├── .github ├── pull_request_template.md └── workflows │ ├── black.yaml │ ├── documentation.yaml │ ├── pytest.yaml │ └── update_submodules.yaml ├── .gitignore ├── .gitmodules ├── CITATION.bib ├── CITATION.cff ├── LICENSE ├── README.md ├── doc ├── Doxyfile ├── README.md ├── gen_mainpage.py ├── image │ ├── dual_kuka.png │ ├── eu.png │ ├── fig8.png │ ├── kuka_example.png │ ├── point_mass.png │ └── pushing.png └── logo.png ├── example ├── README.md ├── TrackingBall.py ├── dual_arm.py ├── duck.obj ├── duckCM.png ├── example.py ├── experiment1.py ├── experiment2.py ├── figure_eight_plan.py ├── figure_eight_plan_6dof.py ├── planar_idk.py ├── planar_ik.py ├── point_mass_mpc.py ├── point_mass_planner.py ├── point_mass_planner_mixedinteger.py ├── pushing.py ├── pybullet_api.py ├── robots │ ├── kuka_lbr │ │ ├── materials.urdf.xacro │ │ ├── med7.urdf │ │ ├── med7.urdf.xacro │ │ ├── med7_description.urdf.xacro │ │ └── meshes │ │ │ └── med7 │ │ │ ├── collision │ │ │ ├── link_0.stl │ │ │ ├── link_1.stl │ │ │ ├── link_2.stl │ │ │ ├── link_3.stl │ │ │ ├── link_4.stl │ │ │ ├── link_5.stl │ │ │ ├── link_6.stl │ │ │ └── link_7.stl │ │ │ └── visual │ │ │ ├── link_0.stl │ │ │ ├── link_1.stl │ │ │ ├── link_2.stl │ │ │ ├── link_3.stl │ │ │ ├── link_4.stl │ │ │ ├── link_5.stl │ │ │ ├── link_6.stl │ │ │ └── link_7.stl │ ├── kuka_lwr │ │ ├── exo.xml │ │ ├── kuka_lwr.srdf │ │ ├── kuka_lwr.urdf │ │ └── meshes │ │ │ └── visual │ │ │ ├── COPYRIGHT │ │ │ ├── adaptor_endeffector.stl │ │ │ ├── adaptor_kuka.stl │ │ │ ├── base.STL │ │ │ ├── cenas.FCStd │ │ │ ├── cenas.FCStd1 │ │ │ ├── end_effector.stl │ │ │ ├── force_sensor.stl │ │ │ ├── link_1.STL │ │ │ ├── link_2.STL │ │ │ ├── link_3.STL │ │ │ ├── link_4.STL │ │ │ ├── link_5.STL │ │ │ ├── link_6.STL │ │ │ └── link_7.STL │ ├── nextage │ │ ├── meshes │ │ │ ├── BASE_Link_mesh.dae │ │ │ ├── BASE_Link_mesh.obj │ │ │ ├── BASE_Link_mesh2.dae │ │ │ ├── CHEST_JOINT0_Link_mesh.dae │ │ │ ├── HEAD_JOINT0_Link_mesh.dae │ │ │ ├── HEAD_JOINT1_Link_mesh.dae │ │ │ ├── LARM_JOINT0_Link_mesh.dae │ │ │ ├── LARM_JOINT1_Link_mesh.dae │ │ │ ├── LARM_JOINT2_Link_mesh.dae │ │ │ ├── LARM_JOINT3_Link_mesh.dae │ │ │ ├── LARM_JOINT4_Link_mesh.dae │ │ │ ├── LARM_JOINT5_Link_mesh.dae │ │ │ ├── L_CAM.dae │ │ │ ├── RARM_JOINT0_Link_mesh.dae │ │ │ ├── RARM_JOINT1_Link_mesh.dae │ │ │ ├── RARM_JOINT2_Link_mesh.dae │ │ │ ├── RARM_JOINT3_Link_mesh.dae │ │ │ ├── RARM_JOINT4_Link_mesh.dae │ │ │ ├── RARM_JOINT5_Link_mesh.dae │ │ │ ├── R_CAM.dae │ │ │ ├── WAIST_Link_mesh.dae │ │ │ ├── accessories │ │ │ │ └── d435.stl │ │ │ ├── black.png │ │ │ ├── darkgrey.png │ │ │ ├── lightgrey.png │ │ │ ├── orange.png │ │ │ └── white.png │ │ └── nextage.urdf │ ├── planar_3dof.urdf │ └── r2d2 │ │ ├── meshes │ │ ├── l_finger.dae │ │ ├── l_finger_color.png │ │ ├── l_finger_tip.dae │ │ └── l_finger_tip_color.png │ │ └── r2d2.urdf ├── simple_joint_space_planner.py ├── sphere_collision_avoidance.py ├── torque_control_example.py ├── visualizer_example_1.py ├── visualizer_example_2.py ├── visualizer_example_3.py ├── visualizer_example_4.py ├── visualizer_example_5.py └── visualizer_example_6.py ├── optas ├── __init__.py ├── builder.py ├── models.py ├── optimization.py ├── solver.py ├── spatialmath.py ├── sx_container.py ├── templates.py └── visualize.py ├── pyproject.toml ├── setup.py └── tests ├── __init__.py ├── test_builder.py ├── test_examples.py ├── test_models.py ├── test_optas_utils.py ├── test_optimization.py ├── test_solver.py ├── test_spatialmath.py ├── test_sx_container.py ├── tester_robot.urdf ├── tester_robot_model.py └── tester_robot_revolute.urdf /.github/pull_request_template.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cmower/optas/HEAD/.github/pull_request_template.md -------------------------------------------------------------------------------- /.github/workflows/black.yaml: -------------------------------------------------------------------------------- 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