├── .gitignore ├── ABB_RobotStudio ├── ABB_IRB_120 │ ├── Solution_EGM_Joint_Ctrl.rspag │ └── T_ROB_1 │ │ ├── Module1.mod │ │ └── T_ROB_1.pgf └── ABB_IRB_14000 │ ├── Solution_EGM_Joint_Ctrl.rspag │ ├── T_ROB_L │ ├── Module1.mod │ └── T_ROB_L.pgf │ └── T_ROB_R │ ├── Module1.mod │ └── T_ROB_R.pgf ├── Data ├── ABB_IRB_120 │ ├── theta_actual.txt │ └── theta_desired.txt ├── ABB_IRB_14000_L │ ├── theta_actual.txt │ └── theta_desired.txt └── ABB_IRB_14000_R │ ├── theta_actual.txt │ └── theta_desired.txt ├── Evaluation ├── Analysis │ ├── analyse_data_abb_irb_120.py │ ├── analyse_data_abb_irb_14000_L.py │ └── analyse_data_abb_irb_14000_R.py ├── Collection │ ├── collect_abb_irb_120.py │ ├── collect_abb_irb_14000_L.py │ └── collect_abb_irb_14000_R.py └── Control │ ├── ctrl_abb_irb_120.py │ ├── ctrl_abb_irb_14000_L.py │ └── ctrl_abb_irb_14000_R.py ├── Helpers └── PROTO_Converter_Online.txt ├── LICENSE ├── PROTO └── egm.proto ├── README.md ├── images ├── ABB_IRB_120_Env.png ├── ABB_IRB_14000_Env.png ├── Analysis │ ├── ABB_IRB_120.svg │ ├── ABB_IRB_14000_L.svg │ └── ABB_IRB_14000_R.svg └── EGM.png └── src └── Lib ├── EGM ├── Core.py └── egm_pb2.py ├── Trajectory ├── Core.py └── Utilities.py ├── Transformation ├── Core.py └── Utilities │ └── Mathematics.py └── Utilities └── File_IO.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rparak/ABB_EGM_Python/HEAD/.gitignore -------------------------------------------------------------------------------- /ABB_RobotStudio/ABB_IRB_120/Solution_EGM_Joint_Ctrl.rspag: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rparak/ABB_EGM_Python/HEAD/ABB_RobotStudio/ABB_IRB_120/Solution_EGM_Joint_Ctrl.rspag -------------------------------------------------------------------------------- /ABB_RobotStudio/ABB_IRB_120/T_ROB_1/Module1.mod: 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