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RSSA-and-abstract-safe-control

Codes for the following two projects:

  • Robust Safe Control
  • Abstract Safe Control

Robust Safe Control

See src/pybullet-dynamics/RSSA_convex.py and src/pybullet-dynamics/RSSA_gaussian.py.

Abstract Safe Control

See src/pybullet-dynamics/panda_rod_env/panda_abstract_safe_control.py

Note: when using PandaEnv, please install pytorch-kinematics package.