├── .gitignore ├── README.md ├── assets └── pictures │ └── cheetah.jpg ├── playground_model └── field │ ├── meshes │ └── vennue.STL │ ├── model.config │ └── model.sdf └── ros_package ├── cheetah_control ├── CMakeLists.txt ├── config │ └── cheetah_control.yaml ├── launch │ └── cheetah_control.launch └── package.xml ├── cheetah_core ├── CMakeLists.txt ├── package.xml └── src │ ├── backflip_demo.py │ ├── leg_control │ ├── __init__.py │ └── legController.py │ ├── lib │ ├── InverseKinematics.py │ ├── __init__.py │ └── settings.py │ ├── motion │ ├── Action.py │ └── Gait.py │ ├── stand_demo.py │ ├── test_demo.py │ └── trot_demo.py ├── cheetah_description ├── CMakeLists.txt ├── meshes │ ├── BODY.STL │ ├── LB1.STL │ ├── LB2.STL │ ├── LB3.STL │ ├── LF1.STL │ ├── LF2.STL │ ├── LF3.STL │ ├── RB1.STL │ ├── RB2.STL │ ├── RB3.STL │ ├── RF1.STL │ ├── RF2.STL │ ├── RF3.STL │ └── vennue.STL ├── package.xml └── urdf │ ├── cheetah.urdf │ └── cheetah_old.urdf └── cheetah_gazebo ├── CMakeLists.txt ├── 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