├── .gitattributes ├── .gitignore ├── Cassie ├── Core │ ├── CassieCalibration.m │ ├── CassieCalibration.p │ ├── CassieCore.m │ ├── CassieCore.p │ ├── CassieCoreSim.m │ ├── CassieCoreSim.p │ ├── CassieHoming.m │ ├── CassieHoming.p │ ├── CassieLibrary.slx │ ├── EtherCAT │ │ └── cassie-v3-eni.xml │ ├── Logging │ │ ├── CassieLog.m │ │ └── CassieVisualizer.m │ ├── Modules │ │ ├── CassieLegModule.m │ │ ├── CassieLegModule.p │ │ ├── CassieModule.m │ │ ├── CassieModule.p │ │ ├── CassiePelvisModule.m │ │ └── CassiePelvisModule.p │ └── Packing │ │ ├── BytesToCassieInBus.m │ │ ├── BytesToCassieOutBus.m │ │ ├── BytesToCassieUserInBus.m │ │ ├── CassieInBusToBytes.m │ │ ├── CassieOutBusToBytes.m │ │ └── CassieUserInBusToBytes.m ├── Images │ └── Cassie.png ├── Meshes │ ├── cassie-pelvis.stl │ ├── left-achilles-rod.stl │ ├── left-foot-crank.stl │ ├── left-foot.stl │ ├── left-heel-spring.stl │ ├── left-hip-pitch.stl │ ├── left-hip-roll.stl │ ├── left-hip-yaw.stl │ ├── left-knee-spring.stl │ ├── left-knee.stl │ ├── left-plantar-rod.stl │ ├── left-shin.stl │ ├── left-tarsus.stl │ ├── right-achilles-rod.stl │ ├── right-foot-crank.stl │ ├── right-foot.stl │ ├── right-heel-spring.stl │ ├── right-hip-pitch.stl │ ├── right-hip-roll.stl │ ├── right-hip-yaw.stl │ ├── right-knee-spring.stl │ ├── right-knee.stl │ ├── right-plantar-rod.stl │ ├── right-shin.stl │ └── right-tarsus.stl └── Model │ ├── CassieDescriptor.m │ ├── Dynamics │ ├── generatedLeftLegDynamics.m │ └── generatedRightLegDynamics.m │ ├── Inverse Kinematics │ ├── HeelSpringIKFunction.m │ ├── LegIKFunction.m │ ├── testHeelSpringIK.m │ └── testLegIK.m │ └── Kinematics │ ├── generatedCenterOfMassKinematics.m │ ├── generatedLeftLegConstraints.m │ ├── generatedLeftLegJacobianTimeDerivative.m │ ├── generatedLeftLegKinematics.m │ ├── generatedRightLegConstraints.m │ ├── generatedRightLegJacobianTimeDerivative.m │ └── generatedRightLegKinematics.m ├── Controllers └── Flatground │ ├── FG_Controller.m │ ├── FG_Controller_Library.slx │ ├── FG_RealTime.slx │ ├── FG_Simulator.slx │ ├── mat │ ├── GaitLibrary_output_v1.mat │ └── GaitLibrary_v1.mat │ └── utils │ ├── +PostFunctions │ ├── LogExperimentData.m │ ├── PlotExpLog.m │ ├── getCompiledPortWidths.m │ └── parseFileScopes.m │ ├── +PreFunctions │ ├── Construct_Data.m │ ├── CustomInitFcn.m │ ├── FilterInit.m │ ├── ParamInit.m │ └── simulationInitFcn.m │ ├── +YToolkits │ ├── +Angles │ │ ├── AngularVelocity_to_dMatrix.m │ │ ├── Matrix_to_Euler.m │ │ ├── Quaternion_to_Matrix.m │ │ ├── Rx.m │ │ ├── Ry.m │ │ ├── Rz.m │ │ ├── calib.bin │ │ ├── dMatrix_to_dEuler.m │ │ └── skew.m │ ├── alpha_to_cut_off_frequency.m │ ├── bezier.m │ ├── clamp.m │ ├── cutoff_frequency_to_alpha.m │ ├── d2bezier.m │ ├── dbezier.m │ ├── diff_coeff.m │ ├── first_order_filter.m │ ├── ifelse.m │ ├── ramp.m │ ├── scaleFactor.m │ ├── sigmoid.m │ ├── vector_saturate.m │ └── wrap2Pi.m │ ├── InstrumentPanel │ └── InstrumentPanel2.slrtip │ ├── funcs │ ├── .db │ ├── ExtractJointPosition.m │ ├── IMU_to_Euler_v2.m │ ├── Kinematics_Con │ │ ├── Forward_Kinematics_p.m │ │ ├── Forward_Kinematics_v.m │ │ ├── Inverse_Kinematics_p.m │ │ ├── Inverse_Kinematics_v.m │ │ ├── J_Forward_Kinematics_p.m │ │ └── J_Inverse_Kinematics_p.m │ ├── RadioButtonToChannel.m │ ├── RadioChannelToButton.m │ ├── RemoteSpoofer.m │ ├── func_block_library.slx │ ├── getSpringDeflectionAngle.m │ ├── getSpringDeflectionRate.m │ ├── get_feet_position.m │ ├── get_feet_velocity.m │ ├── kin │ │ ├── calib.bin │ │ ├── m │ │ │ ├── ComPosition.m │ │ │ ├── ComVelocity.m │ │ │ ├── J_LeftToeBottom.m │ │ │ ├── J_LeftToeBottomBack.m │ │ │ ├── J_LeftToeBottomFront.m │ │ │ ├── J_LeftToeJoint.m │ │ │ ├── J_RightToeBottom.m │ │ │ ├── J_RightToeBottomBack.m │ │ │ ├── J_RightToeBottomFront.m │ │ │ ├── J_RightToeJoint.m │ │ │ ├── LeftToeBottom.m │ │ │ ├── LeftToeBottomBack.m │ │ │ ├── LeftToeBottomFront.m │ │ │ ├── LeftToeJoint.m │ │ │ ├── RightToeBottom.m │ │ │ ├── RightToeBottomBack.m │ │ │ ├── RightToeBottomFront.m │ │ │ └── RightToeJoint.m │ │ ├── mex │ │ │ ├── ComPosition_mex.cc │ │ │ ├── ComPosition_mex.hh │ │ │ ├── ComPosition_mex.mexw64 │ │ │ ├── ComPosition_mex.mexw64.pdb │ │ │ ├── ComVelocity_mex.cc │ │ │ ├── ComVelocity_mex.hh │ │ │ ├── ComVelocity_mex.mexw64 │ │ │ ├── ComVelocity_mex.mexw64.pdb │ │ │ ├── J_LeftToeBottomBack_mex.cc │ │ │ ├── J_LeftToeBottomBack_mex.hh │ │ │ ├── J_LeftToeBottomBack_mex.mexw64 │ │ │ ├── J_LeftToeBottomBack_mex.mexw64.pdb │ │ │ ├── J_LeftToeBottomFront_mex.cc │ │ │ ├── J_LeftToeBottomFront_mex.hh │ │ │ ├── J_LeftToeBottomFront_mex.mexw64 │ │ │ ├── J_LeftToeBottomFront_mex.mexw64.pdb │ │ │ ├── J_LeftToeBottom_mex.cc │ │ │ ├── J_LeftToeBottom_mex.hh │ │ │ ├── J_LeftToeBottom_mex.mexw64 │ │ │ ├── J_LeftToeBottom_mex.mexw64.pdb │ │ │ ├── J_LeftToeJoint_mex.cc │ │ │ ├── J_LeftToeJoint_mex.hh │ │ │ ├── J_LeftToeJoint_mex.mexw64 │ │ │ ├── J_LeftToeJoint_mex.mexw64.pdb │ │ │ ├── J_RightToeBottomBack_mex.cc │ │ │ ├── J_RightToeBottomBack_mex.hh │ │ │ ├── J_RightToeBottomBack_mex.mexw64 │ │ │ ├── J_RightToeBottomBack_mex.mexw64.pdb │ │ │ ├── J_RightToeBottomFront_mex.cc │ │ │ ├── J_RightToeBottomFront_mex.hh │ │ │ ├── J_RightToeBottomFront_mex.mexw64 │ │ │ ├── J_RightToeBottomFront_mex.mexw64.pdb │ │ │ ├── J_RightToeBottom_mex.cc │ │ │ ├── J_RightToeBottom_mex.hh │ │ │ ├── J_RightToeBottom_mex.mexw64 │ │ │ ├── J_RightToeBottom_mex.mexw64.pdb │ │ │ ├── J_RightToeJoint_mex.cc │ │ │ ├── J_RightToeJoint_mex.hh │ │ │ ├── J_RightToeJoint_mex.mexw64 │ │ │ ├── J_RightToeJoint_mex.mexw64.pdb │ │ │ ├── LeftToeBottomBack_mex.cc │ │ │ ├── LeftToeBottomBack_mex.hh │ │ │ ├── LeftToeBottomBack_mex.mexw64 │ │ │ ├── LeftToeBottomBack_mex.mexw64.pdb │ │ │ ├── LeftToeBottomFront_mex.cc │ │ │ ├── LeftToeBottomFront_mex.hh │ │ │ ├── LeftToeBottomFront_mex.mexw64 │ │ │ ├── LeftToeBottomFront_mex.mexw64.pdb │ │ │ ├── LeftToeBottom_mex.cc │ │ │ ├── LeftToeBottom_mex.hh │ │ │ ├── LeftToeBottom_mex.mexw64 │ │ │ ├── LeftToeBottom_mex.mexw64.pdb │ │ │ ├── LeftToeJoint_mex.cc │ │ │ ├── LeftToeJoint_mex.hh │ │ │ ├── LeftToeJoint_mex.mexw64 │ │ │ ├── LeftToeJoint_mex.mexw64.pdb │ │ │ ├── RightToeBottomBack_mex.cc │ │ │ ├── RightToeBottomBack_mex.hh │ │ │ ├── RightToeBottomBack_mex.mexw64 │ │ │ ├── RightToeBottomBack_mex.mexw64.pdb │ │ │ ├── RightToeBottomFront_mex.cc │ │ │ ├── RightToeBottomFront_mex.hh │ │ │ ├── RightToeBottomFront_mex.mexw64 │ │ │ ├── RightToeBottomFront_mex.mexw64.pdb │ │ │ ├── RightToeBottom_mex.cc │ │ │ ├── RightToeBottom_mex.hh │ │ │ ├── RightToeBottom_mex.mexw64 │ │ │ ├── RightToeBottom_mex.mexw64.pdb │ │ │ ├── RightToeJoint_mex.cc │ │ │ ├── RightToeJoint_mex.hh │ │ │ ├── RightToeJoint_mex.mexw64 │ │ │ └── RightToeJoint_mex.mexw64.pdb │ │ └── src │ │ │ ├── ComPosition_src.c │ │ │ ├── ComPosition_src.h │ │ │ ├── ComVelocity_src.c │ │ │ ├── ComVelocity_src.h │ │ │ ├── J_LeftToeBottomBack_src.c │ │ │ ├── J_LeftToeBottomBack_src.h │ │ │ ├── J_LeftToeBottomFront_src.c │ │ │ ├── J_LeftToeBottomFront_src.h │ │ │ ├── J_LeftToeBottom_src.c │ │ │ ├── J_LeftToeBottom_src.h │ │ │ ├── J_LeftToeJoint_src.c │ │ │ ├── J_LeftToeJoint_src.h │ │ │ ├── J_RightToeBottomBack_src.c │ │ │ ├── J_RightToeBottomBack_src.h │ │ │ ├── J_RightToeBottomFront_src.c │ │ │ ├── J_RightToeBottomFront_src.h │ │ │ ├── J_RightToeBottom_src.c │ │ │ ├── J_RightToeBottom_src.h │ │ │ ├── J_RightToeJoint_src.c │ │ │ ├── J_RightToeJoint_src.h │ │ │ ├── LeftToeBottomBack_src.c │ │ │ ├── LeftToeBottomBack_src.h │ │ │ ├── LeftToeBottomFront_src.c │ │ │ ├── LeftToeBottomFront_src.h │ │ │ ├── LeftToeBottom_src.c │ │ │ ├── LeftToeBottom_src.h │ │ │ ├── LeftToeJoint_src.c │ │ │ ├── LeftToeJoint_src.h │ │ │ ├── RightToeBottomBack_src.c │ │ │ ├── RightToeBottomBack_src.h │ │ │ ├── RightToeBottomFront_src.c │ │ │ ├── RightToeBottomFront_src.h │ │ │ ├── RightToeBottom_src.c │ │ │ ├── RightToeBottom_src.h │ │ │ ├── RightToeJoint_src.c │ │ │ └── RightToeJoint_src.h │ └── knee_compensation.m │ └── gait │ ├── Alpha_Joint_to_Alpha_output.m │ ├── joints_bezier_to_outputs_bezier_V2.m │ └── utils │ ├── StanceLegSwitch.m │ ├── bc_curve_symbolic.m │ ├── bc_joint2output.m │ ├── hd_joint2output.m │ ├── hd_output2joint.m │ ├── points_to_bc_v1.m │ ├── points_to_bc_v2.m │ ├── points_to_bc_v3.m │ └── points_to_fit_points.m ├── LICENSE ├── README.html ├── README.md ├── Shortcuts └── addTargetPC.m ├── Submodules └── agility-matlab-toolkit │ ├── Libraries │ └── SM Contact Forces │ │ └── Libraries │ │ └── Contact_Forces_Lib.slx │ └── Toolkits │ ├── Code Generation │ ├── CodegenModule.m │ └── CodegenModule.p │ ├── Graphics │ ├── stlRead.m │ └── stlRead.p │ ├── Math │ ├── clamp.m │ ├── clamp.p │ ├── skewSymmetricMatrix.m │ └── skewSymmetricMatrix.p │ ├── Multibody │ ├── BodyFrame.m │ ├── BodyFrame.p │ ├── Frame.m │ ├── Frame.p │ ├── Joint.m │ ├── Joint.p │ ├── MultiBodyTree.m │ ├── MultiBodyTree.p │ ├── RevoluteJoint.m │ ├── RevoluteJoint.p │ ├── WorldFrame.m │ └── WorldFrame.p │ ├── Optimization │ ├── Function.m │ ├── Function.p │ ├── Nonlinear Least Squares │ │ ├── NonlinearLeastSquaresProblem.m │ │ ├── NonlinearLeastSquaresProblem.p │ │ ├── NonlinearLeastSquaresSolver.m │ │ └── NonlinearLeastSquaresSolver.p │ ├── OptimizationStatus.m │ └── OptimizationStatus.p │ ├── Primitives │ └── Geometric │ │ ├── Quaternion.m │ │ ├── Quaternion.p │ │ ├── Rotation3d.m │ │ ├── Rotation3d.p │ │ ├── RotationalInertia.m │ │ ├── RotationalInertia.p │ │ ├── SpatialForceVector.m │ │ ├── SpatialForceVector.p │ │ ├── SpatialInertia.m │ │ ├── SpatialInertia.p │ │ ├── SpatialMotionVector.m │ │ ├── SpatialMotionVector.p │ │ ├── SpatialVector.m │ │ ├── SpatialVector.p │ │ ├── Transform3d.m │ │ ├── Transform3d.p │ │ ├── Vector3d.m │ │ └── Vector3d.p │ ├── Real Time │ ├── DiagnosticCodes.m │ ├── DiagnosticCodes.p │ ├── DiagnosticLogger.m │ ├── DiagnosticLogger.p │ ├── EtherCatMasterState.m │ ├── EtherCatMasterState.p │ ├── Images │ │ ├── Battery.png │ │ ├── Elmo Drive.png │ │ ├── Radio.png │ │ └── VectorNav.png │ ├── Modules │ │ ├── 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