├── .gitignore ├── .gitmodules ├── README.md ├── agx_dual_arm ├── README.md ├── builded_libs │ ├── libcpp_dual_passive_control.so │ ├── libcpp_dual_passive_inertial_control.so │ ├── libcpp_dynamical_system.so │ ├── libcpp_passive_inertial_control.so │ ├── py_dual_passive_control.cpython-38-x86_64-linux-gnu.so │ ├── py_dual_passive_inertial_control.cpython-38-x86_64-linux-gnu.so │ └── py_wrap_dynamical_system.cpython-38-x86_64-linux-gnu.so ├── config │ ├── LearnedModel │ │ └── model1 │ │ │ ├── throwingParam_mu.txt │ │ │ ├── throwingParam_prio.txt │ │ │ └── throwingParam_sigma.txt │ └── parameters.yaml ├── requirements_agx.txt ├── script │ ├── agx_hit_grab_toss.py │ ├── python_agx_dual_arm.py │ └── python_agx_dual_arm_inertial.py └── urdf │ ├── iiwa14.urdf │ ├── iiwa7.urdf │ └── meshes │ ├── force_sensor │ ├── CMakeLists.txt │ ├── README.md │ ├── meshes │ │ ├── collision │ │ │ ├── force_torque_sensor_col.stl │ │ │ └── grabber.stl │ │ └── visual │ │ │ ├── force_torque_sensor_vis.stl │ │ │ └── grabber.stl │ ├── package.xml │ └── urdf │ │ ├── force_torque_sensor.xacro │ │ └── grabber.xacro │ ├── iiwa14 │ ├── collision │ │ ├── link_0.stl │ │ ├── link_0_s.stl │ │ ├── link_1.stl │ │ ├── link_1_s.stl │ │ ├── link_2.stl │ │ ├── link_2_s.stl │ │ ├── link_3.stl │ │ ├── link_3_s.stl │ │ ├── link_4.stl │ │ ├── link_4_s.stl │ │ ├── link_5.stl │ │ ├── link_5_s.stl │ │ ├── link_6.stl │ │ ├── link_6_s.stl │ │ ├── link_7-MF-Touch-pneumatisch.stl │ │ ├── link_7-MF-Touch-pneumatisch_s.stl │ │ ├── link_7.stl │ │ └── link_7_s.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-MF-Touch-pneumatisch.stl │ │ └── link_7.stl │ └── iiwa7 │ ├── 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 ├── dual_arm_control ├── CMakeLists.txt ├── LearnedModel │ └── model1 │ │ ├── throwingParam_mu.txt │ │ ├── throwingParam_prio.txt │ │ └── throwingParam_sigma.txt ├── README.md ├── bwc_cvxgen │ ├── bwc_description.cvxgen │ ├── bwc_ldl.c │ ├── bwc_matrix_support.c │ ├── bwc_solver.c │ ├── bwc_solver.h │ ├── bwc_testsolver.c │ └── bwc_util.c ├── include │ └── dual_arm_control_iam │ │ ├── DualArmControl.hpp │ │ ├── DualArmCooperativeController.hpp │ │ ├── DualArmFreeMotionController.hpp │ │ ├── ObjectToGrasp.hpp │ │ ├── RobotVariables.hpp │ │ ├── ThrowingDS.hpp │ │ ├── TossTaskParamEstimator.hpp │ │ ├── TossingTarget.hpp │ │ └── tools │ │ ├── FirstOrderFilter.hpp │ │ ├── KalmanFilter.hpp │ │ ├── KalmanFilter3DVelFromPosEstimator.hpp │ │ ├── PdfGMR.hpp │ │ └── Utils.hpp ├── python_binding │ ├── CMakeLists.txt │ ├── build │ │ └── py_dual_arm_control.cpython-38-x86_64-linux-gnu.so │ └── pythonApi │ │ └── py_dual_arm_control.cpp └── src │ ├── DualArmControl.cpp │ ├── DualArmCooperativeController.cpp │ ├── DualArmFreeMotionController.cpp │ ├── ThrowingDS.cpp │ └── TossTaskParamEstimator.cpp ├── media ├── DualArmDSAdaptationAndRobustness_00.gif ├── Expansion_of_workspace_front_00.gif ├── Expansion_of_workspace_side_00.gif ├── GrabbingAndTossingBigObject_00.gif └── GrabbingAndTossingSmallBox.gif └── ros_dual_arm ├── CMakeLists.txt ├── LearnedModel └── model1 │ ├── throwingParam_mu.txt │ ├── throwingParam_prio.txt │ └── throwingParam_sigma.txt ├── README.md ├── config ├── parameters.yaml └── ros_topics.yaml ├── docker ├── Dockerfile └── build-server.sh ├── include ├── DataLogging.hpp ├── RosDualArmCommunication.hpp └── keyboard_interaction.hpp ├── launch ├── dual_arm_control.launch ├── main_sim_pt1.launch ├── main_sim_pt2.launch ├── main_sim_pt3.launch └── main_sim_pt4.launch ├── package.xml └── src ├── DataLogging.cpp └── dual_arm_control_sim.cpp /.gitignore: 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