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Supplementary information for publication "A slanted castor wheel enables pushing manual wheelchairs from the side to improve social interaction". DOI database: 10.4121/82afa4e1-bdf1-4bf4-8682-32e62f6c3d68 DOI publication: 10.1371/journal.pone.0307759

This code was used to implement and test SDDTMPC.