├── .flake8 ├── .gitattributes ├── .github └── workflows │ └── python-app.yml ├── .gitignore ├── LICENSE ├── README.md ├── config ├── hydra │ └── base_hydra.yaml ├── mpc_config │ └── base_mpc_config.yaml ├── multi_experiment.yaml ├── optitrack_config │ └── tee_optitrack_config.yaml ├── realsense_config │ ├── realsense_camera_config │ │ └── realsense_camera_config.yaml │ └── top_front_side_realsense.yaml ├── sim_config │ └── base_sim_config.yaml └── single_experiment.yaml ├── images ├── demo_box.gif ├── demo_convex4.gif ├── demo_tee.gif └── demo_triangle.gif ├── notebooks └── planar_pushing.ipynb ├── planning_through_contact ├── __init__.py ├── analysis_scripts │ ├── analyze_sdp_tightness_with_energy_minimization │ ├── plot_so2_feasible_set.jl │ ├── plot_so2_feasible_set_for_middle_ctrl_point.jl │ ├── visualize_envelopes.m │ └── visualize_moment_balance.m ├── convex_relaxation │ ├── band_sparse_semidefinite_relaxation.py │ ├── convex_concave.py │ ├── deprecated │ │ └── sdp_deprecated.py │ ├── mccormick.py │ └── sdp.py ├── deprecated │ ├── experiments │ │ └── manipulation_station_tests.py │ ├── geometry │ │ ├── bezier.py │ │ ├── collision_pair.py │ │ ├── contact_mode.py │ │ ├── rigid_body.py │ │ └── two_d │ │ │ ├── box_2d.py │ │ │ ├── contact │ │ │ ├── contact_pair_2d.py │ │ │ ├── contact_point_2d.py │ │ │ ├── contact_scene_2d.py │ │ │ └── types.py │ │ │ ├── equilateral_polytope_2d.py │ │ │ ├── rigid_body_2d.py │ │ │ └── t_pusher.py │ ├── planning │ │ ├── gcs.py │ │ └── graph_builder.py │ ├── run_demos.py │ └── visualize │ │ └── visualize.py ├── experiments │ ├── ablation_study │ │ └── planar_pushing_ablation.py │ ├── baseline_comparison │ │ └── direct_trajectory_optimization.py │ └── utils.py ├── geometry │ ├── bezier.py │ ├── collision_geometry │ │ ├── box_2d.py │ │ ├── collision_geometry.py │ │ ├── t_pusher_2d.py │ │ └── vertex_defined_geometry.py │ ├── hyperplane.py │ ├── in_plane │ │ ├── contact_force.py │ │ ├── contact_pair.py │ │ ├── contact_point.py │ │ └── contact_scene.py │ ├── planar │ │ ├── abstract_mode.py │ │ ├── face_contact.py │ │ ├── non_collision.py │ │ ├── non_collision_subgraph.py │ │ ├── planar_pose.py │ │ ├── planar_pushing_path.py │ │ ├── planar_pushing_trajectory.py │ │ └── trajectory_builder.py │ ├── polyhedron.py │ ├── rigid_body.py │ └── utilities.py ├── planning │ ├── footstep │ │ ├── footstep_plan_config.py │ │ ├── footstep_planner.py │ │ ├── footstep_trajectory.py │ │ └── in_plane_terrain.py │ ├── in_plane │ │ ├── contact_scene_program.py │ │ └── in_plane_trajectory.py │ └── planar │ │ ├── planar_plan_config.py │ │ ├── planar_pushing_planner.py │ │ └── utils.py ├── simulation │ ├── controllers │ │ ├── cylinder_actuated_station.py │ │ ├── desired_planar_position_source_base.py │ │ ├── hybrid_mpc.py │ │ ├── iiwa_hardware_station.py │ │ ├── mpc_position_source.py │ │ ├── robot_system_base.py │ │ └── teleop_position_source.py │ ├── dynamics │ │ └── slider_pusher │ │ │ ├── general_slider_pusher_geometry.py │ │ │ ├── slider_pusher_geometry.py │ │ │ └── slider_pusher_system.py │ ├── environments │ │ └── table_environment.py │ ├── models │ │ ├── box.sdf │ │ ├── box_hydroelastic.sdf │ │ ├── box_hydroelastic.yaml │ │ ├── cylinder_controller_plant.yaml │ │ ├── iiwa_controller_plant.yaml │ │ ├── package.xml │ │ ├── planar_pushing_cylinder_plant_hydroelastic.yaml │ │ ├── planar_pushing_cylinder_scenario.yaml │ │ ├── planar_pushing_iiwa_plant_hydroelastic.yaml │ │ ├── planar_pushing_iiwa_scenario.yaml │ │ ├── pusher_floating.sdf │ │ ├── pusher_floating_hydroelastic.sdf │ │ ├── pusher_floating_hydroelastic_actuated.sdf │ │ ├── small_table.urdf │ │ ├── small_table.yaml │ │ ├── small_table_hydroelastic.urdf │ │ ├── sugar_box.sdf │ │ ├── t_pusher.sdf │ │ ├── t_pusher.yaml │ │ └── t_pusher_separate.sdf │ ├── planar_pushing │ │ ├── iiwa_planner.py │ │ ├── inverse_kinematics.py │ │ ├── planar_pose_traj_publisher.py │ │ ├── planar_pushing_sim_config.py │ │ └── pusher_pose_controller.py │ ├── sensors │ │ ├── optitrack.py │ │ ├── optitrack_config.py │ │ ├── realsense.py │ │ └── realsense_camera_config.py │ ├── sim_utils.py │ ├── state_estimators │ │ ├── plant_updater.py │ │ └── state_estimator.py │ └── systems │ │ ├── contact_detection_system.py │ │ ├── joint_velocity_clamp.py │ │ ├── planar_translation_to_rigid_transform_system.py │ │ ├── pusher_slider_pose_selector.py │ │ ├── rigid_transform_to_planar_pose_vector_system.py │ │ └── slider_pusher_trajectory_feeder.py ├── tools │ ├── gcs_tools.py │ ├── math.py │ ├── script_utils.py │ ├── types.py │ └── utils.py └── visualize │ ├── ablation_study.py │ ├── analysis.py │ ├── colors.py │ ├── footstep_visualizer.py │ ├── in_plane_maniplation.py │ ├── in_plane_visualizer.py │ ├── planar_pushing.py │ └── visualizer_2d.py ├── poetry.lock ├── pyproject.toml ├── scripts ├── experiments │ ├── run_ablation_study.py │ ├── run_baseline_comparison.py │ ├── run_direct_trajopt_from_initial_guess.py │ └── run_direct_trajopt_through_contact.py ├── planar_pushing │ ├── camera_test.ipynb │ ├── create_plans.py │ ├── find_iiwa_workspace.py │ ├── get_inertia_matrix.ipynb │ ├── hardware_sim.py │ ├── make_gcs_instance.py │ ├── plan_one_contact_mode.py │ ├── real_time_rate.ipynb │ ├── run_end_effector_teleop_control.py │ ├── run_planar_pushing_experiment.py │ ├── run_sim_actuated_cylinder.py │ ├── run_sim_iiwa.py │ └── visualize_plan.py ├── plots │ ├── make_ablation_study_plot.py │ ├── make_experiment_sequence_plot.py │ ├── make_qualitative_tightness_plot.py │ ├── make_tightness_plot.py │ └── make_traj_figure.py └── unfinished_research │ ├── complementarity_constraints │ ├── bilinear_term.py │ ├── cart_pole.py │ ├── compl_constaints_flipup.py │ ├── complimentarity_constraints.py │ ├── complimentarity_constraints_sliding_sticking.py │ ├── complimentarity_constraints_sliding_sticking_more_complex.py │ ├── complimentarity_constraints_sliding_sticking_two_contact_points.py │ ├── complimentarity_constraints_sliding_sticking_two_fingers.py │ ├── euclidean_distance │ │ ├── cailey_map_revisited.ipynb │ │ ├── euclidean_distance.ipynb │ │ └── rlt_soc.ipynb │ ├── field_values_of_two_symmetric_matrices.py │ └── simple_complimentarity_constraints.py │ ├── deprecated │ ├── object_flipup │ │ ├── box_flipup.py │ │ ├── deprecated │ │ │ ├── flipup_bilinear_relaxation.py │ │ │ └── flipup_fixed_position.py │ │ ├── flipup_w_sdp.py │ │ ├── polytope_flipup_mccormick.py │ │ ├── polytope_flipup_sdp.py │ │ └── simple_flipup.py │ ├── one_d_pusher.py │ └── planar_pushing │ │ └── old │ │ ├── manipulation_station.py │ │ ├── one_contact_mode.py │ │ ├── planar_pushing_gcs.py │ │ ├── planar_pushing_gcs_box.py │ │ ├── planar_pushing_gcs_motion_cone.py │ │ ├── simple_pushing_formulation.py │ │ └── simple_pushing_formulation_in_world_frame.py │ ├── footstep_planning │ └── sdp_vs_lp.py │ ├── notebooks │ ├── cost_function │ │ ├── multiple_modes_tee.ipynb │ │ └── tee_tightness_examples.ipynb │ └── pusher_vel_match_dynamics_bug.ipynb │ ├── rotation_transcriptions │ ├── approximate_ang_vel.py │ ├── cayley_map.py │ ├── energy_minimization.py │ ├── energy_minimization_so3.py │ ├── exponential_map.py │ ├── meshcat.py │ ├── non_squared_euclidean_distance.py │ ├── one_knot_point.py │ ├── so2 │ │ └── so2_sdp_relaxation_experiments.py │ ├── so3 │ │ └── so_3_tightness.py │ └── sparsity.py │ └── sdp_relaxations │ └── bilinear_constraints.py └── tests ├── convex_relaxation ├── test_band_sparse_semidefinite_relaxation.py └── test_sdp.py ├── experiments └── test_old_planar_pusher_gcs.py ├── geometry ├── collision_geometry │ ├── test_box2d.py │ └── test_tpusher2d.py ├── in_plane │ ├── test_contact_force.py │ ├── test_contact_pair.py │ ├── test_contact_point.py │ └── test_contact_scene.py └── planar │ ├── fixtures.py │ ├── test_abstract_mode.py │ ├── test_face_contact.py │ ├── test_non_collision.py │ ├── test_non_collision_subgraph.py │ ├── test_planar_pose.py │ ├── test_planar_pushing_path.py │ ├── test_planar_pushing_trajectory.py │ 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