenchmarkDIESEL.m │ │ ├── runBenchmarkEQUALITY1.m │ │ ├── runBenchmarkEQUALITY2.m │ │ ├── runBenchmarkEXAMPLE1.m │ │ ├── runBenchmarkEXAMPLE1A.m │ │ ├── runBenchmarkEXAMPLE1B.m │ │ ├── runBenchmarkIDHESSIAN1.m │ │ ├── runEmptyHessianTests.m │ │ ├── runExternalCholeskyTests.m │ │ ├── runInterfaceSeqTest.m │ │ ├── runInterfaceTest.m │ │ ├── runQAP8.m │ │ ├── runQSHARE1B.m │ │ ├── runRandomIdHessian.m │ │ ├── runRandomZeroHessian.m │ │ ├── runSimpleSpringExample.m │ │ ├── runTestAPrioriKnownSeq1.m │ │ ├── runTestSeq.m │ │ ├── runTestSparse.m │ │ ├── runTestSparse2.m │ │ ├── runTestSparse3.m │ │ ├── runTestSparse4.m │ │ ├── runTestWorkingSetLI.m │ │ └── runVanBarelsUnboundedQP.m │ └── runUnitTests ├── src └── SoftRobots.Inverse │ ├── binding │ ├── Binding_QPInverseProblemSolver.cpp │ ├── Binding_QPInverseProblemSolver.h │ ├── Binding_QPInverseProblemSolver_doc.h │ ├── CMakeLists.txt │ └── Module_SoftRobotsInverse.cpp │ ├── component │ ├── behavior │ │ ├── Actuator.cpp │ │ ├── Actuator.h │ │ ├── Actuator.inl │ │ ├── Effector.cpp │ │ ├── Effector.h │ │ ├── Effector.inl │ │ ├── Equality.cpp │ │ ├── Equality.h │ │ ├── Equality.inl │ │ ├── Sensor.cpp │ │ ├── Sensor.h │ │ └── Sensor.inl │ ├── config.h.in │ ├── constraint │ │ ├── BarycentricCenterEffector.cpp │ │ ├── BarycentricCenterEffector.h │ │ ├── BarycentricCenterEffector.inl │ │ ├── BeamRestPositionActuator.cpp │ │ ├── BeamRestPositionActuator.h │ │ ├── BeamRestPositionActuator.inl │ │ ├── CableActuator.cpp │ │ ├── CableActuator.h │ │ ├── CableActuator.inl │ │ ├── CableEffector.cpp │ │ ├── CableEffector.h │ │ ├── CableEffector.inl │ │ ├── CableEquality.cpp │ │ ├── CableEquality.h │ │ ├── CableEquality.inl │ │ ├── CableSensor.cpp │ │ ├── CableSensor.h │ │ ├── CableSensor.inl │ │ ├── ForcePointActuator.cpp │ │ ├── ForcePointActuator.h │ │ ├── ForcePointActuator.inl │ │ ├── ForceSurfaceActuator.cpp │ │ ├── ForceSurfaceActuator.h │ │ ├── ForceSurfaceActuator.inl │ │ ├── JointActuator.cpp │ │ ├── JointActuator.h │ │ ├── JointActuator.inl │ │ ├── PositionEffector.cpp │ │ ├── PositionEffector.h │ │ ├── PositionEffector.inl │ │ ├── PositionEquality.cpp │ │ ├── PositionEquality.h │ │ ├── PositionEquality.inl │ │ ├── README.txt │ │ ├── SlidingActuator.cpp │ │ ├── SlidingActuator.h │ │ ├── SlidingActuator.inl │ │ ├── SurfacePressureActuator.cpp │ │ ├── SurfacePressureActuator.h │ │ ├── SurfacePressureActuator.inl │ │ ├── SurfacePressureEquality.cpp │ │ ├── SurfacePressureEquality.h │ │ ├── SurfacePressureEquality.inl │ │ ├── SurfacePressureSensor.cpp │ │ ├── SurfacePressureSensor.h │ │ ├── SurfacePressureSensor.inl │ │ ├── VolumeEffector.cpp │ │ ├── VolumeEffector.h │ │ ├── VolumeEffector.inl │ │ ├── YoungModulusActuator.cpp │ │ ├── YoungModulusActuator.h │ │ └── YoungModulusActuator.inl │ ├── initSoftRobotsInverse.cpp │ ├── initSoftRobotsInverse.h │ └── solver │ │ ├── QPInverseProblemSolver.cpp │ │ ├── QPInverseProblemSolver.h │ │ ├── README.txt │ │ └── modules │ │ ├── ConstraintHandler.cpp │ │ ├── ConstraintHandler.h │ │ ├── ContactHandler.cpp │ │ ├── ContactHandler.h │ │ ├── LCPQPSolver.h │ │ ├── LCPQPSolverProxQP.cpp │ │ ├── LCPQPSolverProxQP.h │ │ ├── LCPQPSolverQPOases.cpp │ │ ├── LCPQPSolverQPOases.h │ │ ├── NLCPSolver.cpp │ │ ├── NLCPSolver.h │ │ ├── QPInverseProblem.cpp │ │ ├── QPInverseProblem.h │ │ ├── QPInverseProblemImpl.cpp │ │ ├── QPInverseProblemImpl.h │ │ ├── QPInverseProblemProxQP.cpp │ │ ├── QPInverseProblemProxQP.h │ │ ├── QPInverseProblemQPOases.cpp │ │ ├── QPInverseProblemQPOases.h │ │ ├── QPMechanicalAccumulateConstraint.cpp │ │ ├── QPMechanicalAccumulateConstraint.h │ │ ├── QPMechanicalSetConstraint.cpp │ │ └── QPMechanicalSetConstraint.h │ └── utils │ └── deprecatedcomponent.h └── tests ├── CMakeLists.txt ├── TestExamplesScenes.py └── component ├── constraint ├── BarycentricCenterEffectorTest.cpp ├── CableActuatorTest.cpp ├── ConstraintTest.cmake ├── ForcePointActuatorTest.cpp ├── PositionEffectorTest.cpp ├── SlidingActuatorTest.cpp ├── SurfacePressureActuatorTest.cpp ├── YoungModulusActuatorTest.cpp └── scenes │ ├── SurfacePressureConstraint.scn │ └── mesh │ ├── Hollow_Bunny_Body_Cavity.obj │ └── Hollow_Stanford_Bunny.vtu └── solver ├── QPInverseProblemImplTest.cpp ├── QPInverseProblemSolverTest.cpp ├── QPInverseProblemSolverWithContactTest.cpp ├── SolverTest.cmake └── scenes ├── CubeOnFloor.pyscn ├── Finger.scn └── mesh ├── cube.obj ├── finger.stl ├── finger.vtk └── square1.obj /.github/workflows/ci-conda.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SofaDefrost/SoftRobots.Inverse/HEAD/.github/workflows/ci-conda.yml -------------------------------------------------------------------------------- /.github/workflows/ci.yml: -------------------------------------------------------------------------------- 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