├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── config ├── params.yaml ├── params_flymanoid.yaml ├── params_sawyer_fish.yaml ├── params_sawyer_push.yaml ├── params_ur3e_fish_pull.yaml ├── params_ur3e_fish_push.yaml ├── penalty_loop.yaml ├── perturbation.yaml ├── scvx.yaml └── vscm.yaml ├── extra ├── example_flymanoid.gif ├── example_sawyer_push.gif ├── icra20_task_b1.gif ├── icra20_task_b3.gif ├── icra20_task_b4.gif ├── icra20_task_b5.gif ├── icra20_task_c4.gif ├── icra20_task_c5.gif ├── icra20_task_d1.gif └── icra20_task_d5.gif ├── include └── cito │ ├── control.h │ ├── numdiff.h │ ├── params.h │ ├── penalty_loop.h │ ├── savelog.h │ ├── scvx.h │ └── sqopt.h ├── model ├── box_inertia_calculator.py ├── flymanoid.xml ├── iiwa_workcell.xml ├── mesh │ ├── fish │ │ └── fish.stl │ ├── iiwa │ │ ├── link_0.stl │ │ ├── link_1.stl │ │ ├── link_2.stl │ │ ├── link_3.stl │ │ ├── link_4.stl │ │ ├── link_5.stl │ │ ├── link_6.stl │ │ ├── link_7.stl │ │ └── workcell.STL │ ├── sawyer │ │ ├── base.stl │ │ ├── head.stl │ │ ├── l0.stl │ │ ├── l1.stl │ │ ├── l2.stl │ │ ├── l3.stl │ │ ├── l4.stl │ │ ├── l5.stl │ │ ├── l6.stl │ │ └── pedestal.stl │ └── ur3e │ │ ├── collision │ │ ├── base.stl │ │ ├── forearm.stl │ │ ├── shoulder.stl │ │ ├── upperarm.stl │ │ ├── wrist1.stl │ │ ├── wrist2.stl │ │ └── wrist3.stl │ │ └── visual │ │ ├── base.dae │ │ ├── forearm.dae │ │ ├── shoulder.dae │ │ ├── upperarm.dae │ │ ├── wrist1.dae │ │ ├── wrist2.dae │ │ └── wrist3.dae ├── readable_flymanoid.txt ├── readable_sawyer_fish.txt ├── readable_sawyer_push.txt ├── readable_ur3e_fish.txt ├── red_box.urdf ├── sawyer.urdf ├── sawyer_fish.xml ├── sawyer_push.xml ├── ur3e.xml └── ur3e_fish.xml ├── package.xml ├── src ├── cito │ ├── control.cpp │ ├── numdiff.cpp │ ├── params.cpp │ ├── penalty_loop.cpp │ ├── savelog.cpp │ ├── scvx.cpp │ └── sqopt.cpp ├── main.cpp └── playlog.cpp └── test ├── fcl_funcs.cpp └── test_cito.cpp /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/.gitignore -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/README.md -------------------------------------------------------------------------------- /config/params.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/config/params.yaml -------------------------------------------------------------------------------- /config/params_flymanoid.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/config/params_flymanoid.yaml -------------------------------------------------------------------------------- /config/params_sawyer_fish.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/config/params_sawyer_fish.yaml -------------------------------------------------------------------------------- /config/params_sawyer_push.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/config/params_sawyer_push.yaml -------------------------------------------------------------------------------- /config/params_ur3e_fish_pull.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/config/params_ur3e_fish_pull.yaml -------------------------------------------------------------------------------- /config/params_ur3e_fish_push.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/config/params_ur3e_fish_push.yaml -------------------------------------------------------------------------------- /config/penalty_loop.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/config/penalty_loop.yaml -------------------------------------------------------------------------------- /config/perturbation.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/config/perturbation.yaml -------------------------------------------------------------------------------- /config/scvx.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/config/scvx.yaml -------------------------------------------------------------------------------- /config/vscm.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/config/vscm.yaml -------------------------------------------------------------------------------- /extra/example_flymanoid.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/extra/example_flymanoid.gif -------------------------------------------------------------------------------- /extra/example_sawyer_push.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/extra/example_sawyer_push.gif -------------------------------------------------------------------------------- /extra/icra20_task_b1.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/extra/icra20_task_b1.gif -------------------------------------------------------------------------------- /extra/icra20_task_b3.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/extra/icra20_task_b3.gif -------------------------------------------------------------------------------- /extra/icra20_task_b4.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/extra/icra20_task_b4.gif -------------------------------------------------------------------------------- /extra/icra20_task_b5.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/extra/icra20_task_b5.gif -------------------------------------------------------------------------------- /extra/icra20_task_c4.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/extra/icra20_task_c4.gif -------------------------------------------------------------------------------- /extra/icra20_task_c5.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/extra/icra20_task_c5.gif -------------------------------------------------------------------------------- /extra/icra20_task_d1.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/extra/icra20_task_d1.gif -------------------------------------------------------------------------------- /extra/icra20_task_d5.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/extra/icra20_task_d5.gif -------------------------------------------------------------------------------- /include/cito/control.