├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── README_install.md ├── gifs ├── aliengo_trot.gif ├── go2_bound.gif └── hyqreal_pace.gif ├── installation ├── docker │ ├── integrated_gpu │ │ └── dockerfile │ └── nvidia │ │ └── dockerfile └── mamba │ ├── integrated_gpu │ ├── mamba_environment.yml │ ├── mamba_environment_ros1.yml │ ├── mamba_environment_ros2_humble.yml │ └── mamba_environment_ros2_jazzy.yml │ └── nvidia_cuda │ ├── mamba_environment.yml │ ├── mamba_environment_ros1.yml │ ├── mamba_environment_ros2_humble.yml │ └── mamba_environment_ros2_jazzy.yml ├── pyproject.toml ├── quadruped_pympc ├── __init__.py ├── config.py ├── controllers │ ├── __init__.py │ ├── gradient │ │ ├── collaborative │ │ │ ├── __init__.py │ │ │ ├── centroidal_model_collaborative.py │ │ │ └── centroidal_nmpc_collaborative.py │ │ ├── input_rates │ │ │ ├── __init__.py │ │ │ ├── centroidal_model_input_rates.py │ │ │ └── centroidal_nmpc_input_rates.py │ │ ├── kinodynamic │ │ │ ├── kinodynamic_model.py │ │ │ └── kinodynamic_nmpc.py │ │ ├── lyapunov │ │ │ ├── centroidal_model_lyapunov.py │ │ │ └── centroidal_nmpc_lyapunov.py │ │ └── nominal │ │ │ ├── __init__.py │ │ │ ├── centroidal_model_nominal.py │ │ │ ├── centroidal_nmpc_gait_adaptive.py │ │ │ └── centroidal_nmpc_nominal.py │ └── sampling │ │ ├── __init__.py │ │ ├── centroidal_model_jax.py │ │ ├── centroidal_nmpc_jax.py │ │ └── centroidal_nmpc_jax_gait_adaptive.py ├── helpers │ ├── __init__.py │ ├── early_stance_detector.py │ ├── foothold_reference_generator.py │ ├── inverse_kinematics │ │ ├── __init__.py │ │ ├── inverse_kinematics_numeric_adam.py │ │ ├── inverse_kinematics_numeric_mujoco.py │ │ └── inverse_kinematics_qp.py │ ├── periodic_gait_generator.py │ ├── periodic_gait_generator_jax.py │ ├── quadruped_utils.py │ ├── swing_generators │ │ ├── __init__.py │ │ ├── explicit_swing_trajectory_generator.py │ │ └── scipy_swing_trajectory_generator.py │ ├── swing_trajectory_controller.py │ ├── terrain_estimator.py │ ├── velocity_modulator.py │ └── visual_foothold_adaptation.py ├── interfaces │ ├── __init__.py │ ├── srbd_batched_controller_interface.py │ ├── srbd_controller_interface.py │ └── wb_interface.py └── quadruped_pympc_wrapper.py ├── ros2 ├── console.py ├── dls2_connect.sh ├── msgs_ws │ └── src │ │ └── dls2_interface │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── idl │ │ ├── BaseState.idl │ │ ├── BlindState.idl │ │ ├── Imu.idl │ │ ├── Pose.idl │ │ ├── Screw.idl │ │ └── TrajectoryGenerator.idl │ │ ├── msg │ │ ├── BaseState.msg │ │ ├── BlindState.msg │ │ ├── ControlSignal.msg │ │ ├── FeetContactState.msg │ │ ├── Imu.msg │ │ ├── Pose.msg │ │ ├── Screw.msg │ │ ├── TimeDebug.msg │ │ └── TrajectoryGenerator.msg │ │ └── package.xml ├── run_controller.py └── run_simulator.py └── simulation ├── __init__.py ├── batched_simulations.py ├── generate_dataset.py └── simulation.py /.gitignore: -------------------------------------------------------------------------------- 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