├── .gitignore ├── LICENSE ├── README.md ├── analysis ├── analyze_sols.m └── analyze_sols_3d.m ├── examples ├── ik_solution_extraction_experiment_2d.m └── ik_solution_extraction_experiment_3d.m ├── replacement_files ├── csol.m └── sdpt3.m ├── supplementary_material.pdf ├── system.png └── utils ├── DH.m ├── SBSOS ├── Problem.m ├── constraint │ ├── distanceEqConstraint.m │ └── jointLimitConstraint.m ├── partitions │ ├── getNearestPointPartition.m │ ├── getPartitionRIP.m │ ├── get_J.m │ ├── junctionTree.m │ ├── makePartitionRIP.m │ └── pointIndices.m ├── postproc │ ├── postprocRAL.m │ └── rankRAL.m ├── solveIKSBSOS.m ├── solver_sbsos.m └── verify_rip.m ├── feasibleInitialization.m ├── fullPolyMat.m ├── local_solver ├── forwardKinematicsHelper.m ├── forwardKinematicsHelper3D.m ├── localJointSpaceSolverPose.m ├── localJointSpaceSolverPose3D.m └── sphericalJointTransform.m ├── planarManipulator.m ├── rotations ├── diff_angle.m ├── rotX.m ├── rotY.m └── rotZ.m └── spatialManipulator.m 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