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/include/cito/control.h -------------------------------------------------------------------------------- /include/cito/numdiff.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/include/cito/numdiff.h -------------------------------------------------------------------------------- /include/cito/params.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/include/cito/params.h -------------------------------------------------------------------------------- /include/cito/penalty_loop.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/include/cito/penalty_loop.h -------------------------------------------------------------------------------- /include/cito/savelog.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/include/cito/savelog.h -------------------------------------------------------------------------------- /include/cito/scvx.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/include/cito/scvx.h -------------------------------------------------------------------------------- /include/cito/sqopt.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/include/cito/sqopt.h -------------------------------------------------------------------------------- /model/box_inertia_calculator.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/box_inertia_calculator.py -------------------------------------------------------------------------------- /model/flymanoid.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/flymanoid.xml -------------------------------------------------------------------------------- /model/iiwa_workcell.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/iiwa_workcell.xml -------------------------------------------------------------------------------- /model/mesh/fish/fish.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/fish/fish.stl -------------------------------------------------------------------------------- /model/mesh/iiwa/link_0.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/iiwa/link_0.stl -------------------------------------------------------------------------------- /model/mesh/iiwa/link_1.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/iiwa/link_1.stl -------------------------------------------------------------------------------- /model/mesh/iiwa/link_2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/iiwa/link_2.stl -------------------------------------------------------------------------------- /model/mesh/iiwa/link_3.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/iiwa/link_3.stl -------------------------------------------------------------------------------- /model/mesh/iiwa/link_4.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/iiwa/link_4.stl -------------------------------------------------------------------------------- /model/mesh/iiwa/link_5.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/iiwa/link_5.stl -------------------------------------------------------------------------------- /model/mesh/iiwa/link_6.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/iiwa/link_6.stl -------------------------------------------------------------------------------- /model/mesh/iiwa/link_7.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/iiwa/link_7.stl -------------------------------------------------------------------------------- /model/mesh/iiwa/workcell.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/iiwa/workcell.STL -------------------------------------------------------------------------------- /model/mesh/sawyer/base.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/sawyer/base.stl -------------------------------------------------------------------------------- /model/mesh/sawyer/head.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/sawyer/head.stl -------------------------------------------------------------------------------- /model/mesh/sawyer/l0.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/sawyer/l0.stl -------------------------------------------------------------------------------- /model/mesh/sawyer/l1.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/sawyer/l1.stl -------------------------------------------------------------------------------- /model/mesh/sawyer/l2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/sawyer/l2.stl -------------------------------------------------------------------------------- /model/mesh/sawyer/l3.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/sawyer/l3.stl -------------------------------------------------------------------------------- /model/mesh/sawyer/l4.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/sawyer/l4.stl -------------------------------------------------------------------------------- /model/mesh/sawyer/l5.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/sawyer/l5.stl -------------------------------------------------------------------------------- /model/mesh/sawyer/l6.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/sawyer/l6.stl -------------------------------------------------------------------------------- /model/mesh/sawyer/pedestal.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/sawyer/pedestal.stl -------------------------------------------------------------------------------- /model/mesh/ur3e/collision/base.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/ur3e/collision/base.stl -------------------------------------------------------------------------------- /model/mesh/ur3e/collision/forearm.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/ur3e/collision/forearm.stl -------------------------------------------------------------------------------- /model/mesh/ur3e/collision/shoulder.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/ur3e/collision/shoulder.stl -------------------------------------------------------------------------------- /model/mesh/ur3e/collision/upperarm.