├── LICENSE ├── README.md └── quadruped_ctrl ├── CMakeLists.txt ├── LICENSE ├── config └── quadruped_ctrl_config.yaml ├── launch └── quadruped_ctrl.launch ├── msg └── commandDes.msg ├── package.xml ├── scripts ├── plotData.py ├── walking_simulation.py └── walking_simulation_torque.py ├── src ├── Controllers │ ├── ContactEstimator.cpp │ ├── ContactEstimator.h │ ├── ControlFSMData.h │ ├── ControlParameters.h │ ├── DesiredStateCommand.cpp │ ├── DesiredStateCommand.h │ ├── FootSwingTrajectory.cpp │ ├── FootSwingTrajectory.h │ ├── GaitScheduler.cpp │ ├── GaitScheduler.h │ ├── LegController.cpp │ ├── LegController.h │ ├── MIT_UserParameters.h │ ├── OrientationEstimator.cpp │ ├── OrientationEstimator.h │ ├── PositionVelocityEstimator.cpp │ ├── PositionVelocityEstimator.h │ ├── RobotLegState.h │ ├── RobotParameters.h │ └── StateEstimatorContainer.h ├── Dynamics │ ├── ActuatorModel.h │ ├── FloatingBaseModel.cpp │ ├── FloatingBaseModel.h │ ├── MiniCheetah.h │ ├── Quadruped.cpp │ ├── Quadruped.h │ ├── SpatialInertia.h │ └── spatial.h ├── FootstepPlanner │ ├── CMakeLists.txt │ ├── GraphSearch.cpp │ └── GraphSearch.h ├── Goldfarb_Optimizer │ ├── Array.cc │ ├── Array.hh │ ├── CMakeLists.txt │ ├── LICENSE.txt │ ├── QuadProg++.cc │ └── QuadProg++.hh ├── JCQP │ ├── CMakeLists.txt │ ├── CholeskyDenseSolver.cpp │ ├── CholeskyDenseSolver.h │ ├── CholeskySparseSolver.cpp │ ├── CholeskySparseSolver.h │ ├── LICENSE.txt │ ├── OsqpTest.cpp │ ├── OsqpTest.h │ ├── ProblemGenerator.cpp │ ├── ProblemGenerator.h │ ├── QpProblem.cpp │ ├── QpProblem.h │ ├── SparseMatrixMath.cpp │ ├── SparseMatrixMath.h │ ├── Timer.h │ ├── amd │ │ ├── LICENSE │ │ ├── include │ │ │ ├── SuiteSparse_config.h │ │ │ ├── amd.h │ │ │ ├── amd_internal.h │ │ │ ├── glob_opts.h │ │ │ └── osqp_configure.h │ │ └── src │ │ │ ├── SuiteSparse_config.c │ │ │ ├── amd_1.c │ │ │ ├── amd_2.c │ │ │ ├── amd_aat.c │ │ │ ├── amd_control.c │ │ │ ├── amd_defaults.c │ │ │ ├── amd_info.c │ │ │ ├── amd_order.c │ │ │ ├── amd_post_tree.c │ │ │ ├── amd_postorder.c │ │ │ ├── amd_preprocess.c │ │ │ └── amd_valid.c │ ├── eigenvalues.cpp │ ├── eigenvalues.h │ ├── main.cpp │ ├── qpOASES.cpp │ ├── qpOASES.h │ └── types.h ├── MPC_Ctrl │ ├── ConvexMPCLocomotion.cpp │ ├── ConvexMPCLocomotion.h │ ├── Gait.cpp │ ├── Gait.h │ ├── GraphSearch.cpp │ ├── GraphSearch.h │ ├── OsqpTriples.cpp │ ├── RobotState.cpp │ ├── RobotState.h │ ├── SolverMPC.cpp │ ├── SolverMPC.h │ ├── SparseCMPC.cpp │ ├── SparseCMPC.h │ ├── SparseCMPC_Math.cpp │ ├── convexMPC_interface.cpp │ └── convexMPC_interface.h ├── ParamHandler │ ├── CMakeLists.txt │ ├── LICENSE.txt │ ├── ParamHandler.cpp │ ├── ParamHandler.hpp │ ├── README.md │ ├── dynacore_yaml-cpp │ │ ├── anchor.h │ │ ├── binary.h │ │ ├── contrib │ │ │ ├── anchordict.h │ │ │ └── graphbuilder.h │ │ ├── dll.h │ │ ├── emitfromevents.h │ │ ├── emitter.h │ │ ├── emitterdef.h │ │ ├── emittermanip.h │ │ ├── emitterstyle.h │ │ ├── eventhandler.h │ │ ├── exceptions.h │ │ ├── mark.h │ │ ├── node │ │ │ ├── convert.h │ │ │ ├── detail │ │ │ │ ├── bool_type.h │ │ │ │ ├── impl.h │ │ │ │ ├── iterator.h │ │ │ │ ├── iterator_fwd.h │ │ │ │ ├── memory.h │ │ │ │ ├── node.h │ │ │ │ ├── node_data.h │ │ │ │ ├── node_iterator.h │ │ │ │ └── node_ref.h │ │ │ ├── emit.h │ │ │ ├── impl.h │ │ │ ├── iterator.h │ │ │ ├── node.h │ │ │ ├── parse.h │ │ │ ├── ptr.h │ │ │ └── type.h │ │ ├── noncopyable.h │ │ ├── null.h │ │ ├── ostream_wrapper.h │ │ ├── parser.h │ │ ├── stlemitter.h │ │ ├── traits.h │ │ └── yaml.h │ └── src │ │ ├── binary.cpp │ │ ├── collectionstack.h │ │ ├── contrib │ │ ├── graphbuilder.cpp │ │ ├── graphbuilderadapter.cpp │ │ └── graphbuilderadapter.h │ │ ├── convert.cpp │ │ ├── directives.cpp │ │ ├── directives.h │ │ ├── emit.cpp │ │ ├── emitfromevents.cpp │ │ ├── emitter.cpp │ │ ├── emitterstate.cpp │ │ ├── emitterstate.h │ │ ├── emitterutils.cpp │ │ ├── emitterutils.h │ │ ├── exceptions.cpp │ │ ├── exp.cpp │ │ ├── exp.h │ │ ├── indentation.h │ │ ├── memory.cpp │ │ ├── node.cpp │ │ ├── node_data.cpp │ │ ├── nodebuilder.cpp │ │ ├── nodebuilder.h │ │ ├── nodeevents.cpp │ │ ├── nodeevents.h │ │ ├── null.cpp │ │ ├── ostream_wrapper.cpp │ │ ├── parse.cpp │ │ ├── parser.cpp │ │ ├── ptr_vector.h │ │ ├── regex_yaml.cpp │ │ ├── regex_yaml.h │ │ ├── regeximpl.h │ │ ├── scanner.cpp │ │ ├── scanner.h │ │ ├── scanscalar.cpp │ │ ├── scanscalar.h │ │ ├── scantag.cpp │ │ ├── scantag.h │ │ ├── scantoken.cpp │ │ ├── setting.h │ │ ├── simplekey.cpp │ │ ├── singledocparser.cpp │ │ ├── singledocparser.h │ │ ├── stream.cpp │ │ ├── stream.h │ │ ├── streamcharsource.h │ │ ├── stringsource.h │ │ ├── tag.cpp │ │ ├── tag.h │ │ └── token.h ├── SOEM │ ├── CMakeLists.txt │ ├── osal │ │ ├── linux │ │ │ ├── osal.c │ │ │ └── osal_defs.h │ │ └── osal.h │ ├── oshw │ │ └── linux │ │ │ ├── nicdrv.c │ │ │ ├── nicdrv.h │ │ │ ├── oshw.c │ │ │ └── oshw.h │ └── soem │ │ ├── ethercat.h │ │ ├── ethercatbase.c │ │ ├── ethercatbase.h │ │ ├── ethercatcoe.c │ │ ├── ethercatcoe.h │ │ ├── ethercatconfig.c │ │ ├── ethercatconfig.h │ │ ├── ethercatconfiglist.h │ │ ├── ethercatdc.c │ │ ├── ethercatdc.h │ │ ├── ethercatfoe.c │ │ ├── ethercatfoe.h │ │ ├── ethercatmain.c │ │ ├── ethercatmain.h │ │ ├── ethercatprint.c │ │ ├── ethercatprint.h │ │ ├── ethercatsoe.c │ │ ├── ethercatsoe.h │ │ └── ethercattype.h ├── Utilities │ ├── IMUTypes.h │ ├── Interpolation.h │ ├── MathUtilities.h │ ├── Timer.h │ ├── Utilities_print.cpp │ ├── Utilities_print.h │ ├── cTypes.h │ ├── common_types.h │ ├── cppTypes.h │ ├── orientation_tools.h │ ├── pseudoInverse.h │ ├── utilities.cpp │ └── utilities.h ├── WBC │ ├── CMakeLists.txt │ ├── ContactSpec.hpp │ ├── Task.hpp │ ├── WBC.hpp │ └── WBIC │ │ ├── CMakeLists.txt │ │ ├── KinWBC.cpp │ │ ├── KinWBC.hpp │ │ ├── WBIC.cpp │ │ └── WBIC.hpp ├── WBC_Ctrl │ ├── CMakeLists.txt │ ├── ContactSet │ │ ├── FixedBodyContact.cpp │ │ ├── FixedBodyContact.hpp │ │ ├── SingleContact.cpp │ │ └── SingleContact.hpp │ ├── LocomotionCtrl │ │ ├── LocomotionCtrl.cpp │ │ └── LocomotionCtrl.hpp │ ├── MIT_UserParameters.h │ ├── TaskSet │ │ ├── BodyOriTask.cpp │ │ ├── BodyOriTask.hpp │ │ ├── BodyPosTask.cpp │ │ ├── BodyPosTask.hpp │ │ ├── BodyPostureTask.cpp │ │ ├── BodyPostureTask.hpp │ │ ├── BodyRyRzTask.cpp │ │ ├── BodyRyRzTask.hpp │ │ ├── JPosTask.cpp │ │ ├── JPosTask.hpp │ │ ├── LinkPosTask.cpp │ │ ├── LinkPosTask.hpp │ │ ├── LocalHeadPosTask.cpp │ │ ├── LocalHeadPosTask.hpp │ │ ├── LocalPosTask.cpp │ │ ├── LocalPosTask.hpp │ │ ├── LocalRollTask.cpp │ │ ├── LocalRollTask.hpp │ │ ├── LocalTailPosTask.cpp │ │ └── LocalTailPosTask.hpp │ ├── WBC_Ctrl.cpp │ └── WBC_Ctrl.hpp ├── calculateTool.cpp ├── calculateTool.h ├── include │ ├── auxil.h │ ├── constants.h │ ├── cs.h │ ├── ctrlc.h │ ├── glob_opts.h │ ├── kkt.h │ ├── lin_alg.h │ ├── lin_sys.h │ ├── osqp.h │ ├── osqp_configure.h │ ├── polish.h │ ├── proj.h │ ├── scaling.h │ ├── types.h │ └── util.h ├── inih │ ├── CMakeLists.txt │ ├── INIReader.cpp │ ├── INIReader.h │ ├── LICENSE.txt │ ├── ini.c │ └── ini.h ├── mainController.cpp ├── osqp │ ├── CHANGELOG.md │ ├── CMakeLists.txt │ ├── LICENSE │ ├── NOTICE │ ├── README.md │ ├── ROADMAP.md │ ├── appveyor.yml │ ├── ci │ │ ├── appveyor │ │ │ ├── deploy.cmd │ │ │ ├── install.cmd │ │ │ └── script.cmd │ │ └── travis │ │ │ ├── deploy.sh │ │ │ ├── docs.sh │ │ │ ├── install.sh │ │ │ └── script.sh │ ├── configure │ │ ├── cmake │ │ │ ├── FindPythonModule.cmake │ │ │ ├── FindR.cmake │ │ │ ├── Utils.cmake │ │ │ └── cmake_uninstall.cmake.in │ │ └── osqp_configure.h.in │ ├── docs │ │ ├── Makefile │ │ ├── _static │ │ │ ├── css │ │ │ │ └── osqp_theme.css │ │ │ └── img │ │ │ │ ├── favicon.ico │ │ │ │ ├── logo.pdf │ │ │ │ └── logo.png │ │ ├── _templates │ │ │ └── layout.html │ │ ├── citing │ │ │ └── index.rst │ │ ├── codegen │ │ │ ├── index.rst │ │ │ ├── matlab.rst │ │ │ └── python.rst │ │ ├── conf.py │ │ ├── contributing │ │ │ └── index.rst │ │ ├── doxygen.conf │ │ ├── examples │ │ │ ├── demo.rst │ │ │ ├── huber.rst │ │ │ ├── index.rst │ │ │ ├── lasso.rst │ │ │ ├── least-squares.rst │ │ │ ├── mpc.rst │ │ │ ├── portfolio.rst │ │ │ └── svm.rst │ │ ├── get_started │ │ │ ├── CC++.rst │ │ │ ├── cutest.rst │ │ │ ├── index.rst │ │ │ ├── julia.rst │ │ │ ├── linear_system_solvers.rst │ │ │ ├── matlab.rst │ │ │ ├── python.rst │ │ │ ├── r.rst │ │ │ └── sources.rst │ │ ├── index.rst │ │ ├── interfaces │ │ │ ├── CC++.rst │ │ │ ├── cutest.rst │ │ │ ├── fortran.rst │ │ │ ├── index.rst │ │ │ ├── julia.rst │ │ │ ├── linear_systems_solvers.rst │ │ │ ├── matlab.rst │ │ │ ├── python.rst │ │ │ ├── r.rst │ │ │ ├── rust.rst │ │ │ ├── solver_settings.rst │ │ │ └── status_values.rst │ │ ├── make.bat │ │ ├── parsers │ │ │ ├── cvxpy.rst │ │ │ ├── index.rst │ │ │ ├── jump.rst │ │ │ └── yalmip.rst │ │ ├── requirements.txt │ │ └── solver │ │ │ └── index.rst │ ├── examples │ │ └── osqp_demo.c │ ├── include │ │ ├── auxil.h │ │ ├── constants.h │ │ ├── cs.h │ │ ├── ctrlc.h │ │ ├── glob_opts.h │ │ ├── kkt.h │ │ ├── lin_alg.h │ │ ├── lin_sys.h │ │ ├── osqp.h │ │ ├── osqp_configure.h │ │ ├── polish.h │ │ ├── proj.h │ │ ├── scaling.h │ │ ├── types.h │ │ └── util.h │ ├── info.txt │ ├── lin_sys │ │ ├── CMakeLists.txt │ │ ├── direct │ │ │ ├── CMakeLists.txt │ │ │ ├── pardiso │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── pardiso_interface.c │ │ │ │ ├── pardiso_interface.h │ │ │ │ ├── pardiso_loader.c │ │ │ │ └── pardiso_loader.h │ │ │ └── qdldl │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── amd │ │ │ │ ├── LICENSE │ │ │ │ ├── include │ │ │ │ │ ├── SuiteSparse_config.h │ │ │ │ │ ├── amd.h │ │ │ │ │ └── amd_internal.h │ │ │ │ └── src │ │ │ │ │ ├── SuiteSparse_config.c │ │ │ │ │ ├── amd_1.c │ │ │ │ │ ├── amd_2.c │ │ │ │ │ ├── amd_aat.c │ │ │ │ │ ├── amd_control.c │ │ │ │ │ ├── amd_defaults.c │ │ │ │ │ ├── amd_info.c │ │ │ │ │ ├── amd_order.c │ │ │ │ │ ├── amd_post_tree.c │ │ │ │ │ ├── amd_postorder.c │ │ │ │ │ ├── amd_preprocess.c │ │ │ │ │ └── amd_valid.c │ │ │ │ ├── qdldl_interface.c │ │ │ │ ├── qdldl_interface.h │ │ │ │ └── qdldl_sources │ │ │ │ ├── CHANGELOG.md │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── LICENSE │ │ │ │ ├── README.md │ │ │ │ ├── appveyor.yml │ │ │ │ ├── configure │ │ │ │ ├── cmake │ │ │ │ │ └── cmake_uninstall.cmake.in │ │ │ │ └── qdldl_types.h.in │ │ │ │ ├── examples │ │ │ │ ├── c │ │ │ │ │ └── example.c │ │ │ │ └── julia │ │ │ │ │ └── example.jl │ │ │ │ ├── include │ │ │ │ ├── qdldl.h │ │ │ │ └── qdldl_types.h │ │ │ │ ├── julia │ │ │ │ ├── QDLDL.jl │ │ │ │ ├── README.md │ │ │ │ └── example.jl │ │ │ │ ├── src │ │ │ │ └── qdldl.c │ │ │ │ └── tests │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── julia │ │ │ │ └── test.jl │ │ │ │ ├── minunit.h │ │ │ │ ├── qdldl_tester.c │ │ │ │ ├── test_basic.h │ │ │ │ ├── test_identity.h │ │ │ │ ├── test_osqp_kkt.h │ │ │ │ ├── test_rank_deficient.h │ │ │ │ ├── test_singleton.h │ │ │ │ ├── test_sym_structure.h │ │ │ │ ├── test_tril_structure.h │ │ │ │ ├── test_two_by_two.h │ │ │ │ └── test_zero_on_diag.h │ │ ├── lib_handler.c │ │ └── lib_handler.h │ ├── src │ │ ├── auxil.c │ │ ├── cs.c │ │ ├── ctrlc.c │ │ ├── kkt.c │ │ ├── lin_alg.c │ │ ├── lin_sys.c │ │ ├── osqp.c │ │ ├── polish.c │ │ ├── proj.c │ │ ├── scaling.c │ │ └── util.c │ └── tests │ │ ├── generate_tests_data.py │ │ └── unconstrained │ │ └── test_unconstrained.h ├── 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 ├── robot │ ├── CMakeLists.txt │ ├── include │ │ ├── HardwareBridge.h │ │ ├── JPosInitializer.h │ │ ├── RobotController.h │ │ ├── RobotRunner.h │ │ ├── SimulationBridge.h │ │ ├── main_helper.h │ │ └── rt │ │ │ ├── rt_ethercat.h │ │ │ ├── rt_rc_interface.h │ │ │ ├── rt_sbus.h │ │ │ ├── rt_serial.h │ │ │ ├── rt_spi.h │ │ │ └── rt_vectornav.h │ └── src │ │ ├── HardwareBridge.cpp │ │ ├── JPosInitializer.cpp │ │ ├── RobotRunner.cpp │ │ ├── SimulationBridge.cpp │ │ ├── main_helper.cpp │ │ └── rt │ │ ├── rt_ethercat.cpp │ │ ├── rt_rc_interface.cpp │ │ ├── rt_sbus.cpp │ │ ├── rt_serial.cpp │ │ ├── rt_spi.cpp │ │ └── rt_vectornav.cpp └── src │ ├── auxil.c │ ├── cs.c │ ├── ctrlc.c │ ├── kkt.c │ ├── lin_alg.c │ ├── lin_sys.c │ ├── osqp.c │ ├── polish.c │ ├── proj.c │ ├── scaling.c │ └── util.c └── srv └── QuadrupedCmd.srv /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HitSZwang/mini-cheetah-pybullet/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 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