├── .gitignore ├── Hector_ROS_Simulation ├── hector_control │ ├── CMakeLists.txt │ ├── ConvexMPC │ │ ├── Constraints.cpp │ │ ├── Constraints.h │ │ ├── ConvexMPCLocomotion.cpp │ │ ├── ConvexMPCLocomotion.h │ │ ├── GaitGenerator.cpp │ │ ├── GaitGenerator.h │ │ ├── RobotState.cpp │ │ ├── RobotState.h │ │ ├── SolverMPC.cpp │ │ ├── SolverMPC.h │ │ ├── common_types.h │ │ ├── convexMPC_interface.cpp │ │ └── convexMPC_interface.h │ ├── include │ │ ├── FSM │ │ │ ├── FSM.h │ │ │ ├── FSMState.h │ │ │ ├── FSMState_Passive.h │ │ │ ├── FSMState_TO.h │ │ │ └── FSMState_Walking.h │ │ ├── common │ │ │ ├── Biped.h │ │ │ ├── CheaterEstimator.h │ │ │ ├── ControlFSMData.h │ │ │ ├── DesiredCommand.h │ │ │ ├── FootSwingTrajectory.h │ │ │ ├── LegController.h │ │ │ ├── Math │ │ │ │ ├── FirstOrderIIRFilter.h │ │ │ │ ├── Interpolation.h │ │ │ │ ├── MathUtilities.h │ │ │ │ └── orientation_tools.h │ │ │ ├── OrientationEstimator.h │ │ │ ├── PositionVelocityEstimator.h │ │ │ ├── StateEstimatorContainer.h │ │ │ ├── SwingLegController.h │ │ │ ├── Utilities │ │ │ │ ├── BSplineBasic.h │ │ │ │ ├── BezierCurve.h │ │ │ │ ├── PeriodicTask.h │ │ │ │ ├── SharedMemory.h │ │ │ │ ├── Timer.h │ │ │ │ ├── filters.h │ │ │ │ └── pseudoInverse.h │ │ │ ├── cTypes.h │ │ │ ├── cppTypes.h │ │ │ └── enumClass.h │ │ ├── interface │ │ │ ├── CheatIO.h │ │ │ ├── CmdPanel.h │ │ │ ├── HighLevelIO.h │ │ │ ├── IOInterface.h │ │ │ └── KeyBoard.h │ │ ├── messages │ │ │ ├── LowLevelCmd.h │ │ │ ├── LowlevelState.h │ │ │ └── unitree_joystick.h │ │ ├── sdk │ │ │ ├── include │ │ │ │ └── unitree_legged_sdk │ │ │ │ │ ├── a1_const.h │ │ │ │ │ ├── aliengo_const.h │ │ │ │ │ ├── comm.h │ │ │ │ │ ├── control.h │ │ │ │ │ ├── lcm.h │ │ │ │ │ ├── loop.h │ │ │ │ │ ├── quadruped.h │ │ │ │ │ ├── udp.h │ │ │ │ │ └── unitree_legged_sdk.h │ │ │ └── lib │ │ │ │ └── libunitree_legged_sdk.so │ │ └── trajectory_data │ │ │ └── example.csv │ ├── package.xml │ ├── src │ │ ├── FSM │ │ │ ├── FSM.cpp │ │ │ ├── FSMState.cpp │ │ │ ├── FSMState_Passive.cpp │ │ │ ├── FSMState_TO.cpp │ │ │ └── FSMState_Walking.cpp │ │ ├── common │ │ │ ├── DesiredCommand.cpp │ │ │ ├── FootSwingTrajectory.cpp │ │ │ ├── LegController.cpp │ │ │ ├── OrientationEstimator.cpp │ │ │ ├── PositionVelocityEstimator.cpp │ │ │ └── SwingLegController.cpp │ │ ├── interface │ │ │ ├── CheatIO.cpp │ │ │ └── KeyBoard.cpp │ │ └── main.cpp │ └── third_party │ │ └── qpOASES │ │ ├── AUTHORS │ │ ├── AUTHORS.txt │ │ ├── CMakeLists.txt │ │ ├── INSTALL │ │ ├── INSTALL.txt │ │ ├── LICENSE │ │ ├── LICENSE.txt │ │ ├── Makefile │ │ ├── README │ │ ├── README.txt │ │ ├── VERSIONS │ │ ├── VERSIONS.txt │ │ ├── include │ │ ├── qpOASES.hpp │ │ └── qpOASES │ │ │ ├── Bounds.hpp │ │ │ ├── Bounds.ipp │ │ │ ├── Constants.hpp │ │ │ ├── ConstraintProduct.hpp │ │ │ ├── Constraints.hpp │ │ │ ├── Constraints.ipp │ │ │ ├── Flipper.hpp │ │ │ ├── Indexlist.hpp │ │ │ ├── Indexlist.ipp │ │ │ ├── LapackBlasReplacement.hpp │ │ │ ├── Matrices.hpp │ │ │ ├── MessageHandling.hpp │ │ │ ├── MessageHandling.ipp │ │ │ ├── Options.hpp │ │ │ ├── QProblem.hpp │ │ │ ├── QProblem.ipp │ │ │ ├── QProblemB.hpp │ │ │ ├── QProblemB.ipp │ │ │ ├── SQProblem.hpp │ │ │ ├── SQProblem.ipp │ │ │ ├── SQProblemSchur.hpp │ │ │ ├── SQProblemSchur.ipp │ │ │ ├── SparseSolver.hpp │ │ │ ├── SubjectTo.hpp │ │ │ ├── SubjectTo.ipp │ │ │ ├── Types.hpp │ │ │ ├── UnitTesting.hpp │ │ │ ├── Utils.hpp │ │ │ ├── Utils.ipp │ │ │ └── extras │ │ │ ├── OQPinterface.hpp │ │ │ ├── SolutionAnalysis.hpp │ │ │ └── SolutionAnalysis.ipp │ │ ├── make.mk │ │ ├── make_cygwin.mk │ │ ├── make_linux.mk │ │ ├── make_osx.mk │ │ ├── make_windows.mk │ │ └── src │ │ ├── BLASReplacement.cpp │ │ ├── Bounds.cpp │ │ ├── Constraints.cpp │ │ ├── Flipper.cpp │ │ ├── Indexlist.cpp │ │ ├── LAPACKReplacement.cpp │ │ ├── Makefile │ │ ├── Matrices.cpp │ │ ├── MessageHandling.cpp │ │ ├── OQPinterface.cpp │ │ ├── Options.cpp │ │ ├── QProblem.cpp │ │ ├── QProblemB.cpp │ │ ├── SQProblem.cpp │ │ ├── SQProblemSchur.cpp │ │ ├── SolutionAnalysis.cpp │ │ ├── SparseSolver.cpp │ │ ├── SubjectTo.cpp │ │ └── Utils.cpp ├── hector_description │ ├── CMakeLists.txt │ ├── config │ │ └── robot_control.yaml │ ├── launch │ │ ├── check_joint.rviz │ │ └── hector_rviz.launch │ ├── meshes │ │ ├── L_calf.STL │ │ ├── L_foot.STL │ │ ├── L_hip1.STL │ │ ├── L_hip2.STL │ │ ├── L_thigh.STL │ │ ├── R_calf.STL │ │ ├── R_foot.STL │ │ ├── R_hip1.STL │ │ ├── R_hip2.STL │ │ ├── R_thigh.STL │ │ ├── body.STL │ │ ├── calf.STL │ │ ├── hip.STL │ │ ├── hip2_L.STL │ │ ├── hip2_R.STL │ │ ├── left leg hip_1.STL │ │ ├── right leg hip_1.STL │ │ ├── thigh.STL │ │ ├── toe.STL │ │ └── trunk.STL │ ├── package.xml │ └── xacro │ │ ├── const.xacro │ │ ├── gazebo.xacro │ │ ├── leg.xacro │ │ ├── materials.xacro │ │ ├── robot.xacro │ │ ├── stairs.xacro │ │ └── transmission.xacro └── unitree_ros │ ├── LICENSE │ ├── README.md │ ├── unitree_controller │ ├── CMakeLists.txt │ ├── include │ │ └── body.h │ ├── launch │ │ └── set_ctrl.launch │ ├── package.xml │ └── src │ │ ├── body.cpp │ │ ├── external_force.cpp │ │ ├── move_publisher.cpp │ │ └── servo.cpp │ ├── unitree_gazebo │ ├── CMakeLists.txt │ ├── launch │ │ └── biped.launch │ ├── package.xml │ ├── plugin │ │ ├── draw_force_plugin.cc │ │ └── foot_contact_plugin.cc │ └── worlds │ │ ├── big_map.world │ │ ├── box.world │ │ ├── building_editor_models │ │ └── stairs │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── earth.world │ │ ├── house_obstacles.world │ │ ├── maze.world │ │ ├── models │ │ ├── big_map │ │ │ ├── meshes │ │ │ │ └── big_map.stl │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── house_obstacles │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── maze │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── simple_house │ │ │ ├── model.config │ │ │ └── model.sdf │ │ └── two_storeys │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── normal.world │ │ ├── simple_house.world │ │ ├── space.world │ │ └── stairs.world │ ├── unitree_legged_control │ ├── CMakeLists.txt │ ├── include │ │ ├── joint_controller.h │ │ └── 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