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/ur3e/collision/upperarm.stl -------------------------------------------------------------------------------- /model/mesh/ur3e/collision/wrist1.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/ur3e/collision/wrist1.stl -------------------------------------------------------------------------------- /model/mesh/ur3e/collision/wrist2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/ur3e/collision/wrist2.stl -------------------------------------------------------------------------------- /model/mesh/ur3e/collision/wrist3.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/ur3e/collision/wrist3.stl -------------------------------------------------------------------------------- /model/mesh/ur3e/visual/base.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/ur3e/visual/base.dae -------------------------------------------------------------------------------- /model/mesh/ur3e/visual/forearm.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/ur3e/visual/forearm.dae -------------------------------------------------------------------------------- /model/mesh/ur3e/visual/shoulder.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/ur3e/visual/shoulder.dae -------------------------------------------------------------------------------- /model/mesh/ur3e/visual/upperarm.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/ur3e/visual/upperarm.dae -------------------------------------------------------------------------------- /model/mesh/ur3e/visual/wrist1.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/ur3e/visual/wrist1.dae -------------------------------------------------------------------------------- /model/mesh/ur3e/visual/wrist2.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/ur3e/visual/wrist2.dae -------------------------------------------------------------------------------- /model/mesh/ur3e/visual/wrist3.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/mesh/ur3e/visual/wrist3.dae -------------------------------------------------------------------------------- /model/readable_flymanoid.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/readable_flymanoid.txt -------------------------------------------------------------------------------- /model/readable_sawyer_fish.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/readable_sawyer_fish.txt -------------------------------------------------------------------------------- /model/readable_sawyer_push.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/readable_sawyer_push.txt -------------------------------------------------------------------------------- /model/readable_ur3e_fish.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/readable_ur3e_fish.txt -------------------------------------------------------------------------------- /model/red_box.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/red_box.urdf -------------------------------------------------------------------------------- /model/sawyer.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/sawyer.urdf -------------------------------------------------------------------------------- /model/sawyer_fish.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/sawyer_fish.xml -------------------------------------------------------------------------------- /model/sawyer_push.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/sawyer_push.xml -------------------------------------------------------------------------------- /model/ur3e.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/ur3e.xml -------------------------------------------------------------------------------- /model/ur3e_fish.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/model/ur3e_fish.xml -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/package.xml -------------------------------------------------------------------------------- /src/cito/control.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/src/cito/control.cpp -------------------------------------------------------------------------------- /src/cito/numdiff.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/src/cito/numdiff.cpp -------------------------------------------------------------------------------- /src/cito/params.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/src/cito/params.cpp -------------------------------------------------------------------------------- /src/cito/penalty_loop.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/src/cito/penalty_loop.cpp -------------------------------------------------------------------------------- /src/cito/savelog.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/src/cito/savelog.cpp -------------------------------------------------------------------------------- /src/cito/scvx.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/src/cito/scvx.cpp -------------------------------------------------------------------------------- /src/cito/sqopt.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/src/cito/sqopt.cpp -------------------------------------------------------------------------------- /src/main.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/src/main.cpp -------------------------------------------------------------------------------- /src/playlog.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/src/playlog.cpp -------------------------------------------------------------------------------- /test/fcl_funcs.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/test/fcl_funcs.cpp -------------------------------------------------------------------------------- /test/test_cito.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aykutonol/cito/HEAD/test/test_cito.cpp --------------------------------------------------------------------------------