├── .gitignore ├── .gitmodules ├── Cassie_Example ├── +cassie │ ├── +ROS │ │ ├── Publish_JointState.m │ │ └── init.m │ ├── +constraints │ │ ├── average_hip_abduction.m │ │ ├── average_hip_rotation.m │ │ ├── average_pitch.m │ │ ├── average_roll.m │ │ ├── average_velocity.m │ │ ├── average_yaw.m │ │ ├── distance_pelvis_to_stance_toe.m │ │ ├── left_toe_height.m │ │ ├── periodicity.m │ │ ├── right_toe_height.m │ │ ├── stair_clearance.m │ │ ├── state_external.m │ │ ├── state_insertion_map.m │ │ ├── step_height.m │ │ ├── step_length.m │ │ ├── step_width.m │ │ ├── swing_toe_angular_velocity_x.m │ │ ├── swing_toe_angular_velocity_y.m │ │ ├── swing_toe_angular_velocity_z.m │ │ ├── swing_toe_linear_velocity_x.m │ │ ├── swing_toe_linear_velocity_y.m │ │ ├── swing_toe_linear_velocity_z.m │ │ ├── swing_toe_pitch.m │ │ ├── tau0.m │ │ └── tauF.m │ ├── +costs │ │ ├── hip_abduction.m │ │ ├── hip_rotation.m │ │ ├── pitch.m │ │ ├── roll.m │ │ └── torque.m │ ├── +domain │ │ ├── double_support.m │ │ ├── flight.m │ │ ├── impact.m │ │ ├── lift.m │ │ └── single_support.m │ ├── +holonomic │ │ ├── left_toe_contact.m │ │ └── right_toe_contact.m │ ├── +opt │ │ ├── left_double_support_constraints.m │ │ ├── left_impact_constraints.m │ │ ├── left_impact_relabel_constraints.m │ │ ├── left_lift_constraints.m │ │ ├── left_stance_constraints.m │ │ ├── multi_domain_constraints.m │ │ ├── right_double_support_constraints.m │ │ ├── right_impact_constraints.m │ │ ├── right_lift_constraints.m │ │ └── right_stance_constraints.m │ ├── +unilateral │ │ ├── left_toe_ground_reaction_force.m │ │ ├── left_toe_height.m │ │ ├── right_toe_ground_reaction_force.m │ │ └── right_toe_height.m │ ├── +utils │ │ ├── getBounds.m │ │ ├── getPaths.m │ │ ├── mirrorState.m │ │ └── mirrorStep.m │ ├── +virtual │ │ └── actuated_joints.m │ ├── getRootPath.m │ ├── load_animation.m │ └── load_behavior.m ├── cassie_dynamics_library │ ├── .gitignore │ ├── CMakeLists.txt │ ├── gen_lib.m │ ├── getBounds.m │ └── get_root_path.m └── 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