├── .gitattributes ├── .gitignore ├── LICENSE ├── README.md ├── docs ├── door.gif ├── framework.png └── tunnel.gif ├── qm_common ├── CMakeLists.txt ├── include │ └── qm_common │ │ └── hardware_interface │ │ ├── ContactSensorInterface.h │ │ └── HybridJointInterface.h └── package.xml ├── qm_controllers ├── CMakeLists.txt ├── cfg │ └── weight.cfg ├── config │ ├── controllers.yaml │ ├── door_opening.rviz │ ├── gait.info │ ├── joy.yaml │ ├── maze.rviz │ ├── mobile.rviz │ ├── pallets.rviz │ ├── reference.info │ ├── rqt_multiplot.xml │ ├── sar.rviz │ ├── stairs.rviz │ ├── task.info │ ├── tunnel.rviz │ └── vchimney.rviz ├── include │ └── qm_controllers │ │ ├── GaitJoyPublisher.h │ │ ├── GaitTopicPublisher.h │ │ ├── QMController.h │ │ ├── QmTargetTrajectoriesPublisher.h │ │ ├── SafetyChecker.h │ │ └── StartingPosition.h ├── launch │ ├── joy_teleop.launch │ ├── load_controller.launch │ ├── load_controller_mpc.launch │ ├── load_qm_target.launch │ ├── rviz_door.launch │ └── rviz_stairs.launch ├── package.xml ├── qm_controllers_plugins.xml └── src │ ├── GaitJoyPublisher.cpp │ ├── GaitTopicPublisher.cpp │ ├── QMController.cpp │ ├── QmTargetTrajectoriesPublisher.cpp │ └── QmTargetTrajectoriesPublisher_node.cpp ├── qm_description ├── CMakeLists.txt ├── config │ ├── door_view.rviz │ ├── manipulator_view.rviz │ ├── qm_view.rviz │ ├── quadruped_view.rviz │ └── robot_control.yaml ├── launch │ ├── view_dog.launch │ ├── view_door.launch │ ├── view_manipulator.launch │ └── view_qm.launch ├── meshes │ ├── camera │ │ ├── camera.stl │ │ ├── camera_cover.stl │ │ ├── d435.dae │ │ ├── support_1.stl │ │ ├── support_2.stl │ │ └── support_3.stl │ ├── doors │ │ ├── door.stl │ │ ├── frame.stl │ │ └── lever.stl │ ├── manipulator │ │ ├── z1_GripperMover.dae │ │ ├── z1_GripperMover.stl │ │ ├── z1_GripperStator.dae │ │ ├── z1_GripperStator.stl │ │ ├── z1_Link00.dae │ │ ├── z1_Link00.stl │ │ ├── z1_Link01.dae │ │ ├── z1_Link01.stl │ │ ├── z1_Link02.dae │ │ ├── z1_Link02.stl │ │ ├── z1_Link03.dae │ │ ├── z1_Link03.stl │ │ ├── z1_Link04.dae │ │ ├── z1_Link04.stl │ │ ├── z1_Link05.dae │ │ ├── z1_Link05.stl │ │ ├── z1_Link06.dae │ │ └── z1_Link06.stl │ ├── mazes │ │ ├── maze_1.stl │ │ ├── maze_2.stl │ │ ├── maze_3.stl │ │ └── maze_4.stl │ ├── pallets │ │ ├── Pallet13cm.stl │ │ ├── Pallet15cm.stl │ │ ├── Pallet18cm.stl │ │ └── Pallet20cm.stl │ ├── quadruped │ │ └── aliengo │ │ │ ├── calf.dae │ │ │ ├── calf_corrected.stl │ │ │ ├── hip.dae │ │ │ ├── thigh.dae │ │ │ ├── thigh_mirror.dae │ │ │ ├── trunk.dae │ │ │ └── trunk_uv_base_final.png │ ├── sar │ │ ├── Plate.stl │ │ ├── Sphere10.stl │ │ ├── Sphere15.stl │ │ ├── Sphere5.stl │ │ ├── Stick.stl │ │ └── TerrainMobile.stl │ ├── tunnel │ │ ├── TerrainTunnel.stl │ │ ├── Tunnel30.stl │ │ ├── Tunnel40.stl │ │ ├── Tunnel50.stl │ │ └── Tunnel60.stl │ └── vchimney │ │ └── VChimney.stl ├── package.xml └── urdf │ ├── doors │ ├── door_pull.urdf │ ├── door_pull.xacro │ ├── door_push.urdf │ └── door_push.xacro │ ├── manipulator │ ├── const.xacro │ ├── gazebo.xacro │ ├── materials.xacro │ ├── robot.xacro │ ├── transmission.xacro │ └── z1.urdf │ ├── mazes │ ├── maze1.xacro │ ├── maze2.xacro │ ├── maze3.xacro │ └── maze4.xacro │ ├── pallets │ ├── pallet1.xacro │ ├── pallet2.xacro │ ├── pallet3.xacro │ └── pallet4.xacro │ ├── quadruped │ ├── aliengo.urdf │ ├── aliengo │ │ └── const.xacro │ ├── common │ │ ├── gazebo.xacro │ │ ├── imu.xacro │ │ ├── leg.xacro │ │ ├── materials.xacro │ │ └── transmission.xacro │ └── robot.xacro │ ├── quadruped_manipulator │ ├── _d435.gazebo.xacro │ ├── camera.xacro │ ├── camera2.xacro │ ├── const.xacro │ ├── gazebo.xacro │ ├── robot.urdf │ └── robot.xacro │ ├── sar │ ├── ball10.xacro │ ├── ball15.xacro │ ├── plate.xacro │ ├── rod.xacro │ └── terrain.xacro │ ├── stairs │ ├── stairs.urdf │ └── stairs.xacro │ ├── tunnel │ ├── terrain.xacro │ ├── tunnel1.xacro │ ├── tunnel2.xacro │ ├── tunnel3.xacro │ └── tunnel4.xacro │ ├── vchimney │ └── vchimney.xacro │ └── walls │ ├── wall_1.urdf │ ├── wall_1.xacro │ ├── wall_2.urdf │ └── wall_2.xacro ├── qm_door ├── CMakeLists.txt └── package.xml ├── qm_estimation ├── CMakeLists.txt ├── include │ └── qm_estimation │ │ ├── FromTopiceEstimate.h │ │ └── StateEstimateBase.h ├── package.xml └── src │ ├── FromTopiceEstimate.cpp │ └── StateEstimateBase.cpp ├── qm_gazebo ├── CMakeLists.txt ├── config │ ├── default.yaml │ └── position_control.yaml ├── include │ └── qm_gazebo │ │ └── QMHWSim.h ├── launch │ ├── cs │ │ ├── empty_world.launch │ │ ├── pallets_world.launch │ │ ├── pull_door_world.launch │ │ ├── push_door_world.launch │ │ ├── sar_world.launch │ │ ├── stairs_world.launch │ │ ├── tunnel_world.launch │ │ └── vchimney_world.launch │ └── ss │ │ ├── empty_world_mpc.launch │ │ ├── maze_world_mpc.launch │ │ ├── mobile_world_mpc.launch │ │ ├── pallets_world_mpc.launch │ │ ├── pull_door_world_mpc.launch │ │ ├── push_door_world_mpc.launch │ │ ├── sar_world_mpc.launch │ │ ├── stairs_world_mpc.launch │ │ ├── tunnel_world_mpc.launch │ │ └── vchimney_world_mpc.launch ├── package.xml ├── qm_hw_sim_plugins.xml ├── src │ └── QMHWSim.cpp └── worlds │ └── custom_world.world ├── qm_interface ├── CMakeLists.txt ├── include │ └── qm_interface │ │ ├── QMInterface.h │ │ ├── QMPreComputation.h │ │ ├── common │ │ └── ModelSettings.h │ │ ├── constraint │ │ ├── EndEffectorConstraint.h │ │ └── NormalVelocityConstraintCppAd.h │ │ ├── cost │ │ └── LeggedRobotQuadraticTrackingCost.h │ │ ├── dynamics │ │ └── QMDynamicsAD.h │ │ ├── initialization │ │ └── QMInitializer.h │ │ └── visualization │ │ └── qm_visualization.h ├── package.xml └── src │ ├── QMInterface.cpp │ ├── QMPreComputation.cpp │ ├── common │ └── ModelSettings.cpp │ ├── constraint │ ├── EndEffectorConstraint.cpp │ └── NormalVelocityConstraintCppAd.cpp │ ├── dynamics │ └── QMDynamicsAD.cpp │ ├── initialization │ └── QMInitializer.cpp │ └── visualization │ └── qm_visualization.cpp ├── qm_msgs ├── CMakeLists.txt ├── msg │ ├── arm_torque.msg │ ├── base_state.msg │ └── ee_state.msg └── 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