├── .git-blame-ignore-revs ├── .gitignore ├── .gitlab-ci.yml ├── .gitmodules ├── .pre-commit-config.yaml ├── CMakeLists.txt ├── LICENSE ├── README.md ├── benchmark ├── CMakeLists.txt ├── automaticallygeneratedinit │ └── mpc-walk-default.hpp ├── bench-mpc-walk.cpp ├── mpc-walk-automaticallygeneratedinit.hpp ├── mpc_description.py └── mpc_params.py ├── examples └── walk_without_think │ ├── demo_pushreco.py │ ├── refs │ ├── bullet-logs.npy │ ├── bullet-repr.ascii │ ├── bullet.py.ascii │ ├── mpc-logs.npy │ ├── mpc-repr.ascii │ ├── mpc.py.ascii │ ├── ocp-logs.npy │ ├── ocp-repr.ascii │ ├── ocp.py.ascii │ ├── pushreco-repr.ascii │ ├── pushreco.py.ascii │ ├── stand-bullet-repr.ascii │ └── stand-bullet.py.ascii │ ├── specific_params.py │ ├── stand_bullet.py │ ├── walk_bullet.py │ ├── walk_mpc.py │ └── walk_ocp.py ├── include └── sobec │ ├── crocomplements │ ├── activation-quad-ref.hpp │ ├── contact │ │ ├── contact-force.hpp │ │ ├── contact-force.hxx │ │ ├── contact-fwddyn.hpp │ │ ├── contact-fwddyn.hxx │ │ ├── contact1d.hpp │ │ ├── contact1d.hxx │ │ ├── contact3d.hpp │ │ ├── contact3d.hxx │ │ ├── multiple-contacts.hpp │ │ └── multiple-contacts.hxx │ ├── lowpassfilter │ │ ├── action.hpp │ │ ├── action.hxx │ │ ├── state.hpp │ │ └── state.hxx │ ├── residual-center-of-friction.hpp │ ├── residual-center-of-friction.hxx │ ├── residual-com-velocity.hpp │ ├── residual-com-velocity.hxx │ ├── residual-cop.hpp │ ├── residual-cop.hxx │ ├── residual-feet-collision.hpp │ ├── residual-feet-collision.hxx │ ├── residual-fly-high.hpp │ ├── residual-fly-high.hxx │ ├── residual-vel-collision.hpp │ └── residual-vel-collision.hxx │ ├── flexibility_compensation.hpp │ ├── fwd.hpp │ ├── py2cpp.hpp │ ├── python.hpp │ ├── walk-with-traj │ ├── designer.hpp │ ├── foot_trajectory.hpp │ ├── horizon_manager.hpp │ ├── model_factory.hpp │ ├── ocp.hpp │ └── wbc.hpp │ └── walk-without-think │ ├── mpc.hpp │ ├── mpc.hxx │ └── ocp.hpp ├── mpc ├── assert_ocp_walk_feet_traj.npy ├── bullet_mpc.py ├── mpc.py ├── ocp_walk_feet_traj.py └── test_mpc_walk_against_python.py ├── package.xml ├── pyproject.toml ├── python ├── CMakeLists.txt ├── crocomplements │ ├── activation-quad-ref.cpp │ ├── contact │ │ ├── contact-force.cpp │ │ ├── contact-fwddyn.cpp │ │ ├── contact1d.cpp │ │ ├── contact3d.cpp │ │ └── multiple-contacts.cpp │ ├── lowpassfilter │ │ ├── action.cpp │ │ └── state.cpp │ ├── residual-center-of-friction.cpp │ ├── residual-com-velocity.cpp │ ├── residual-cop.cpp │ ├── residual-feet-collision.cpp │ ├── residual-fly-high.cpp │ └── residual-vel-collision.cpp ├── flexibility_compensation.cpp ├── main.cpp ├── sobec │ ├── __init__.py │ ├── logs.py │ ├── pinbullet.py │ ├── repr_ocp.py │ ├── talos_collections.py │ ├── talos_low.py │ ├── viewer_multiple.py │ └── walk_without_think │ │ ├── __init__.py │ │ ├── config_mpc.py │ │ ├── miscdisp.py │ │ ├── ocp.py │ │ ├── params.py │ │ ├── plotter.py │ │ ├── robot_wrapper.py │ │ ├── save_traj.py │ │ ├── weight_share.py │ │ └── yaml_params.py ├── std-containers.cpp ├── tests │ ├── benchmark_simu.py │ ├── bullet_Talos.py │ ├── configuration.py │ ├── configuration2.py │ ├── cppControlLoop.py │ ├── pyControlLoop.py │ ├── pyMPC.py │ ├── pyModelMaker.py │ ├── pyOCP_horizon.py │ ├── pyRobotWrapper.py │ ├── test_classes.py │ └── with_one_horizon.py ├── walk-with-traj │ ├── designer.cpp │ ├── horizon_manager.cpp │ ├── model_factory.cpp │ ├── ocp.cpp │ └── wbc.cpp └── walk-without-think │ ├── mpc.cpp │ └── ocp.cpp ├── setup.cfg ├── src ├── flexibility_compensation.cpp ├── py2cpp.cpp ├── walk-with-traj │ ├── designer.cpp │ ├── foot_trajectory.cpp │ ├── horizon_manager.cpp │ ├── model_factory.cpp │ ├── ocp.cpp │ └── wbc.cpp └── walk-without-think │ ├── mpc-params.cpp │ ├── ocp-params.cpp │ ├── ocp-ref-forces.cpp │ ├── ocp-robot.cpp │ ├── ocp-running-models.cpp │ ├── ocp-terminal-model.cpp │ └── ocp.cpp └── tests ├── CMakeLists.txt ├── common.hpp ├── config_walk.yaml ├── factory ├── activation.cpp ├── activation.hpp ├── actuation.cpp ├── actuation.hpp ├── contact1d.cpp ├── contact1d.hpp ├── contact3d.cpp ├── contact3d.hpp ├── cost.cpp ├── cost.hpp ├── diff-action.cpp ├── diff-action.hpp ├── lpf.cpp ├── lpf.hpp ├── pinocchio_model.cpp ├── pinocchio_model.hpp ├── random_generator.hpp ├── state.cpp ├── state.hpp ├── statelpf.cpp └── statelpf.hpp ├── python ├── CMakeLists.txt ├── test_cop.py ├── test_feet_collision.py ├── test_fly_high.py ├── test_mpc_walk.py ├── test_mpc_walk__complex.py ├── test_mpccpp.py ├── test_ocpcpp.py ├── test_ref_force.py ├── test_vel_collision.py ├── test_walk.py ├── test_walk_with_traj.py └── test_yaml.py ├── test_contact1d.cpp ├── test_contact3d.cpp ├── test_costs.cpp ├── test_diff_actions.cpp ├── test_init_shooting_problem.cpp ├── test_lpf.cpp ├── test_states.cpp ├── test_stateslpf.cpp └── test_walk_params.cpp /.git-blame-ignore-revs: -------------------------------------------------------------------------------- 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