├── .github └── workflows │ └── python-conda-CI.yml ├── .gitignore ├── .gitmodules ├── Dockerfile ├── Dockerfile_GUI ├── LICENSE ├── QTOS ├── __init__.py ├── builder.py ├── combiner.py ├── config │ └── global_cfg.py ├── containers.py ├── generateHeightField.py ├── logger.py ├── planner.py ├── pybulletInterface.py ├── robot │ ├── robot.py │ └── robot_motor.py ├── simulation.py ├── tracking.py ├── utils.py └── visual.py ├── README.md ├── data ├── config │ ├── create_FSS_plots.yml │ ├── experiment_10_continous_climbing.yml │ ├── experiment_1_straight_line.yml │ ├── experiment_2_climbing.yml │ ├── experiment_3_collision_avoidance.yml │ ├── experiment_4_rough_terrain.yml │ ├── experiment_5_extreme_climbing.yml │ ├── experiment_6_stairs.yml │ ├── experiment_7_climb_obstacle.yml │ ├── experiment_8_dynamic_terrain.yml │ ├── experiment_9_continous_walking.yml │ ├── record.yml │ ├── simulation.yml │ ├── simulation_towr_record.yml │ └── solo12.yml ├── heightfields │ ├── EXAMPLE_HEIGHT_MAP.txt │ ├── bridge.txt │ ├── calibration.txt │ ├── climb_1.txt │ ├── climb_2.txt │ ├── collision_wall_hills.txt │ ├── feasibility_test.txt │ ├── feasibility_test_1.txt │ ├── from_pybullet │ │ └── towr_heightfield.txt │ ├── heightfield.txt │ ├── heightfield_test.txt │ ├── obstacle_1.txt │ ├── plane.txt │ ├── random_terrain.txt │ ├── staircase.txt │ ├── stairs.txt │ ├── stairs_1.txt │ ├── step.txt │ ├── step_1.txt │ ├── step_2.txt │ ├── step_3.txt │ ├── wall_1.txt │ ├── wall_2.txt │ ├── wall_3.txt │ └── wall_4.txt ├── test_traj │ ├── towr_traj_cmode_torque_21x_20y_24z_walking.csv │ ├── towr_traj_cmode_torque_22x_20y_24z_walking.csv │ ├── towr_traj_cmode_torque_23x_21y_24z_walking.csv │ └── towr_traj_cmode_torque_stance_22x_20y_24z.csv ├── traj │ ├── towr.csv │ └── towr_traj_cmode_PD.csv └── urdf │ ├── box.urdf │ ├── meshes │ ├── checker_blue.png │ ├── cube.obj │ ├── cylinder.obj │ ├── obj │ │ ├── with_foot │ │ │ ├── solo_body.mtl │ │ │ ├── solo_body.obj │ │ │ ├── solo_foot.mtl │ │ │ ├── solo_foot.obj │ │ │ ├── solo_lower_leg_left_side.mtl │ │ │ ├── solo_lower_leg_left_side.obj │ │ │ ├── solo_lower_leg_right_side.mtl │ │ │ ├── solo_lower_leg_right_side.obj │ │ │ ├── solo_upper_leg_left_side.mtl │ │ │ ├── solo_upper_leg_left_side.obj │ │ │ ├── solo_upper_leg_right_side.mtl │ │ │ └── solo_upper_leg_right_side.obj │ │ └── without_foot │ │ │ ├── solo_body.mtl │ │ │ ├── solo_body.obj │ │ │ ├── solo_lower_leg_left_side.mtl │ │ │ ├── solo_lower_leg_left_side.obj │ │ │ ├── solo_lower_leg_right_side.mtl │ │ │ ├── solo_lower_leg_right_side.obj │ │ │ ├── solo_upper_leg_left_side.mtl │ │ │ ├── solo_upper_leg_left_side.obj │ │ │ ├── solo_upper_leg_right_side.mtl │ │ │ └── solo_upper_leg_right_side.obj │ ├── plane.mtl │ ├── plane.obj │ ├── sphere.obj │ └── stl │ │ ├── solo12 │ │ ├── _solo12_visualisation_model.PDF │ │ ├── solo12_coordinate_systems.png │ │ ├── solo12_coordinate_systems_2.png │ │ ├── solo12_coordinate_systems_3.png │ │ ├── solo12_coordinate_systems_4.png │ │ ├── solo12_hip_fe_fl.stl │ │ ├── solo12_hip_fe_fr.stl │ │ ├── solo12_hip_fe_hl.stl │ │ ├── solo12_hip_fe_hr.stl │ │ ├── solo12_lower_leg_left_side.stl │ │ ├── solo12_lower_leg_right_side.stl │ │ ├── solo12_upper_leg_left_side.stl │ │ ├── solo12_upper_leg_right_side.stl │ │ └── solo_12_base.stl │ │ ├── with_foot │ │ ├── solo_body.stl │ │ ├── solo_foot.stl │ │ ├── solo_lower_leg_left_side.stl │ │ ├── solo_lower_leg_right_side.stl │ │ ├── solo_upper_leg_left_side.stl │ │ └── solo_upper_leg_right_side.stl │ │ └── without_foot │ │ ├── solo_body.stl │ │ ├── solo_lower_leg_left_side.stl │ │ ├── solo_lower_leg_right_side.stl │ │ ├── solo_lower_leg_v2_left_side.stl │ │ ├── solo_lower_leg_v2_right_side.stl │ │ ├── solo_upper_leg_left_side.stl │ │ └── solo_upper_leg_right_side.stl │ ├── planar_2R_robot.urdf │ ├── plane.urdf │ ├── solo12.urdf │ ├── stair.urdf │ └── wall.urdf ├── docs └── index.md ├── environment.yml ├── logs ├── experiment_data.out ├── simulation_log.out └── towr_log.out ├── 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