├── Env ├── e1.jpg ├── e2.jpg └── e3.jpg ├── GASAFun ├── CODE.m ├── CROSS.m ├── DECODE.m ├── MUTATION.m ├── getLoss_4.m └── if_qualified_1.m ├── PathPoints_e1.mat ├── PathPoints_e2.mat ├── PathPoints_e3.mat ├── README.md ├── drawFun ├── drawHelicalTube.m ├── drawPath.m ├── drawPathForLoop.m └── draw_coordinate_system.m ├── e1_loop.m ├── e2_loop.m ├── e3_loop.m ├── getObstacles ├── getObstacles_6sphere_Tan.m ├── getObstacles_8sphere.m └── getObstacles_vessel.m ├── oneEx.m ├── planning_5_1.m └── screwTheoryFun ├── T.m ├── mrlib ├── Adjoint.m ├── AxisAng3.m ├── AxisAng6.m ├── CartesianTrajectory.m ├── ComputedTorque.m ├── CubicTimeScaling.m ├── DistanceToSE3.m ├── DistanceToSO3.m ├── EndEffectorForces.m ├── EulerStep.m ├── FKinBody.m ├── FKinSpace.m ├── ForwardDynamics.m ├── ForwardDynamicsTrajectory.m ├── GravityForces.m ├── IKinBody.m ├── IKinSpace.m ├── InverseDynamics.m ├── InverseDynamicsTrajectory.m ├── JacobianBody.m ├── JacobianSpace.m ├── JointTrajectory.m ├── MassMatrix.m ├── 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