├── .clang-format ├── .dockerignore ├── .gitignore ├── CMakeLists.txt ├── Dockerfile ├── README.md ├── examples ├── CMakeLists.txt ├── acrobot │ ├── CMakeLists.txt │ ├── acrobot.cc │ └── acrobot.yaml ├── airhockey │ ├── CMakeLists.txt │ ├── airhockey.cc │ └── airhockey.yaml ├── allegro_hand │ ├── CMakeLists.txt │ ├── allegro_hand.cc │ ├── allegro_hand.yaml │ └── allegro_hand_upside_down.yaml ├── dual_jaco │ ├── CMakeLists.txt │ ├── dual_jaco.cc │ └── dual_jaco.yaml ├── example_base.cc ├── example_base.h ├── hopper │ ├── CMakeLists.txt │ ├── hopper.cc │ └── hopper.yaml ├── jaco │ ├── CMakeLists.txt │ ├── jaco.cc │ └── jaco.yaml ├── jaco_ball │ ├── CMakeLists.txt │ ├── jaco_ball.cc │ └── jaco_ball.yaml ├── kuka │ ├── CMakeLists.txt │ ├── kuka.cc │ └── kuka.yaml ├── mini_cheetah │ ├── CMakeLists.txt │ ├── mini_cheetah.cc │ └── mini_cheetah.yaml ├── mpc_controller.cc ├── mpc_controller.h ├── pd_plus_controller.cc ├── pd_plus_controller.h ├── pendulum │ ├── CMakeLists.txt │ ├── pendulum.cc │ └── pendulum.yaml ├── punyo │ ├── CMakeLists.txt │ ├── punyo.cc │ └── punyo.yaml ├── spinner │ ├── CMakeLists.txt │ ├── spinner.cc │ └── spinner.yaml └── yaml_config.h ├── img ├── acrobot.png ├── allegro.png ├── dual_jaco.png ├── hopper.png ├── jaco.png ├── jaco_ball.png ├── mini_cheetah.png ├── pendulum.png ├── punyo.png └── spinner.png ├── models ├── 2dof_spinner.urdf ├── 2dof_spinner_capsule.urdf ├── CMakeLists.txt ├── acrobot │ └── acrobot.urdf ├── allegro_hand.sdf ├── box_15cm.sdf ├── box_15cm_hydro.sdf ├── box_intel_nuc.sdf ├── hopper.urdf ├── j2s7s300_arm_hydro_collision.sdf ├── j2s7s300_arm_sphere_collision_v2.sdf ├── meshes │ ├── jaco_coarse │ │ ├── arm_half_1.obj │ │ ├── arm_half_2.obj │ │ ├── base.obj │ │ ├── forearm.obj │ │ ├── jaco_nub.obj │ │ ├── ring_big.obj │ │ ├── ring_small.obj │ │ ├── shoulder.obj │ │ ├── wrist_spherical_1.obj │ │ └── wrist_spherical_2.obj │ ├── jaco_nub.obj │ ├── mini_abad.obj │ ├── mini_body.obj │ ├── mini_lower_link.obj │ ├── mini_lower_link_.stl │ └── mini_upper_link.obj ├── mini_cheetah_mesh.urdf ├── mini_cheetah_simple_v2.urdf ├── mini_cheetah_with_ground.urdf ├── punyoid.sdf ├── spinner_capsule.urdf ├── spinner_friction.urdf ├── spinner_rectangle.urdf ├── spinner_sphere.urdf ├── spinner_square.urdf └── wall_ball.urdf ├── optimizer ├── BUILD.bazel ├── CMakeLists.txt ├── convergence_criteria_tolerances.h ├── inverse_dynamics_partials.cc ├── inverse_dynamics_partials.h ├── penta_diagonal_matrix.cc ├── penta_diagonal_matrix.h ├── penta_diagonal_solver.h ├── problem_definition.h ├── solver_parameters.h ├── test │ ├── penta_diagonal_solver_test.cc │ └── trajectory_optimizer_test.cc ├── trajectory_optimizer.cc ├── trajectory_optimizer.h ├── trajectory_optimizer_solution.cc ├── trajectory_optimizer_solution.h ├── trajectory_optimizer_state.cc ├── trajectory_optimizer_state.h ├── trajectory_optimizer_workspace.cc ├── trajectory_optimizer_workspace.h ├── velocity_partials.cc ├── velocity_partials.h └── warm_start.h ├── pyproject.toml ├── python_bindings ├── CMakeLists.txt ├── find_resource_py.cc ├── problem_definition_py.cc ├── pyidto.cc ├── solver_parameters_py.cc ├── test │ ├── find_resource_test.py │ ├── problem_definition_test.py │ ├── solver_parameters_test.py │ ├── trajectory_optimizer_solution_test.py │ ├── trajectory_optimizer_stats_test.py │ ├── trajectory_optimizer_test.py │ └── warm_start_test.py ├── trajectory_optimizer_py.cc ├── trajectory_optimizer_solution_py.cc └── trajectory_optimizer_stats_py.cc ├── python_examples ├── mini_cheetah_mpc.py ├── mpc_utils.py ├── spinner_mpc.py └── spinner_open_loop.py ├── setup.py ├── third_party ├── CMakeLists.txt └── googletest │ ├── LICENSE │ ├── gtest-all.cc │ └── gtest │ └── gtest.h └── utils ├── CMakeLists.txt ├── eigen_matrix_compare.h ├── find_resource.cc ├── find_resource.h ├── profiler.cc ├── profiler.h └── test ├── find_resource_test.cc └── profiler_test.cc /.clang-format: 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