├── .github └── workflows │ ├── ci_cd.yml │ └── style.yml ├── .gitignore ├── CITATIONS.bib ├── LICENSE ├── README.md ├── pyproject.toml ├── setup.cfg ├── setup.py ├── src └── hippopt │ ├── __init__.py │ ├── base │ ├── __init__.py │ ├── dynamics.py │ ├── multiple_shooting_solver.py │ ├── opti_callback.py │ ├── opti_solver.py │ ├── optimal_control_problem.py │ ├── optimal_control_solver.py │ ├── optimization_object.py │ ├── optimization_problem.py │ ├── optimization_solver.py │ ├── parameter.py │ ├── problem.py │ ├── single_step_integrator.py │ └── variable.py │ ├── deps │ ├── __init__.py │ └── surf2stl │ │ ├── LICENSE.txt │ │ ├── __init__.py │ │ └── surf2stl.py │ ├── integrators │ ├── __init__.py │ ├── forward_euler.py │ └── implicit_trapezoid.py │ ├── robot_planning │ ├── __init__.py │ ├── expressions │ │ ├── __init__.py │ │ ├── centroidal.py │ │ ├── complementarity.py │ │ ├── contacts.py │ │ ├── kinematics.py │ │ └── quaternion.py │ ├── utilities │ │ ├── .gitignore │ │ ├── __init__.py │ │ ├── foot_contact_state_plotter.py │ │ ├── humanoid_state_visualizer.py │ │ ├── interpolators.py │ │ ├── planar_terrain.py │ │ ├── smooth_terrain.py │ │ ├── terrain_descriptor.py │ │ ├── terrain_sum.py │ │ └── terrain_visualizer.py │ └── variables │ │ ├── __init__.py │ │ ├── contacts.py │ │ ├── floating_base.py │ │ └── humanoid.py │ └── turnkey_planners │ ├── __init__.py │ ├── humanoid_kinodynamic │ ├── .gitignore │ ├── __init__.py │ ├── main_periodic_step.py │ ├── main_periodic_step_parametric.py │ ├── main_single_jump_on_flat_ground.py │ ├── main_single_step_flat_ground.py │ ├── main_walking_on_ramp.py │ ├── main_walking_on_stairs.py │ ├── planner.py │ ├── settings.py │ └── variables.py │ └── humanoid_pose_finder │ ├── .gitignore │ ├── __init__.py │ ├── main.py │ ├── main_complex_poses.py │ ├── main_sensitivity.py │ └── planner.py └── test ├── test_integrators.py ├── test_multiple_shooting.py ├── test_opti_generate_objects.py ├── test_optimization_object.py ├── 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