├── .gitignore ├── CMakeLists.txt ├── README.md ├── URDF ├── Frame.stl ├── WheelL.stl ├── WheelR.stl └── cyberpod.urdf ├── bags ├── README.md └── bag2csv.py ├── include └── cyberpod_sim_ros │ ├── CyberTimer.hpp │ ├── asif_filter.hpp │ ├── common.hpp │ ├── controller_node.hpp │ ├── converter_node.hpp │ ├── dynamics.hpp │ ├── dynamics_ekf.h │ ├── ekf.h │ ├── grid_state_space_node.hpp │ ├── image_processor_node.hpp │ ├── integrator_node.hpp │ ├── keyboard.hpp │ ├── manual_teleop_node.hpp │ ├── safety_filter_node.hpp │ └── sensor_node.hpp ├── launch ├── main_mrcbf.launch ├── mrcbf_with_learning.launch ├── rviz.launch ├── rvizLearning.launch └── sample_state_space.launch ├── matlab ├── SegwayDyn.m ├── jacobianest.m └── levelSet.m ├── msg ├── cmd.msg ├── ctrlinfo.msg ├── filterInfo.msg ├── input.msg ├── learning_data.msg ├── output_data.msg ├── sensor.msg ├── state.msg └── statehardware.msg ├── notebooks ├── Autograd test.ipynb ├── ECOS Plotting.ipynb ├── Exploring Experimental Data.ipynb ├── Find_Lipschitz_Constants.ipynb ├── Learning Plots.ipynb ├── Plotting Example.ipynb ├── load_model.py ├── max_feasible_error.py ├── perception.py ├── plot_skeleton.ipynb ├── train_models.py └── tuning_script.py ├── package.xml ├── rviz └── config_safety_filter.rviz ├── src ├── controller_node.cpp ├── converter_node.cpp ├── grid_state_space_node.cpp ├── image_processor_node.cpp ├── integrator_node.cpp ├── keyboard.cpp ├── manual_teleop_node.cpp ├── sensor_node.cpp └── src_python │ ├── ECOS Testing.ipynb │ ├── data_logger.py │ ├── dynamics.py │ ├── mrcbf_filter_node.py │ ├── perception_node.py │ └── test_ecos.py └── srv └── ui.srv /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rkcosner/cyberpod_sim_ros/HEAD/.gitignore -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 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