├── .gitattributes ├── .github └── workflows │ └── CI-iRonCub-models.yml ├── .gitignore ├── CHANGELOG.md ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cmake └── templates │ └── setup.in ├── environment.yml ├── exportOlderVersion.m ├── flight-controllers-stable ├── README.md ├── controlAndDataGui │ ├── flightDataGui.fig │ └── ironcubControlGui.fig ├── matlab-functions-lib │ ├── configJetControlParams.m │ └── correctYawAngle.m ├── momentum-based-flight-sim-gazebo │ ├── README.md │ ├── app │ │ └── robots │ │ │ ├── iRonCub-Mk1_1_Gazebo │ │ │ ├── configJets.m │ │ │ ├── configRobot.m │ │ │ └── gainsAndParameters.m │ │ │ └── iRonCub-Mk1_Gazebo │ │ │ ├── configJets.m │ │ │ ├── configRobot.m │ │ │ └── gainsAndParameters.m │ ├── initMomentumBasedFlight.m │ ├── momentumBasedFlight.mdl │ ├── runFlightControl.m │ ├── src │ │ ├── flightAndControlGui │ │ │ ├── flightDataGui.m │ │ │ ├── ironcubControlGui.m │ │ │ └── updateVisualGui.m │ │ └── joypad_buttons.md │ ├── stopFlightControl.m │ └── stopMomentumBasedFlight.m └── momentum-based-flight-sim-no-gazebo │ ├── README.md │ ├── app │ └── robots │ │ └── iRonCub-Mk1_1 │ │ ├── configJets.m │ │ ├── configRobot.m │ │ └── gainsAndParameters.m │ ├── initMomentumBasedFlight.m │ ├── momentumBasedFlight.mdl │ ├── src │ ├── +jetModel │ │ ├── get_f.m │ │ ├── get_g.m │ │ └── get_xDot.m │ ├── Classes │ │ └── Jet.m │ ├── flightAndControlGui │ │ ├── flightDataGui.m │ │ ├── ironcubControlGui.m │ │ └── updateVisualGui.m │ ├── jetControl │ │ └── fl_jet_control.m │ ├── jetDyn.m │ ├── kalmanFilter │ │ ├── computeJacobians.m │ │ └── extKalmanFilter.m │ └── utilities │ │ ├── H2Rp.m │ │ ├── Rp2H.m │ │ ├── Rp2Hom.m │ │ ├── exponential_map.m │ │ ├── fromBodyFrameToMixed_contactForces.m │ │ ├── get_R_dot.m │ │ └── selectInitContactForces.m │ └── stopMomentumBasedFlight.m ├── lib ├── CMakeLists.txt ├── README.md ├── gazebo │ ├── CMakeLists.txt │ ├── README.md │ └── plugins │ │ ├── CMakeLists.txt │ │ └── jets-plugin │ │ ├── CMakeLists.txt │ │ ├── jet-plugin.h │ │ └── jets-plugin.cc └── simulink │ ├── CMakeLists.txt │ ├── README.md │ ├── ironcub_lib_main_v1.slx │ ├── jets_control │ ├── jets_control_v1.slx │ └── src │ │ ├── fl_jets_control.m │ │ ├── get_f.m │ │ └── get_g.m │ ├── momentum_flight_control │ ├── momentum_flight_control_v1.slx │ └── src │ │ ├── dynamicsAndKinematics │ │ ├── computeJetsAxesAndArms.m │ │ └── getCentrInertia.m │ │ ├── momentumControl │ │ ├── computeMomentumReferences.m │ │ ├── demuxJetAxesAndArms.m │ │ ├── flyingAttitudeControl.m │ │ ├── flyingMomentumControl.m │ │ ├── skewBar.m │ │ └── skewZeroBar.m │ │ ├── quadraticProgramming │ │ ├── combineInputBoundsAndInequalitiesQP.m │ │ ├── processQPinputMomentumControl.m │ │ └── processQPinputTorqueControl.m │ │ ├── stateMachine │ │ ├── computeReferencesBaseAndCoM.m │ │ ├── detectMovementsFromJoystick.m │ │ ├── feetContactActivation.m │ │ └── verticalForcesControl.m │ │ ├── torqueControl │ │ ├── flyingTorqueControl.m │ │ └── fromJetsIntensitiesToForces.m │ │ └── utilities │ │ ├── computeCurrentFuelConsumption.m │ │ ├── fromBodyFrameToMixed_contactForces.m │ │ ├── fromGuiToJoystick.m │ │ └── selectInitContactForces.m │ ├── slblocks.m │ ├── thrust_estimation │ ├── src │ │ └── EKF-MOMENTUM_JET_FEET-CMM_FEET │ │ │ ├── Amatrix.m │ │ │ ├── EKF_MOMENTUM_JET_FEET_CMM_FEET.m │ │ │ ├── computeJacobians_EKF_MOMENTUM_JET_FEET_CMM_FEET.m │ │ │ ├── dynamics_EKF_MOMENTUM_JET_FEET_CMM_FEET.m │ │ │ └── jetModel_get_xDot.m │ └── thrust_estimation_v1.slx │ └── visualizer++ │ ├── CMakeLists.txt │ ├── conf │ └── iRonCubVisualizer_v1.ini │ ├── iDynVisualizer_v1.slx │ ├── include │ └── Visualizer │ │ └── Visualizer.h │ └── src │ ├── Factory.cpp │ └── Visualizer.cpp ├── matlab-scripts ├── README.md ├── jets-pose-optimization │ ├── init │ │ └── initJetsPoseOptimization.m │ ├── model │ │ └── model_jetsOptimization.urdf │ ├── results │ │ └── validData.mat │ ├── runJetsPoseOptimization.m │ └── src │ │ ├── computeProjectorMatrix.m │ │ ├── generateUrdfModelForTesting.m │ │ ├── moveRobotJoints.m │ │ └── switchModel.m ├── joint-pos-generator │ ├── init │ │ ├── initJointPosOptimization_MK1_1.m │ │ └── loadRobot_MK1_1.m │ ├── model │ │ └── model_jointsOptimization_MK1_1.urdf │ ├── runJointPosGenerator.m │ └── src │ │ ├── computeFeetAndCoMConstraints.m │ │ ├── computeFitness.m │ │ ├── computeMomentumDerivative.m │ │ ├── generateValidJointsPositions.m │ │ ├── updateRobotState.m │ │ ├── verifyFitness.m │ │ └── visualizeRobot.m └── joint-pos-optimization │ ├── init │ ├── initJointPosOptimization_MK1.m │ ├── initJointPosOptimization_MK1_1.m │ ├── loadRobot_MK1.m │ └── loadRobot_MK1_1.m │ ├── model │ ├── model_jointsOptimization_MK1.urdf │ └── model_jointsOptimization_MK1_1.urdf │ ├── results │ ├── test1 │ ├── test10 │ ├── test2 │ ├── test3 │ ├── test4 │ ├── test5 │ ├── test6 │ ├── test7 │ ├── test8 │ └── test9 │ ├── runJointPosOptimization.m │ └── src │ ├── computeInitialConditionsAndReferences.m │ ├── computeMomentumDerivative.m │ ├── computeNonLinearConstraints.m │ └── visualizeRobot.m └── models ├── CMakeLists.txt ├── README.md ├── home-poses ├── README.md ├── homePoseiRonCub.ini └── homePoseiRonCub_Gazebo.ini ├── iRonCub-Mk1 ├── CMakeLists.txt ├── README.md ├── cad │ ├── README.md │ ├── icub_2-5_bb_sim_model.asm.1 │ ├── icub_2-5_sim_model_head.asm.1 │ ├── icub_2-5_sim_model_lowerbody.asm.1 │ ├── icub_2-5_sim_model_upperbody.asm.1 │ ├── ironcub-mk1_sim_model.asm.1 │ ├── ironcub-mk1_sim_model.png │ ├── sim_sea_2-5_chest_aruco.prt.1 │ ├── sim_sea_2-5_chest_bb.prt.1 │ ├── sim_sea_2-5_head.prt.1 │ ├── sim_sea_2-5_l_ankle.prt.1 │ ├── sim_sea_2-5_l_elbow.prt.1 │ ├── sim_sea_2-5_l_elbow_p100.prt.1 │ ├── sim_sea_2-5_l_elbow_prosup.prt.1 │ ├── sim_sea_2-5_l_foot.prt.1 │ ├── sim_sea_2-5_l_hip_1.prt.1 │ ├── sim_sea_2-5_l_hip_2.prt.1 │ ├── sim_sea_2-5_l_leg.asm.1 │ ├── sim_sea_2-5_l_p220.prt.1 │ ├── sim_sea_2-5_l_shank.prt.1 │ ├── sim_sea_2-5_l_shoulder_1.prt.1 │ ├── sim_sea_2-5_l_shoulder_2.prt.1 │ ├── sim_sea_2-5_l_sole.prt.1 │ ├── sim_sea_2-5_l_thigh.prt.1 │ ├── sim_sea_2-5_l_upper_arm.prt.1 │ ├── sim_sea_2-5_l_upper_thigh.prt.1 │ ├── sim_sea_2-5_l_wrist_pitch.prt.1 │ ├── sim_sea_2-5_lap_belt.prt.1 │ ├── sim_sea_2-5_lap_belt_1.prt.1 │ ├── sim_sea_2-5_lap_belt_2.prt.1 │ ├── sim_sea_2-5_neck_1.prt.1 │ ├── sim_sea_2-5_neck_2.prt.1 │ ├── sim_sea_2-5_r_ankle.prt.1 │ ├── sim_sea_2-5_r_elbow.prt.1 │ ├── sim_sea_2-5_r_elbow_p100.prt.1 │ ├── sim_sea_2-5_r_elbow_prosup.prt.1 │ ├── sim_sea_2-5_r_foot.prt.1 │ ├── sim_sea_2-5_r_hip_1.prt.1 │ ├── sim_sea_2-5_r_hip_2.prt.1 │ ├── sim_sea_2-5_r_leg.asm.1 │ ├── sim_sea_2-5_r_p220.prt.1 │ ├── sim_sea_2-5_r_shank.prt.1 │ ├── sim_sea_2-5_r_shoulder_1.prt.1 │ ├── sim_sea_2-5_r_shoulder_2.prt.1 │ ├── sim_sea_2-5_r_sole.prt.1 │ ├── sim_sea_2-5_r_thigh.prt.1 │ ├── sim_sea_2-5_r_upper_arm.prt.1 │ ├── sim_sea_2-5_r_upper_thigh.prt.1 │ ├── sim_sea_2-5_r_wrist_pitch.prt.1 │ └── sim_sea_2-5_root_link.prt.1 ├── iRonCub │ ├── CMakeLists.txt │ ├── README.md │ ├── conf │ │ ├── FT │ │ │ ├── gazebo_icub_left_arm_ft.ini │ │ │ ├── gazebo_icub_left_foot_ft.ini │ │ │ ├── gazebo_icub_left_leg_ft.ini │ │ │ ├── gazebo_icub_right_arm_ft.ini │ │ │ ├── gazebo_icub_right_foot_ft.ini │ │ │ └── gazebo_icub_right_leg_ft.ini │ │ ├── MTB │ │ │ ├── gazebo_icub_left_arm_mtb.ini │ │ │ ├── gazebo_icub_left_leg_mtb.ini │ │ │ ├── gazebo_icub_right_arm_mtb.ini │ │ │ ├── gazebo_icub_right_leg_mtb.ini │ │ │ └── gazebo_icub_torso_mtb.ini │ │ ├── README.md │ │ ├── base.ini │ │ ├── common.ini │ │ ├── gazebo_icub_head_without_eyes.ini │ │ ├── gazebo_icub_inertial.ini │ │ ├── gazebo_icub_left_arm.ini │ │ ├── gazebo_icub_left_leg.ini │ │ ├── gazebo_icub_right_arm.ini │ │ ├── gazebo_icub_right_leg.ini │ │ ├── gazebo_icub_robotname.ini │ │ ├── gazebo_icub_torso.ini │ │ ├── gazebo_icub_xsens_inertial.ini │ │ ├── jets.ini │ │ ├── left_camera.ini │ │ └── right_camera.ini │ ├── meshes │ │ ├── README.md │ │ ├── obj │ │ │ ├── sim_sea_2-5_chest_bb_prt.mtl │ │ │ ├── sim_sea_2-5_chest_bb_prt.obj │ │ │ ├── sim_sea_2-5_head_prt.mtl │ │ │ ├── sim_sea_2-5_head_prt.obj │ │ │ ├── sim_sea_2-5_l_ankle_prt.mtl │ │ │ ├── sim_sea_2-5_l_ankle_prt.obj │ │ │ ├── sim_sea_2-5_l_elbow_p100_prt.mtl │ │ │ ├── sim_sea_2-5_l_elbow_p100_prt.obj │ │ │ ├── sim_sea_2-5_l_elbow_prosup_prt.mtl │ │ │ ├── sim_sea_2-5_l_elbow_prosup_prt.obj │ │ │ ├── sim_sea_2-5_l_elbow_prt.mtl │ │ │ ├── sim_sea_2-5_l_elbow_prt.obj │ │ │ ├── sim_sea_2-5_l_foot_prt.mtl │ │ │ ├── sim_sea_2-5_l_foot_prt.obj │ │ │ ├── sim_sea_2-5_l_hip_1_prt.mtl │ │ │ ├── sim_sea_2-5_l_hip_1_prt.obj │ │ │ ├── sim_sea_2-5_l_hip_2_prt.mtl │ │ │ ├── sim_sea_2-5_l_hip_2_prt.obj │ │ │ ├── sim_sea_2-5_l_p220_prt.mtl │ │ │ ├── sim_sea_2-5_l_p220_prt.obj │ │ │ ├── sim_sea_2-5_l_shank_prt.mtl │ │ │ ├── sim_sea_2-5_l_shank_prt.obj │ │ │ ├── sim_sea_2-5_l_shoulder_1_prt.mtl │ │ │ ├── sim_sea_2-5_l_shoulder_1_prt.obj │ │ │ ├── sim_sea_2-5_l_shoulder_2_prt.mtl │ │ │ ├── sim_sea_2-5_l_shoulder_2_prt.obj │ │ │ ├── sim_sea_2-5_l_sole_prt.mtl │ │ │ ├── sim_sea_2-5_l_sole_prt.obj │ │ │ ├── sim_sea_2-5_l_thigh_prt.mtl │ │ │ ├── sim_sea_2-5_l_thigh_prt.obj │ │ │ ├── sim_sea_2-5_l_upper_arm_prt.mtl │ │ │ ├── sim_sea_2-5_l_upper_arm_prt.obj │ │ │ ├── sim_sea_2-5_l_upper_thigh_prt.mtl │ │ │ ├── sim_sea_2-5_l_upper_thigh_prt.obj │ │ │ ├── sim_sea_2-5_lap_belt_1_prt.mtl │ │ │ ├── sim_sea_2-5_lap_belt_1_prt.obj │ │ │ ├── sim_sea_2-5_lap_belt_2_prt.mtl │ │ │ ├── sim_sea_2-5_lap_belt_2_prt.obj │ │ │ ├── sim_sea_2-5_neck_1_prt.mtl │ │ │ ├── sim_sea_2-5_neck_1_prt.obj │ │ │ ├── sim_sea_2-5_neck_2_prt.mtl │ │ │ ├── sim_sea_2-5_neck_2_prt.obj │ │ │ ├── sim_sea_2-5_r_ankle_prt.mtl │ │ │ ├── sim_sea_2-5_r_ankle_prt.obj │ │ │ ├── sim_sea_2-5_r_elbow_p100_prt.mtl │ │ │ ├── sim_sea_2-5_r_elbow_p100_prt.obj │ │ │ ├── sim_sea_2-5_r_elbow_prosup_prt.mtl │ │ │ ├── sim_sea_2-5_r_elbow_prosup_prt.obj │ │ │ ├── sim_sea_2-5_r_elbow_prt.mtl │ │ │ ├── sim_sea_2-5_r_elbow_prt.obj │ │ │ ├── sim_sea_2-5_r_foot_prt.mtl │ │ │ ├── sim_sea_2-5_r_foot_prt.obj │ │ │ ├── sim_sea_2-5_r_hip_1_prt.mtl │ │ │ ├── sim_sea_2-5_r_hip_1_prt.obj │ │ │ ├── sim_sea_2-5_r_hip_2_prt.mtl │ │ │ ├── sim_sea_2-5_r_hip_2_prt.obj │ │ │ ├── sim_sea_2-5_r_p220_prt.mtl │ │ │ ├── sim_sea_2-5_r_p220_prt.obj │ │ │ ├── sim_sea_2-5_r_shank_prt.mtl │ │ │ ├── sim_sea_2-5_r_shank_prt.obj │ │ │ ├── sim_sea_2-5_r_shoulder_1_prt.mtl │ │ │ ├── sim_sea_2-5_r_shoulder_1_prt.obj │ │ │ ├── sim_sea_2-5_r_shoulder_2_prt.mtl │ │ │ ├── sim_sea_2-5_r_shoulder_2_prt.obj │ │ │ ├── sim_sea_2-5_r_sole_prt.mtl │ │ │ ├── sim_sea_2-5_r_sole_prt.obj │ │ │ ├── sim_sea_2-5_r_thigh_prt.mtl │ │ │ ├── sim_sea_2-5_r_thigh_prt.obj │ │ │ ├── sim_sea_2-5_r_upper_arm_prt.mtl │ │ │ ├── sim_sea_2-5_r_upper_arm_prt.obj │ │ │ ├── sim_sea_2-5_r_upper_thigh_prt.mtl │ │ │ ├── sim_sea_2-5_r_upper_thigh_prt.obj │ │ │ ├── sim_sea_2-5_root_link_prt.mtl │ │ │ └── sim_sea_2-5_root_link_prt.obj │ │ └── stl │ │ │ ├── sim_sea_2-5_chest_bb_prt.stl │ │ │ ├── sim_sea_2-5_head_prt.stl │ │ │ ├── sim_sea_2-5_l_ankle_prt.stl │ │ │ ├── sim_sea_2-5_l_elbow_p100_prt.stl │ │ │ ├── sim_sea_2-5_l_elbow_prosup_prt.stl │ │ │ ├── sim_sea_2-5_l_elbow_prt.stl │ │ │ ├── sim_sea_2-5_l_foot_prt.stl │ │ │ ├── sim_sea_2-5_l_hip_1_prt.stl │ │ │ ├── sim_sea_2-5_l_hip_2_prt.stl │ │ │ ├── sim_sea_2-5_l_p220_prt.stl │ │ │ ├── sim_sea_2-5_l_shank_prt.stl │ │ │ ├── sim_sea_2-5_l_shoulder_1_prt.stl │ │ │ ├── sim_sea_2-5_l_shoulder_2_prt.stl │ │ │ ├── sim_sea_2-5_l_sole_prt.stl │ │ │ ├── sim_sea_2-5_l_thigh_prt.stl │ │ │ ├── sim_sea_2-5_l_upper_arm_prt.stl │ │ │ ├── sim_sea_2-5_l_upper_thigh_prt.stl │ │ │ ├── sim_sea_2-5_lap_belt_1_prt.stl │ │ │ ├── sim_sea_2-5_lap_belt_2_prt.stl │ │ │ ├── sim_sea_2-5_neck_1_prt.stl │ │ │ ├── sim_sea_2-5_neck_2_prt.stl │ │ │ ├── sim_sea_2-5_r_ankle_prt.stl │ │ │ ├── sim_sea_2-5_r_elbow_p100_prt.stl │ │ │ ├── sim_sea_2-5_r_elbow_prosup_prt.stl │ │ │ ├── sim_sea_2-5_r_elbow_prt.stl │ │ │ ├── sim_sea_2-5_r_foot_prt.stl │ │ │ ├── sim_sea_2-5_r_hip_1_prt.stl │ │ │ ├── sim_sea_2-5_r_hip_2_prt.stl │ │ │ ├── sim_sea_2-5_r_p220_prt.stl │ │ │ ├── sim_sea_2-5_r_shank_prt.stl │ │ │ ├── sim_sea_2-5_r_shoulder_1_prt.stl │ │ │ ├── sim_sea_2-5_r_shoulder_2_prt.stl │ │ │ ├── sim_sea_2-5_r_sole_prt.stl │ │ │ ├── sim_sea_2-5_r_thigh_prt.stl │ │ │ ├── sim_sea_2-5_r_upper_arm_prt.stl │ │ │ ├── sim_sea_2-5_r_upper_thigh_prt.stl │ │ │ └── sim_sea_2-5_root_link_prt.stl │ └── robots │ │ ├── iRonCub-Mk1 │ │ ├── model.urdf │ │ └── model_stl.urdf │ │ └── iRonCub-Mk1_Gazebo │ │ ├── estimators │ │ └── wholebodydynamics-external-iRonCub.xml │ │ ├── launch-wholebodydynamics-iRonCub.xml │ │ ├── model.config │ │ ├── model.urdf │ │ └── model_stl.urdf └── resources │ ├── CMakeLists.txt │ └── data │ ├── IRONCUB-MK1_SIM_MODEL.xml │ ├── IRONCUB-MK1_joint_parameters.csv.in │ ├── IRONCUB-MK1_simmechanics_options.yaml.in │ ├── README.md │ └── model.config ├── iRonCub-Mk1_1 ├── CMakeLists.txt ├── README.md ├── cad │ ├── README.md │ ├── icub_2-5_bb_sim_model.asm.1 │ ├── icub_2-5_sim_model_head.asm.1 │ ├── icub_2-5_sim_model_lowerbody.asm.1 │ ├── icub_2-5_sim_model_upperbody.asm.1 │ ├── ironcub-mk1_1_sim_model.asm.1 │ ├── ironcub-mk1_1_sim_model.png │ ├── sim_sea_2-5_chest_aruco.prt.1 │ ├── sim_sea_2-5_chest_bb.prt.1 │ ├── sim_sea_2-5_head.prt.1 │ ├── sim_sea_2-5_l_ankle.prt.1 │ ├── sim_sea_2-5_l_elbow.prt.1 │ ├── sim_sea_2-5_l_elbow_p160.prt.1 │ ├── sim_sea_2-5_l_elbow_prosup.prt.1 │ ├── sim_sea_2-5_l_foot.prt.1 │ ├── sim_sea_2-5_l_hip_1.prt.1 │ ├── sim_sea_2-5_l_hip_2.prt.1 │ ├── sim_sea_2-5_l_leg.asm.1 │ ├── sim_sea_2-5_l_p220.prt.1 │ ├── sim_sea_2-5_l_shank.prt.1 │ ├── sim_sea_2-5_l_shoulder_1.prt.1 │ ├── sim_sea_2-5_l_shoulder_2.prt.1 │ ├── sim_sea_2-5_l_sole.prt.1 │ ├── sim_sea_2-5_l_thigh.prt.1 │ ├── sim_sea_2-5_l_upper_arm.prt.1 │ ├── sim_sea_2-5_l_upper_thigh.prt.1 │ ├── sim_sea_2-5_l_wrist_pitch.prt.1 │ ├── sim_sea_2-5_lap_belt.prt.1 │ ├── sim_sea_2-5_lap_belt_1.prt.1 │ ├── sim_sea_2-5_lap_belt_2.prt.1 │ ├── sim_sea_2-5_neck_1.prt.1 │ ├── sim_sea_2-5_neck_2.prt.1 │ ├── sim_sea_2-5_r_ankle.prt.1 │ ├── sim_sea_2-5_r_elbow.prt.1 │ ├── sim_sea_2-5_r_elbow_p160.prt.1 │ ├── sim_sea_2-5_r_elbow_prosup.prt.1 │ ├── sim_sea_2-5_r_foot.prt.1 │ ├── sim_sea_2-5_r_hip_1.prt.1 │ ├── sim_sea_2-5_r_hip_2.prt.1 │ ├── sim_sea_2-5_r_leg.asm.1 │ ├── sim_sea_2-5_r_p220.prt.1 │ ├── sim_sea_2-5_r_shank.prt.1 │ ├── sim_sea_2-5_r_shoulder_1.prt.1 │ ├── sim_sea_2-5_r_shoulder_2.prt.1 │ ├── sim_sea_2-5_r_sole.prt.1 │ ├── sim_sea_2-5_r_thigh.prt.1 │ ├── sim_sea_2-5_r_upper_arm.prt.1 │ ├── sim_sea_2-5_r_upper_thigh.prt.1 │ ├── sim_sea_2-5_r_wrist_pitch.prt.1 │ └── sim_sea_2-5_root_link.prt.1 ├── iRonCub │ ├── CMakeLists.txt │ ├── README.md │ ├── conf │ │ ├── FT │ │ │ ├── gazebo_icub_left_arm_ft.ini │ │ │ ├── gazebo_icub_left_foot_ft.ini │ │ │ ├── gazebo_icub_left_leg_ft.ini │ │ │ ├── gazebo_icub_right_arm_ft.ini │ │ │ ├── gazebo_icub_right_foot_ft.ini │ │ │ └── gazebo_icub_right_leg_ft.ini │ │ ├── MTB │ │ │ ├── gazebo_icub_left_arm_mtb.ini │ │ │ ├── gazebo_icub_left_leg_mtb.ini │ │ │ ├── gazebo_icub_right_arm_mtb.ini │ │ │ ├── gazebo_icub_right_leg_mtb.ini │ │ │ └── gazebo_icub_torso_mtb.ini │ │ ├── README.md │ │ ├── base.ini │ │ ├── common.ini │ │ ├── gazebo_icub_head_without_eyes.ini │ │ ├── gazebo_icub_inertial.ini │ │ ├── gazebo_icub_left_arm.ini │ │ ├── gazebo_icub_left_leg.ini │ │ ├── gazebo_icub_right_arm.ini │ │ ├── gazebo_icub_right_leg.ini │ │ ├── gazebo_icub_robotname.ini │ │ ├── gazebo_icub_torso.ini │ │ ├── gazebo_icub_xsens_inertial.ini │ │ ├── jets.ini │ │ ├── left_camera.ini │ │ └── right_camera.ini │ ├── meshes │ │ ├── README.md │ │ ├── obj │ │ │ ├── sim_sea_2-5_chest_aruco_prt.mtl │ │ │ ├── sim_sea_2-5_chest_aruco_prt.obj │ │ │ ├── sim_sea_2-5_chest_bb_prt.mtl │ │ │ ├── sim_sea_2-5_chest_bb_prt.obj │ │ │ ├── sim_sea_2-5_head_prt.mtl │ │ │ ├── sim_sea_2-5_head_prt.obj │ │ │ ├── sim_sea_2-5_l_ankle_prt.mtl │ │ │ ├── sim_sea_2-5_l_ankle_prt.obj │ │ │ ├── sim_sea_2-5_l_elbow_p160_prt.mtl │ │ │ ├── sim_sea_2-5_l_elbow_p160_prt.obj │ │ │ ├── sim_sea_2-5_l_elbow_prosup_prt.mtl │ │ │ ├── sim_sea_2-5_l_elbow_prosup_prt.obj │ │ │ ├── sim_sea_2-5_l_elbow_prt.mtl │ │ │ ├── sim_sea_2-5_l_elbow_prt.obj │ │ │ ├── sim_sea_2-5_l_foot_prt.mtl │ │ │ ├── sim_sea_2-5_l_foot_prt.obj │ │ │ ├── sim_sea_2-5_l_hip_1_prt.mtl │ │ │ ├── sim_sea_2-5_l_hip_1_prt.obj │ │ │ ├── sim_sea_2-5_l_hip_2_prt.mtl │ │ │ ├── sim_sea_2-5_l_hip_2_prt.obj │ │ │ ├── sim_sea_2-5_l_p220_prt.mtl │ │ │ ├── sim_sea_2-5_l_p220_prt.obj │ │ │ ├── sim_sea_2-5_l_shank_prt.mtl │ │ │ ├── sim_sea_2-5_l_shank_prt.obj │ │ │ ├── sim_sea_2-5_l_shoulder_1_prt.mtl │ │ │ ├── sim_sea_2-5_l_shoulder_1_prt.obj │ │ │ ├── sim_sea_2-5_l_shoulder_2_prt.mtl │ │ │ ├── sim_sea_2-5_l_shoulder_2_prt.obj │ │ │ ├── sim_sea_2-5_l_sole_prt.mtl │ │ │ ├── sim_sea_2-5_l_sole_prt.obj │ │ │ ├── sim_sea_2-5_l_thigh_prt.mtl │ │ │ ├── sim_sea_2-5_l_thigh_prt.obj │ │ │ ├── sim_sea_2-5_l_upper_arm_prt.mtl │ │ │ ├── sim_sea_2-5_l_upper_arm_prt.obj │ │ │ ├── sim_sea_2-5_l_upper_thigh_prt.mtl │ │ │ ├── sim_sea_2-5_l_upper_thigh_prt.obj │ │ │ ├── sim_sea_2-5_lap_belt_1_prt.mtl │ │ │ ├── sim_sea_2-5_lap_belt_1_prt.obj │ │ │ ├── sim_sea_2-5_lap_belt_2_prt.mtl │ │ │ ├── sim_sea_2-5_lap_belt_2_prt.obj │ │ │ ├── sim_sea_2-5_neck_1_prt.mtl │ │ │ ├── sim_sea_2-5_neck_1_prt.obj │ │ │ ├── sim_sea_2-5_neck_2_prt.mtl │ │ │ ├── sim_sea_2-5_neck_2_prt.obj │ │ │ ├── sim_sea_2-5_r_ankle_prt.mtl │ │ │ ├── sim_sea_2-5_r_ankle_prt.obj │ │ │ ├── sim_sea_2-5_r_elbow_p160_prt.mtl │ │ │ ├── sim_sea_2-5_r_elbow_p160_prt.obj │ │ │ ├── sim_sea_2-5_r_elbow_prosup_prt.mtl │ │ │ ├── sim_sea_2-5_r_elbow_prosup_prt.obj │ │ │ ├── sim_sea_2-5_r_elbow_prt.mtl │ │ │ ├── sim_sea_2-5_r_elbow_prt.obj │ │ │ ├── sim_sea_2-5_r_foot_prt.mtl │ │ │ ├── sim_sea_2-5_r_foot_prt.obj │ │ │ ├── sim_sea_2-5_r_hip_1_prt.mtl │ │ │ ├── sim_sea_2-5_r_hip_1_prt.obj │ │ │ ├── sim_sea_2-5_r_hip_2_prt.mtl │ │ │ ├── sim_sea_2-5_r_hip_2_prt.obj │ │ │ ├── sim_sea_2-5_r_p220_prt.mtl │ │ │ ├── sim_sea_2-5_r_p220_prt.obj │ │ │ ├── sim_sea_2-5_r_shank_prt.mtl │ │ │ ├── sim_sea_2-5_r_shank_prt.obj │ │ │ ├── sim_sea_2-5_r_shoulder_1_prt.mtl │ │ │ ├── sim_sea_2-5_r_shoulder_1_prt.obj │ │ │ ├── sim_sea_2-5_r_shoulder_2_prt.mtl │ │ │ ├── sim_sea_2-5_r_shoulder_2_prt.obj │ │ │ ├── sim_sea_2-5_r_sole_prt.mtl │ │ │ ├── sim_sea_2-5_r_sole_prt.obj │ │ │ ├── sim_sea_2-5_r_thigh_prt.mtl │ │ │ ├── sim_sea_2-5_r_thigh_prt.obj │ │ │ ├── sim_sea_2-5_r_upper_arm_prt.mtl │ │ │ ├── sim_sea_2-5_r_upper_arm_prt.obj │ │ │ ├── sim_sea_2-5_r_upper_thigh_prt.mtl │ │ │ ├── sim_sea_2-5_r_upper_thigh_prt.obj │ │ │ ├── sim_sea_2-5_root_link_prt.mtl │ │ │ └── sim_sea_2-5_root_link_prt.obj │ │ └── stl │ │ │ ├── sim_sea_2-5_chest_aruco_prt.stl │ │ │ ├── sim_sea_2-5_chest_bb_prt.stl │ │ │ ├── sim_sea_2-5_head_prt.stl │ │ │ ├── sim_sea_2-5_l_ankle_prt.stl │ │ │ ├── sim_sea_2-5_l_elbow_p160_prt.stl │ │ │ ├── sim_sea_2-5_l_elbow_prosup_prt.stl │ │ │ ├── sim_sea_2-5_l_elbow_prt.stl │ │ │ ├── sim_sea_2-5_l_foot_prt.stl │ │ │ ├── sim_sea_2-5_l_hip_1_prt.stl │ │ │ ├── sim_sea_2-5_l_hip_2_prt.stl │ │ │ ├── sim_sea_2-5_l_p220_prt.stl │ │ │ ├── sim_sea_2-5_l_shank_prt.stl │ │ │ ├── sim_sea_2-5_l_shoulder_1_prt.stl │ │ │ ├── sim_sea_2-5_l_shoulder_2_prt.stl │ │ │ ├── sim_sea_2-5_l_sole_prt.stl │ │ │ ├── sim_sea_2-5_l_thigh_prt.stl │ │ │ ├── sim_sea_2-5_l_upper_arm_prt.stl │ │ │ ├── sim_sea_2-5_l_upper_thigh_prt.stl │ │ │ ├── sim_sea_2-5_lap_belt_1_prt.stl │ │ │ ├── sim_sea_2-5_lap_belt_2_prt.stl │ │ │ ├── sim_sea_2-5_neck_1_prt.stl │ │ │ ├── sim_sea_2-5_neck_2_prt.stl │ │ │ ├── sim_sea_2-5_r_ankle_prt.stl │ │ │ ├── sim_sea_2-5_r_elbow_p160_prt.stl │ │ │ ├── sim_sea_2-5_r_elbow_prosup_prt.stl │ │ │ ├── sim_sea_2-5_r_elbow_prt.stl │ │ │ ├── sim_sea_2-5_r_foot_prt.stl │ │ │ ├── sim_sea_2-5_r_hip_1_prt.stl │ │ │ ├── sim_sea_2-5_r_hip_2_prt.stl │ │ │ ├── sim_sea_2-5_r_p220_prt.stl │ │ │ ├── sim_sea_2-5_r_shank_prt.stl │ │ │ ├── sim_sea_2-5_r_shoulder_1_prt.stl │ │ │ ├── sim_sea_2-5_r_shoulder_2_prt.stl │ │ │ ├── sim_sea_2-5_r_sole_prt.stl │ │ │ ├── sim_sea_2-5_r_thigh_prt.stl │ │ │ ├── sim_sea_2-5_r_upper_arm_prt.stl │ │ │ ├── sim_sea_2-5_r_upper_thigh_prt.stl │ │ │ └── sim_sea_2-5_root_link_prt.stl │ └── robots │ │ ├── iRonCub-Mk1_1 │ │ ├── model.urdf │ │ └── model_stl.urdf │ │ └── iRonCub-Mk1_1_Gazebo │ │ ├── estimators │ │ └── wholebodydynamics-external-iRonCub.xml │ │ ├── launch-wholebodydynamics-iRonCub.xml │ │ ├── model.config │ │ ├── model.urdf │ │ └── model_stl.urdf └── resources │ ├── CMakeLists.txt │ └── data │ ├── IRONCUB-MK1_1_SIM_MODEL.xml │ ├── IRONCUB-MK1_1_joint_parameters.csv.in │ ├── IRONCUB-MK1_1_simmechanics_options.yaml.in │ ├── README.md │ └── model.config └── worlds ├── README.md ├── iRonCub-Mk1_1_world └── iRonCub_Mk1_1_world └── iRonCub-Mk1_world └── iRonCub_Mk1_world /.gitattributes: -------------------------------------------------------------------------------- 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