├── .clang-format ├── .devcontainer ├── Dockerfile_a1 ├── Dockerfile_go1 ├── configure_xauth.bash └── devcontainer.json ├── .gitignore ├── .vscode └── settings.json ├── LICENSE ├── README.md ├── bags └── ros_bags_go_here ├── config └── viz.rviz ├── docs ├── system_diagram.png └── tasks.png ├── legged_common ├── CMakeLists.txt ├── include │ └── legged_common │ │ └── hardware_interface │ │ ├── ContactSensorInterface.h │ │ └── HybridJointInterface.h ├── package.xml └── scripts │ └── generate_urdf.sh ├── legged_control ├── CMakeLists.txt └── package.xml ├── legged_controllers ├── CMakeLists.txt ├── config │ ├── a1 │ │ ├── gait.info │ │ ├── reference.info │ │ └── task.info │ ├── aliengo │ │ ├── gait.info │ │ ├── reference.info │ │ └── task.info │ ├── controllers.yaml │ ├── go1 │ │ ├── gait.info │ │ ├── reference.info │ │ └── task.info │ ├── joy.yaml │ └── rosjoy_key_map.yaml ├── include │ └── legged_controllers │ │ ├── LeggedController.h │ │ ├── ROSJoyProcessor.hpp │ │ ├── SafetyChecker.h │ │ ├── TargetTrajectoriesPublisher.h │ │ └── visualization │ │ └── LeggedSelfCollisionVisualization.h ├── launch │ ├── joy_teleop.launch │ └── load_controller.launch ├── legged_controllers_plugins.xml ├── package.xml └── src │ ├── LeggedController.cpp │ └── TargetTrajectoriesPublisher.cpp ├── legged_estimation ├── CMakeLists.txt ├── include │ └── legged_estimation │ │ ├── FromTopiceEstimate.h │ │ ├── LinearKalmanFilter.h │ │ └── StateEstimateBase.h ├── package.xml └── src │ ├── FromTopicEstimate.cpp │ ├── LinearKalmanFilter.cpp │ └── StateEstimateBase.cpp ├── legged_examples └── legged_unitree │ ├── legged_unitree_description │ ├── CMakeLists.txt │ ├── launch │ │ └── empty_world.launch │ ├── meshes │ │ ├── a1 │ │ │ ├── calf.dae │ │ │ ├── hip.dae │ │ │ ├── thigh.dae │ │ │ ├── thigh_mirror.dae │ │ │ ├── trunk.dae │ │ │ └── trunk_A1.png │ │ ├── aliengo │ │ │ ├── calf.dae │ │ │ ├── hip.dae │ │ │ ├── thigh.dae │ │ │ ├── thigh_mirror.dae │ │ │ ├── trunk.dae │ │ │ └── trunk_uv_base_final.png │ │ └── go1 │ │ │ ├── calf.dae │ │ │ ├── depthCamera.dae │ │ │ ├── hip.dae │ │ │ ├── thigh.dae │ │ │ ├── thigh_mirror.dae │ │ │ ├── trunk.dae │ │ │ └── ultraSound.dae │ ├── package.xml │ └── urdf │ │ ├── a1 │ │ └── const.xacro │ │ ├── aliengo │ │ └── const.xacro │ │ ├── common │ │ ├── gazebo.xacro │ │ ├── imu.xacro │ │ ├── leg.xacro │ │ ├── materials.xacro │ │ └── transmission.xacro │ │ ├── go1.urdf │ │ ├── go1 │ │ └── const.xacro │ │ ├── go1_payload.urdf │ │ └── robot.xacro │ └── legged_unitree_hw │ ├── CMakeLists.txt │ ├── config │ ├── a1.yaml │ ├── aliengo.yaml │ └── go1.yaml │ ├── include │ └── legged_unitree_hw │ │ └── UnitreeHW.h │ ├── launch │ └── legged_unitree_hw.launch │ ├── package.xml │ └── src │ ├── UnitreeHW.cpp │ └── legged_unitree_hw.cpp ├── legged_gazebo ├── CMakeLists.txt ├── config │ └── default.yaml ├── include │ └── legged_gazebo │ │ └── LeggedHWSim.h ├── legged_hw_sim_plugins.xml ├── package.xml ├── src │ └── LeggedHWSim.cpp └── worlds │ └── empty_world.world ├── legged_hw ├── CMakeLists.txt ├── include │ └── legged_hw │ │ ├── LeggedHW.h │ │ └── LeggedHWLoop.h ├── package.xml └── src │ ├── LeggedHW.cpp │ └── LeggedHWLoop.cpp ├── legged_interface ├── CMakeLists.txt ├── include │ └── legged_interface │ │ ├── LeggedInterface.h │ │ ├── LeggedRobotPreComputation.h │ │ ├── SwitchedModelReferenceManager.h │ │ ├── constraint │ │ ├── EndEffectorLinearConstraint.h │ │ ├── FrictionConeConstraint.h │ │ ├── LeggedSelfCollisionConstraint.h │ │ ├── NormalVelocityConstraintCppAd.h │ │ ├── SwingTrajectoryPlanner.h │ │ ├── ZeroForceConstraint.h │ │ └── ZeroVelocityConstraintCppAd.h │ │ ├── cost │ │ └── LeggedRobotQuadraticTrackingCost.h │ │ └── initialization │ │ └── LeggedRobotInitializer.h ├── package.xml └── src │ ├── LeggedInterface.cpp │ ├── LeggedRobotPreComputation.cpp │ ├── SwitchedModelReferenceManager.cpp │ ├── constraint │ ├── EndEffectorLinearConstraint.cpp │ ├── FrictionConeConstraint.cpp │ ├── NormalVelocityConstraintCppAd.cpp │ ├── SwingTrajectoryPlanner.cpp │ ├── ZeroForceConstraint.cpp │ └── ZeroVelocityConstraintCppAd.cpp │ └── initialization │ └── LeggedRobotInitializer.cpp ├── legged_wbc ├── CMakeLists.txt ├── include │ └── legged_wbc │ │ ├── HierarchicalWbc.h │ │ ├── HoQp.h │ │ ├── Task.h │ │ ├── WbcBase.h │ │ └── WeightedWbc.h ├── package.xml ├── src │ ├── HierarchicalWbc.cpp │ ├── HoQp.cpp │ ├── WbcBase.cpp │ └── WeightedWbc.cpp └── test │ └── HoQp_test.cpp ├── mocap_optitrack ├── CHANGELOG.rst ├── CMakeLists.txt ├── cfg │ └── MocapOptitrack.cfg ├── config │ └── mocap.yaml ├── include │ └── mocap_optitrack │ │ ├── data_model.h │ │ ├── data_model.h.orig │ │ ├── mocap_config.h │ │ ├── mocap_config.h.orig │ │ ├── rigid_body_publisher.h │ │ ├── rigid_body_publisher.h.orig │ │ ├── socket.h │ │ ├── socket.h.orig │ │ ├── version.h │ │ └── version.h.orig ├── launch │ └── mocap.launch ├── package.xml └── src │ ├── CMakeLists.txt │ ├── data_model.cpp │ ├── mocap_config.cpp │ ├── mocap_config.cpp.orig │ ├── 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