/contactImplicit - initial work with the ContactImplicitTrajectoryOptimization
/swingUp - iterations of the swing up problem using the manipulator urdf
/test - test iterations using the simpler test plant urdf for debug
runCatch.m - partially completed code to have the manipulator urdf catch a moving ball
runLiftBall.m - partially completed code to have the manipulator urdf lift a ball in the air
/deptricatedOrBroken - old partial implementations or depricated version of code
/timeSteppingDirtran - work with TSRBM and Dirtran to get contacts between objects into the optimization
DirtranTrajectoryOptimizationTSRBM.m - example of Dirtran file changes needed to get this code to run
dirtranConditionTSRBM.m - takes in a TSRBM and options and outputs the [f,df] condition for dirtran
runHitBall.m - code to have the arm hit the ball to the left
runSwingUp.m - standard swing up problem using the new method
runSwingUpBall.m - swing up code with a ball falling (or staying on ground)
runSwingUpSimple.m - basic swing up code for debugging the new method
testGRadientDiffs.m - test code to make sure my implementations of gradients works
/urdf - all urdf files used in the code