├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── algorithm ├── c++ │ ├── eiquadprog.hpp │ ├── solvehfvc.cpp │ └── solvehfvc.h └── matlab │ └── solvehfvc.m ├── examples ├── backup │ ├── SuctionCup │ │ └── Suction_cup_control.m │ └── bottle_rotation │ │ ├── bottle_rotation_control.m │ │ └── symbolic_derivation_of_gradients_bottle_rotation.m ├── block_tilting │ ├── CodeGenWrapperBlockTilting.m │ ├── block_tilting_control.m │ └── symbolic_derivation_of_gradients_block_tilting.m └── levering_up │ ├── .gitignore │ ├── levering_up_control.m │ └── symbolic_derivation_of_jacobian.m ├── experiments ├── .gitignore ├── README.md ├── diamond │ ├── config │ │ ├── controller.yaml │ │ ├── hardware.yaml │ │ └── task.yaml │ ├── cpp_robot_server │ │ ├── CMakeLists.txt │ │ ├── diamond.cpp │ │ ├── diamond.h │ │ ├── launch │ │ │ └── diamond.launch │ │ └── server_node.cpp │ ├── data │ │ ├── hybrid_action.txt │ │ ├── pose_feedback.txt │ │ ├── pose_set.txt │ │ └── velocity_set.txt │ └── matlab_gui │ │ ├── cleanstart.m │ │ ├── debug.mat │ │ ├── interface.fig │ │ └── interface.m ├── engaging │ ├── config │ │ ├── abb │ │ │ ├── controller.yaml │ │ │ ├── hardware.yaml │ │ │ └── task.yaml │ │ └── ur │ │ │ ├── controller.yaml │ │ │ ├── hardware.yaml │ │ │ └── task.yaml │ ├── cpp_robot_server │ │ ├── CMakeLists.txt │ │ ├── engaging.cpp │ │ ├── engaging.h │ │ ├── launch │ │ │ └── engaging_abb.launch │ │ └── server_node.cpp │ ├── data │ │ ├── f_data_filtered.txt │ │ ├── f_data_selected.txt │ │ ├── f_prob.txt │ │ ├── f_queue.txt │ │ ├── f_weights.txt │ │ ├── n.txt │ │ ├── pose_feedback.txt │ │ ├── pose_set.txt │ │ ├── process.txt │ │ ├── v_queue.txt │ │ ├── v_weights.txt │ │ └── velocity_set.txt │ └── matlab_gui │ │ ├── cleanstart.m │ │ ├── interface.fig │ │ ├── interface.m │ │ └── test_weight_computation.m ├── levering_up │ ├── config │ │ ├── controller.yaml │ │ ├── hardware.yaml │ │ └── task.yaml │ ├── cpp_robot_server │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ └── levering_up.launch │ │ ├── levering_up.cpp │ │ ├── levering_up.h │ │ └── server_node.cpp │ ├── data │ │ ├── pose_feedback.txt │ │ ├── pose_set.txt │ │ └── velocity_set.txt │ └── matlab_gui │ │ ├── cleanstart.m │ │ ├── interface.fig │ │ └── interface.m ├── plane_engaging │ ├── config │ │ ├── controller.yaml │ │ ├── hardware.yaml │ │ └── task.yaml │ ├── plane_engaging.cpp │ └── plane_engaging.h ├── robot_bridge.cpp ├── robot_bridge.h ├── step_crawling │ ├── config │ │ ├── controller.yaml │ │ ├── hardware.yaml │ │ └── task.yaml │ ├── cpp_robot_server │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ └── step_crawling.launch │ │ ├── server_node.cpp │ │ ├── step_crawling.cpp │ │ └── step_crawling.h │ ├── data │ │ ├── f_data_filtered.txt │ │ ├── f_data_selected.txt │ │ ├── f_queue.txt │ │ ├── f_weights.txt │ │ ├── pose_feedback.txt │ │ ├── pose_set.txt │ │ ├── process.txt │ │ ├── v_queue.txt │ │ ├── v_weights.txt │ │ └── velocity_set.txt │ └── matlab_gui │ │ ├── cleanstart.m │ │ ├── interface.fig │ │ └── interface.m └── tracking2d │ ├── config │ ├── block_tilting │ │ ├── controller.yaml │ │ ├── hardware.yaml │ │ └── task.yaml │ ├── obstacle_course │ │ ├── controller.yaml │ │ ├── hardware.yaml │ │ └── task.yaml │ └── stair_climbing │ │ ├── controller.yaml │ │ ├── hardware.yaml │ │ └── task.yaml │ ├── cpp_robot_server │ ├── CMakeLists.txt │ ├── launch │ │ ├── block_tilting.launch │ │ ├── obstacle_course.launch │ │ └── stair_climbing.launch │ ├── server_node.cpp │ ├── tracking2d.cpp │ └── tracking2d.h │ ├── data │ ├── pose_set.txt │ ├── traj_block_tilting.csv │ ├── traj_plastic_cube.csv │ └── velocity_set.txt │ └── matlab_gui │ ├── cleanstart.m │ ├── interface.fig │ └── interface.m ├── package.xml └── todo /.gitignore: -------------------------------------------------------------------------------- 1 | .vscode/ 2 | MatlabCodeGen/ 3 | *.sublime* -------------------------------------------------------------------------------- /CMakeLists.txt: 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