├── .gitignore ├── LICENSE ├── README.md ├── data ├── hrp2_configs_coplanar └── hyq_description │ ├── meshes │ ├── leg │ │ ├── hipassembly.dae │ │ ├── lowerleg.dae │ │ ├── lowerlegreduced.dae │ │ └── upperleg.dae │ ├── sensors │ │ ├── asus_xtion.dae │ │ ├── asus_xtion.stl │ │ ├── bumblebee.dae │ │ ├── kinect.dae │ │ ├── kinect.stl │ │ ├── velodyne_hdl32e.dae │ │ ├── velodyne_lidar_hdl32e.stl │ │ └── vislab_3dve.stl │ └── trunk │ │ └── trunk.dae │ └── urdf │ └── hyq.urdf └── python └── pinocchio_inv_dyn ├── __init__.py ├── abstract_solver.py ├── acc_bounds_util.py ├── acc_bounds_util_multi_dof.py ├── constraint_violations.py ├── convex_hull_util.py ├── derivative_filters.py ├── examples ├── example_hrp2.py ├── example_hrp2_config.py ├── example_hyq.py └── example_hyq_config.py ├── first_order_low_pass_filter.py ├── geom_utils.py ├── inv_dyn_formulation_util.py ├── min_jerk_traj_gen.py ├── multi_contact ├── __init__.py ├── bezier │ ├── __init__.py │ ├── bezier_0_step_capturability.py │ └── test │ │ └── bezier_0_step_capturability_test.py ├── com_acc_LP.py ├── com_acc_LP_3d.py ├── equilibrium_extremum_LP.py ├── robust_equilibrium_DLP.py ├── stability_criterion.py └── utils.py ├── optimization ├── __init__.py ├── solver_LP_abstract.py ├── solver_LP_cvxopt.py ├── solver_LP_qpoases.py └── solver_LP_scipy.py ├── plot_utils.py ├── polytope_conversion_utils.py ├── robot_wrapper.py ├── simulator.py ├── sot_utils.py ├── staggered_projections.py ├── standard_qp_solver.py ├── tasks.py ├── trajectories.py ├── transformations.py └── viewer_utils.py /.gitignore: -------------------------------------------------------------------------------- 1 | *.pyc 2 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/andreadelprete/pinocchio_inv_dyn/HEAD/LICENSE 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