├── .circleci └── config.yml ├── .github └── workflows │ └── doxygen.yml ├── .gitignore ├── Doxyfile ├── LICENSE ├── README.md ├── casadi_examples ├── Casadi_material │ ├── README.txt │ ├── matlab │ │ ├── MyCallback.m │ │ ├── accessing_mx_algorithm.m │ │ ├── accessing_sx_algorithm.m │ │ ├── callback.m │ │ ├── daebuilder.m │ │ ├── direct_collocation.m │ │ ├── direct_collocation_opti.m │ │ ├── direct_multiple_shooting.m │ │ ├── direct_single_shooting.m │ │ ├── lotka_volterra_minlp.m │ │ ├── race_car.m │ │ ├── rosenbrock.m │ │ ├── sensitivity_analysis.m │ │ ├── sysid.m │ │ ├── sysid_gauss_newton.m │ │ └── vdp_indirect_multiple_shooting.m │ ├── mhe_spring_damper.pdf │ ├── python │ │ ├── accessing_mx_algorithm.py │ │ ├── accessing_sx_algorithm.py │ │ ├── biegler_10_1.py │ │ ├── c_code_generation.py │ │ ├── callback.py │ │ ├── chain_qp.py │ │ ├── dae_collocation.py │ │ ├── dae_multiple_shooting.py │ │ ├── dae_reduced_index.py │ │ ├── dae_single_shooting.py │ │ ├── daebuilder.py │ │ ├── direct_collocation.py │ │ ├── direct_multiple_shooting.py │ │ ├── direct_single_shooting.py │ │ ├── fmu_export.py │ │ ├── implicit_runge-kutta.py │ │ ├── ipopt_nl.py │ │ ├── lotka_volterra_minlp.py │ │ ├── lqr_control.py │ │ ├── mhe_spring_damper.py │ │ ├── modelica_fmu_import.py │ │ ├── multipoint_simulation.py │ │ ├── nlp_codegen.py │ │ ├── nlp_sensitivities.py │ │ ├── parallel_map.py │ │ ├── race_car.py │ │ ├── rocket.py │ │ ├── rosenbrock.py │ │ ├── sensitivity_analysis.py │ │ ├── simple_lp.py │ │ ├── simple_nlp.py │ │ ├── simulation.py │ │ ├── sysid.py │ │ ├── vdp_collocation.py │ │ ├── vdp_collocation2.py │ │ ├── vdp_dynamic_programming.py │ │ ├── vdp_indirect_multiple_shooting.py │ │ └── vdp_indirect_single_shooting.py │ └── user_guide.pdf ├── prototype_NLP.py ├── prototype_ode.py └── protype_cgeneration.py ├── communication_test ├── CMakeLists.txt ├── package.xml └── src │ ├── communication_node.cpp │ ├── cpp_experimentation.cpp │ ├── forcepub.cpp │ ├── grf_retriver.cpp │ ├── ipopt_example │ ├── example_nlp.cpp │ └── example_nlp.hpp │ ├── ipopt_example_ioannis │ ├── ioannis_nlp.cpp │ ├── ioannis_nlp.hpp │ └── main.cpp │ ├── localplansub.cpp │ ├── osqp_example_ioannis │ ├── my_osqp.cpp │ └── osqp_training.cpp │ └── velpub.cpp ├── doc ├── flat.png ├── gap_40cm.png ├── global_body_planner.png ├── parkour_local_min.png ├── quad_sdk_architecture.png ├── quad_sdk_promo.png ├── ros_graph.png ├── rough_25cm.png ├── rough_40cm_huge.png ├── slope_20.png └── step_20cm.png ├── external ├── grid_map_pcl │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ └── parameters.yaml │ ├── doc │ │ ├── forest.png │ │ ├── indoor.png │ │ └── outdoor.png │ ├── include │ │ └── grid_map_pcl │ │ │ ├── GridMapPclConverter.hpp │ │ │ ├── GridMapPclLoader.hpp │ │ │ ├── PclLoaderParameters.hpp │ │ │ ├── PointcloudProcessor.hpp │ │ │ ├── grid_map_pcl.hpp │ │ │ └── helpers.hpp │ ├── launch │ │ └── grid_map_pcl_loader_node.launch │ ├── package.xml │ └── src │ │ ├── GridMapPclConverter.cpp │ │ ├── GridMapPclLoader.cpp │ │ ├── PclLoaderParameters.cpp │ │ ├── PointcloudProcessor.cpp │ │ ├── grid_map_pcl_loader_node.cpp │ │ └── helpers.cpp ├── ipopt │ └── .gitkeep ├── mblink │ ├── README.md │ ├── include │ │ ├── mavlink │ │ │ ├── checksum.h │ │ │ ├── common │ │ │ │ ├── common.h │ │ │ │ ├── mavlink.h │ │ │ │ ├── mavlink_msg_actuator_control_target.h │ │ │ │ ├── mavlink_msg_actuator_output_status.h │ │ │ │ ├── mavlink_msg_adsb_vehicle.h │ │ │ │ ├── mavlink_msg_altitude.h │ │ │ │ ├── mavlink_msg_att_pos_mocap.h │ │ │ │ ├── mavlink_msg_attitude.h │ │ │ │ ├── mavlink_msg_attitude_quaternion.h │ │ │ │ ├── mavlink_msg_attitude_quaternion_cov.h │ │ │ │ ├── mavlink_msg_attitude_target.h │ │ │ │ ├── mavlink_msg_auth_key.h │ │ │ │ ├── mavlink_msg_autopilot_version.h │ │ │ │ ├── mavlink_msg_battery_status.h │ │ │ │ ├── mavlink_msg_button_change.h │ │ │ │ ├── mavlink_msg_camera_capture_status.h │ │ │ │ ├── mavlink_msg_camera_image_captured.h │ │ │ │ ├── mavlink_msg_camera_information.h │ │ │ │ ├── mavlink_msg_camera_settings.h │ │ │ │ ├── mavlink_msg_camera_trigger.h │ │ │ │ ├── mavlink_msg_cellular_status.h │ │ │ │ ├── mavlink_msg_change_operator_control.h │ │ │ │ ├── mavlink_msg_change_operator_control_ack.h │ │ │ │ ├── mavlink_msg_collision.h │ │ │ │ ├── mavlink_msg_command_ack.h │ │ │ │ ├── mavlink_msg_command_int.h │ │ │ │ ├── mavlink_msg_command_long.h │ │ │ │ ├── mavlink_msg_control_system_state.h │ │ │ │ ├── mavlink_msg_data_stream.h │ │ │ │ ├── mavlink_msg_data_transmission_handshake.h │ │ │ │ ├── mavlink_msg_debug.h │ │ │ │ ├── mavlink_msg_debug_float_array.h │ │ │ │ ├── mavlink_msg_debug_vect.h │ │ │ │ ├── mavlink_msg_distance_sensor.h │ │ │ │ ├── mavlink_msg_encapsulated_data.h │ │ │ │ ├── mavlink_msg_estimator_status.h │ │ │ │ ├── mavlink_msg_extended_sys_state.h │ │ │ │ ├── mavlink_msg_file_transfer_protocol.h │ │ │ │ ├── mavlink_msg_flight_information.h │ │ │ │ ├── mavlink_msg_follow_target.h │ │ │ │ ├── mavlink_msg_global_position_int.h │ │ │ │ ├── mavlink_msg_global_position_int_cov.h │ │ │ │ ├── mavlink_msg_global_vision_position_estimate.h │ │ │ │ ├── mavlink_msg_gps2_raw.h │ │ │ │ ├── mavlink_msg_gps2_rtk.h │ │ │ │ ├── mavlink_msg_gps_global_origin.h │ │ │ │ ├── mavlink_msg_gps_inject_data.h │ │ │ │ ├── mavlink_msg_gps_input.h │ │ │ │ ├── mavlink_msg_gps_raw_int.h │ │ │ │ ├── mavlink_msg_gps_rtcm_data.h │ │ │ │ ├── mavlink_msg_gps_rtk.h │ │ │ │ ├── mavlink_msg_gps_status.h │ │ │ │ ├── mavlink_msg_heartbeat.h │ │ │ │ ├── mavlink_msg_high_latency.h │ │ │ │ ├── mavlink_msg_high_latency2.h │ │ │ │ ├── mavlink_msg_highres_imu.h │ │ │ │ ├── mavlink_msg_hil_actuator_controls.h │ │ │ │ ├── mavlink_msg_hil_controls.h │ │ │ │ ├── mavlink_msg_hil_gps.h │ │ │ │ ├── mavlink_msg_hil_optical_flow.h │ │ │ │ ├── mavlink_msg_hil_rc_inputs_raw.h │ │ │ │ ├── mavlink_msg_hil_sensor.h │ │ │ │ ├── mavlink_msg_hil_state.h │ │ │ │ ├── mavlink_msg_hil_state_quaternion.h │ │ │ │ ├── mavlink_msg_home_position.h │ │ │ │ ├── mavlink_msg_isbd_link_status.h │ │ │ │ ├── mavlink_msg_landing_target.h │ │ │ │ ├── mavlink_msg_link_node_status.h │ │ │ │ ├── mavlink_msg_local_position_ned.h │ │ │ │ ├── mavlink_msg_local_position_ned_cov.h │ │ │ │ ├── mavlink_msg_local_position_ned_system_global_offset.h │ │ │ │ ├── mavlink_msg_log_data.h │ │ │ │ ├── mavlink_msg_log_entry.h │ │ │ │ ├── mavlink_msg_log_erase.h │ │ │ │ ├── mavlink_msg_log_request_data.h │ │ │ │ ├── mavlink_msg_log_request_end.h │ │ │ │ ├── mavlink_msg_log_request_list.h │ │ │ │ ├── mavlink_msg_logging_ack.h │ │ │ │ ├── mavlink_msg_logging_data.h │ │ │ │ ├── mavlink_msg_logging_data_acked.h │ │ │ │ ├── mavlink_msg_manual_control.h │ │ │ │ ├── mavlink_msg_manual_setpoint.h │ │ │ │ ├── mavlink_msg_memory_vect.h │ │ │ │ ├── mavlink_msg_message_interval.h │ │ │ │ ├── mavlink_msg_mission_ack.h │ │ │ │ ├── mavlink_msg_mission_changed.h │ │ │ │ ├── mavlink_msg_mission_clear_all.h │ │ │ │ ├── mavlink_msg_mission_count.h │ │ │ │ ├── mavlink_msg_mission_current.h │ │ │ │ ├── mavlink_msg_mission_item.h │ │ │ │ ├── mavlink_msg_mission_item_int.h │ │ │ │ ├── mavlink_msg_mission_item_reached.h │ │ │ │ ├── mavlink_msg_mission_request.h │ │ │ │ ├── mavlink_msg_mission_request_int.h │ │ │ │ ├── mavlink_msg_mission_request_list.h │ │ │ │ ├── mavlink_msg_mission_request_partial_list.h │ │ │ │ ├── mavlink_msg_mission_set_current.h │ │ │ │ ├── mavlink_msg_mission_write_partial_list.h │ │ │ │ ├── mavlink_msg_mount_orientation.h │ │ │ │ ├── mavlink_msg_named_value_float.h │ │ │ │ ├── mavlink_msg_named_value_int.h │ │ │ │ ├── mavlink_msg_nav_controller_output.h │ │ │ │ ├── mavlink_msg_obstacle_distance.h │ │ │ │ ├── mavlink_msg_odometry.h │ │ │ │ ├── mavlink_msg_optical_flow.h │ │ │ │ ├── mavlink_msg_optical_flow_rad.h │ │ │ │ ├── mavlink_msg_orbit_execution_status.h │ │ │ │ ├── mavlink_msg_param_ext_ack.h │ │ │ │ ├── mavlink_msg_param_ext_request_list.h │ │ │ │ ├── mavlink_msg_param_ext_request_read.h │ │ │ │ ├── mavlink_msg_param_ext_set.h │ │ │ │ ├── mavlink_msg_param_ext_value.h │ │ │ │ ├── mavlink_msg_param_map_rc.h │ │ │ │ ├── mavlink_msg_param_request_list.h │ │ │ │ ├── mavlink_msg_param_request_read.h │ │ │ │ ├── mavlink_msg_param_set.h │ │ │ │ ├── mavlink_msg_param_value.h │ │ │ │ ├── mavlink_msg_ping.h │ │ │ │ ├── mavlink_msg_play_tune.h │ │ │ │ ├── mavlink_msg_position_target_global_int.h │ │ │ │ ├── mavlink_msg_position_target_local_ned.h │ │ │ │ ├── mavlink_msg_power_status.h │ │ │ │ ├── mavlink_msg_protocol_version.h │ │ │ │ ├── mavlink_msg_radio_status.h │ │ │ │ ├── mavlink_msg_raw_imu.h │ │ │ │ ├── mavlink_msg_raw_pressure.h │ │ │ │ ├── mavlink_msg_rc_channels.h │ │ │ │ ├── mavlink_msg_rc_channels_override.h │ │ │ │ ├── mavlink_msg_rc_channels_raw.h │ │ │ │ ├── mavlink_msg_rc_channels_scaled.h │ │ │ │ ├── mavlink_msg_request_data_stream.h │ │ │ │ ├── mavlink_msg_resource_request.h │ │ │ │ ├── mavlink_msg_safety_allowed_area.h │ │ │ │ ├── mavlink_msg_safety_set_allowed_area.h │ │ │ │ ├── mavlink_msg_scaled_imu.h │ │ │ │ ├── mavlink_msg_scaled_imu2.h │ │ │ │ ├── mavlink_msg_scaled_imu3.h │ │ │ │ ├── mavlink_msg_scaled_pressure.h │ │ │ │ ├── mavlink_msg_scaled_pressure2.h │ │ │ │ ├── mavlink_msg_scaled_pressure3.h │ │ │ │ ├── mavlink_msg_serial_control.h │ │ │ │ ├── mavlink_msg_servo_output_raw.h │ │ │ │ ├── mavlink_msg_set_actuator_control_target.h │ │ │ │ ├── mavlink_msg_set_attitude_target.h │ │ │ │ ├── mavlink_msg_set_gps_global_origin.h │ │ │ │ ├── mavlink_msg_set_home_position.h │ │ │ │ ├── mavlink_msg_set_mode.h │ │ │ │ ├── mavlink_msg_set_position_target_global_int.h │ │ │ │ ├── mavlink_msg_set_position_target_local_ned.h │ │ │ │ ├── mavlink_msg_setup_signing.h │ │ │ │ ├── mavlink_msg_sim_state.h │ │ │ │ ├── mavlink_msg_smart_battery_info.h │ │ │ │ ├── mavlink_msg_smart_battery_status.h │ │ │ │ ├── mavlink_msg_statustext.h │ │ │ │ ├── mavlink_msg_statustext_long.h │ │ │ │ ├── mavlink_msg_storage_information.h │ │ │ │ ├── mavlink_msg_sys_status.h │ │ │ │ ├── mavlink_msg_system_time.h │ │ │ │ ├── mavlink_msg_terrain_check.h │ │ │ │ ├── mavlink_msg_terrain_data.h │ │ │ │ ├── mavlink_msg_terrain_report.h │ │ │ │ ├── mavlink_msg_terrain_request.h │ │ │ │ ├── mavlink_msg_time_estimate_to_target.h │ │ │ │ ├── mavlink_msg_timesync.h │ │ │ │ ├── mavlink_msg_trajectory_representation_bezier.h │ │ │ │ ├── mavlink_msg_trajectory_representation_waypoints.h │ │ │ │ ├── mavlink_msg_uavcan_node_info.h │ │ │ │ ├── mavlink_msg_uavcan_node_status.h │ │ │ │ ├── mavlink_msg_utm_global_position.h │ │ │ │ ├── mavlink_msg_v2_extension.h │ │ │ │ ├── mavlink_msg_vfr_hud.h │ │ │ │ ├── mavlink_msg_vibration.h │ │ │ │ ├── mavlink_msg_vicon_position_estimate.h │ │ │ │ ├── mavlink_msg_video_stream_information.h │ │ │ │ ├── mavlink_msg_video_stream_status.h │ │ │ │ ├── mavlink_msg_vision_position_estimate.h │ │ │ │ ├── mavlink_msg_vision_speed_estimate.h │ │ │ │ ├── mavlink_msg_wheel_distance.h │ │ │ │ ├── mavlink_msg_wifi_config_ap.h │ │ │ │ ├── mavlink_msg_wind_cov.h │ │ │ │ ├── testsuite.h │ │ │ │ └── version.h │ │ │ ├── mavlink_conversions.h │ │ │ ├── mavlink_get_info.h │ │ │ ├── mavlink_helpers.h │ │ │ ├── mavlink_sha256.h │ │ │ ├── mavlink_types.h │ │ │ ├── minimal │ │ │ │ ├── mavlink.h │ │ │ │ ├── mavlink_msg_heartbeat.h │ │ │ │ ├── minimal.h │ │ │ │ ├── testsuite.h │ │ │ │ └── version.h │ │ │ ├── protocol.h │ │ │ └── standard │ │ │ │ ├── mavlink.h │ │ │ │ ├── standard.h │ │ │ │ ├── testsuite.h │ │ │ │ └── version.h │ │ └── mblink │ │ │ ├── mblink.hpp │ │ │ └── mblink_protocol.hpp │ ├── lib │ │ ├── grmblinkpy.cpython-36m-aarch64-linux-gnu.so │ │ ├── libgrmblink_linux.a │ │ ├── libgrmblink_tx2.a │ │ └── libgrmblink_xavier.a │ ├── mavudptest.py │ └── mb80v2.py ├── mocap_optitrack │ ├── CMakeLists.txt │ ├── config │ │ ├── mocap.yaml │ │ └── mocap_camera.yaml │ ├── include │ │ └── mocap_optitrack │ │ │ ├── data_model.h │ │ │ ├── mocap_config.h │ │ │ ├── rigid_body_publisher.h │ │ │ ├── socket.h │ │ │ └── version.h │ ├── launch │ │ └── mocap.launch │ ├── package.xml │ └── src │ │ ├── CMakeLists.txt │ │ ├── data_model.cpp │ │ ├── mocap_config.cpp │ │ ├── mocap_node.cpp │ │ ├── natnet │ │ ├── natnet_messages.cpp │ │ ├── natnet_messages.h │ │ ├── natnet_packet_definition.cpp │ │ └── natnet_packet_definition.h │ │ ├── rigid_body_publisher.cpp │ │ ├── socket.cpp │ │ └── version.cpp ├── rbdl-orb │ ├── .editorconfig │ ├── .gitignore │ ├── .gitmodules │ ├── CMake │ │ ├── FindCasadi.cmake │ │ ├── FindCython.cmake │ │ ├── FindIPOPT.cmake │ │ ├── FindNumPy2.cmake │ │ ├── FindNumPy3.cmake │ │ ├── ReplicatePythonSourceTree.cmake │ │ └── UseCython.cmake │ ├── CMakeLists.txt │ ├── CONTRIBUTING.md │ ├── Doxyfile │ ├── Jenkinsfile │ ├── LICENSE │ ├── README.md │ ├── addons │ │ ├── balance │ │ │ ├── BalanceToolkit.cc │ │ │ ├── BalanceToolkit.h │ │ │ ├── CMakeLists.txt │ │ │ ├── balance.h │ │ │ └── tests │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── testBalanceToolkit.cc │ │ ├── benchmark │ │ │ ├── CMakeLists.txt │ │ │ ├── Human36Model.cc │ │ │ ├── Human36Model.h │ │ │ ├── SampleData.h │ │ │ ├── Timer.h │ │ │ ├── benchmark.cc │ │ │ ├── model_generator.cc │ │ │ └── model_generator.h │ │ ├── geometry │ │ │ ├── CMakeLists.txt │ │ │ ├── Function.h │ │ │ ├── LICENSE │ │ │ ├── LICENSE_APACHE-2.0.txt │ │ │ ├── NOTICE │ │ │ ├── README.md │ │ │ ├── SegmentedQuinticBezierToolkit.cc │ │ │ ├── SegmentedQuinticBezierToolkit.h │ │ │ ├── SmoothSegmentedFunction.cc │ │ │ ├── SmoothSegmentedFunction.h │ │ │ ├── geometry.h │ │ │ └── tests │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── numericalTestFunctions.cc │ │ │ │ ├── numericalTestFunctions.h │ │ │ │ └── testSmoothSegmentedFunction.cc │ │ ├── luamodel │ │ │ ├── CMakeLists.txt │ │ │ ├── README │ │ │ ├── complexmodel.lua │ │ │ ├── luamodel.cc │ │ │ ├── luamodel.h │ │ │ ├── luastructs.h │ │ │ ├── luatables.cc │ │ │ ├── luatables.h │ │ │ ├── luatypes.h │ │ │ ├── rbdl_luamodel_util.cc │ │ │ ├── sampleconstrainedmodel.lua │ │ │ ├── samplemodel.lua │ │ │ ├── samplemodelwithtorquemuscles.lua │ │ │ └── tests │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── testLuaModel.cc │ │ ├── muscle │ │ │ ├── CMakeLists.txt │ │ │ ├── LICENSE │ │ │ ├── LICENSE_APACHE-2.0.txt │ │ │ ├── Millard2016TorqueMuscle.cc │ │ │ ├── Millard2016TorqueMuscle.h │ │ │ ├── MuscleFunctionFactory.cc │ │ │ ├── MuscleFunctionFactory.h │ │ │ ├── NOTICE │ │ │ ├── README.md │ │ │ ├── TorqueMuscleFittingToolkit.cc │ │ │ ├── TorqueMuscleFittingToolkit.h │ │ │ ├── TorqueMuscleFunctionFactory.cc │ │ │ ├── TorqueMuscleFunctionFactory.h │ │ │ ├── csvtools.cc │ │ │ ├── csvtools.h │ │ │ ├── muscle.h │ │ │ └── tests │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── testMillard2016TorqueMuscle.cc │ │ │ │ ├── testMuscleFunctionFactory.cc │ │ │ │ └── testTorqueMuscleFunctionFactory.cc │ │ └── urdfreader │ │ │ ├── CMake │ │ │ ├── FindURDF.cmake │ │ │ ├── pkg-config.cmake │ │ │ ├── ros.cmake │ │ │ └── shared-library.cmake │ │ │ ├── CMakeLists.txt │ │ │ ├── README.md │ │ │ ├── rbdl_urdfreader_util.cc │ │ │ ├── thirdparty │ │ │ └── CMakeLists.txt │ │ │ ├── urdfreader.cc │ │ │ └── urdfreader.h │ ├── casadi │ │ ├── CMakeLists.txt │ │ └── info.h │ ├── doc │ │ ├── Mainpage.h │ │ ├── api_changes.txt │ │ ├── example.h │ │ ├── images │ │ │ ├── fig_Constraint_Contact.png │ │ │ ├── fig_Constraint_Loop.png │ │ │ ├── fig_GeometryAddon_quinticCornerSections.png │ │ │ ├── fig_MuscleAddon_Anderson2007AllPositiveSigns.png │ │ │ ├── fig_MuscleAddon_BlendableTorqueMuscle.png │ │ │ ├── fig_MuscleAddon_Gymnast_ElbowForearm.png │ │ │ ├── fig_MuscleAddon_Gymnast_HipKneeAnkle.png │ │ │ ├── fig_MuscleAddon_Gymnast_Lumbar.png │ │ │ ├── fig_MuscleAddon_Gymnast_Shoulder3Dof.png │ │ │ ├── fig_MuscleAddon_Gymnast_Wrist3Dof.png │ │ │ ├── fig_MuscleAddon_MuscleFunctionFactory_falCurve.png │ │ │ ├── fig_MuscleAddon_MuscleFunctionFactory_fcCosPhiCurve.png │ │ │ ├── fig_MuscleAddon_MuscleFunctionFactory_fcLengthCurve.png │ │ │ ├── fig_MuscleAddon_MuscleFunctionFactory_fcphiCurve.png │ │ │ ├── fig_MuscleAddon_MuscleFunctionFactory_fpeCurve.png │ │ │ ├── fig_MuscleAddon_MuscleFunctionFactory_fseCurve.png │ │ │ ├── fig_MuscleAddon_MuscleFunctionFactory_fvCurve.png │ │ │ ├── fig_MuscleAddon_MuscleFunctionFactory_fvInvCurve.png │ │ │ ├── fig_MuscleAddon_TorqueMuscleFunctionFactory_DampingBlendingCurve.png │ │ │ ├── fig_MuscleAddon_TorqueMuscleFunctionFactory_GaussianActiveTorqueAngleCurve.png │ │ │ ├── fig_MuscleAddon_TorqueMuscleFunctionFactory_GaussianActiveTorqueAngleCurveSimple.png │ │ │ ├── fig_MuscleAddon_TorqueMuscleFunctionFactory_PassiveTorqueAngleCurve.png │ │ │ ├── fig_MuscleAddon_TorqueMuscleFunctionFactory_PassiveTorqueAngleCurveSimple.png │ │ │ ├── fig_MuscleAddon_TorqueMuscleFunctionFactory_TendonTorqueAngleCurve.png │ │ │ ├── fig_MuscleAddon_TorqueMuscleFunctionFactory_TendonTorqueAngleCurveSimple.png │ │ │ ├── fig_MuscleAddon_TorqueMuscleFunctionFactory_TorqueVelocityCurve.png │ │ │ └── fig_MuscleAddon_TorqueMuscleFunctionFactory_TorqueVelocityCurveSimple.png │ │ ├── logo │ │ │ ├── rbdl_logo.png │ │ │ ├── rbdl_logo.svg │ │ │ ├── rbdl_logo_16x16.png │ │ │ ├── rbdl_logo_32x32.png │ │ │ └── rbdl_logo_64x64.png │ │ ├── luamodel_example.h │ │ ├── notes │ │ │ ├── acceleration_visualization.pdf │ │ │ ├── acceleration_visualization.svg │ │ │ └── point_velocity_acceleration.tex │ │ └── python_example.h │ ├── examples │ │ ├── README.md │ │ ├── bouncingBall │ │ │ ├── CMake │ │ │ │ ├── FindEigen3.cmake │ │ │ │ ├── FindIPOPT.cmake │ │ │ │ └── FindRBDL.cmake │ │ │ ├── CMakeLists.txt │ │ │ ├── README.md │ │ │ ├── model │ │ │ │ └── ballPlaneContact.lua │ │ │ ├── output │ │ │ │ └── animationForces.ff │ │ │ └── src │ │ │ │ ├── ContactToolkit.h │ │ │ │ ├── Timer.h │ │ │ │ ├── bouncingBallBenchmark.cc │ │ │ │ ├── csvtools.cc │ │ │ │ └── csvtools.h │ │ ├── casadi_simple │ │ │ ├── CMakeLists.txt │ │ │ ├── FindCasadi.cmake │ │ │ └── example.cc │ │ ├── constrainedDoublePendulum │ │ │ ├── CMake │ │ │ │ ├── FindBTK.cmake │ │ │ │ ├── FindEigen3.cmake │ │ │ │ ├── FindRBDL.cmake │ │ │ │ ├── Modules │ │ │ │ │ ├── Build.cmake │ │ │ │ │ ├── BuildFortran.cmake │ │ │ │ │ ├── BuildMuscodApps.cmake │ │ │ │ │ ├── BuildPaths.cmake │ │ │ │ │ ├── BuildVplanApps.cmake │ │ │ │ │ ├── CompilerOptions.cmake │ │ │ │ │ ├── CompilerSettingsC.cmake │ │ │ │ │ ├── CompilerSettingsCpp.cmake │ │ │ │ │ ├── CompilerSettingsFortran.cmake │ │ │ │ │ ├── Cosmetics.cmake │ │ │ │ │ ├── DefaultSearchPaths.cmake │ │ │ │ │ ├── ExportIncludeDirs.cmake │ │ │ │ │ ├── FindADIFOR2.cmake │ │ │ │ │ ├── FindADOLC.cmake │ │ │ │ │ ├── FindAMD.cmake │ │ │ │ │ ├── FindBOOST.cmake │ │ │ │ │ ├── FindBQPD.cmake │ │ │ │ │ ├── FindCOMMON_CODE.cmake │ │ │ │ │ ├── FindEFENCE.cmake │ │ │ │ │ ├── FindHDF5.cmake │ │ │ │ │ ├── FindJMODELICA.cmake │ │ │ │ │ ├── FindLIBLAC.cmake │ │ │ │ │ ├── FindMATLAB.cmake │ │ │ │ │ ├── FindMUSCOD.cmake │ │ │ │ │ ├── FindNETCDF.cmake │ │ │ │ │ ├── FindOCTAVE.cmake │ │ │ │ │ ├── FindOOQP.cmake │ │ │ │ │ ├── FindPGPLOT.cmake │ │ │ │ │ ├── FindPLPLOT.cmake │ │ │ │ │ ├── FindQPOASES.cmake │ │ │ │ │ ├── FindQPOPT.cmake │ │ │ │ │ ├── FindSNOPT.cmake │ │ │ │ │ ├── FindSOLVIND.cmake │ │ │ │ │ ├── FindSONIC.cmake │ │ │ │ │ ├── FindSUNDIALS.cmake │ │ │ │ │ ├── FindUFCONFIG.cmake │ │ │ │ │ ├── FindUMFPACK.cmake │ │ │ │ │ ├── FindVPLAN.cmake │ │ │ │ │ ├── FindXERCESC.cmake │ │ │ │ │ ├── FindXXX.cmake │ │ │ │ │ ├── ImportIncludeDirs.cmake │ │ │ │ │ ├── InstallCmakeModules.cmake │ │ │ │ │ ├── Logging.cmake │ │ │ │ │ ├── OptimizeCompilerSettings.cmake │ │ │ │ │ ├── ProblemHandling.cmake │ │ │ │ │ ├── SimOptDefaults.cmake │ │ │ │ │ ├── UseADIFOR2.cmake │ │ │ │ │ ├── UseADOLC.cmake │ │ │ │ │ ├── UseAMD.cmake │ │ │ │ │ ├── UseBOOST.cmake │ │ │ │ │ ├── UseEFENCE.cmake │ │ │ │ │ ├── UseHDF5.cmake │ │ │ │ │ ├── UseMATLAB.cmake │ │ │ │ │ ├── UseNETCDF.cmake │ │ │ │ │ ├── UseOCTAVE.cmake │ │ │ │ │ ├── UseOOQP.cmake │ │ │ │ │ ├── UsePGPLOT.cmake │ │ │ │ │ ├── UsePLPLOT.cmake │ │ │ │ │ ├── UseQPOASES.cmake │ │ │ │ │ ├── UseSNOPT.cmake │ │ │ │ │ ├── UseSUNDIALS.cmake │ │ │ │ │ ├── UseUFCONFIG.cmake │ │ │ │ │ ├── UseUMFPACK.cmake │ │ │ │ │ ├── UseX11.cmake │ │ │ │ │ └── UseXERCESC.cmake │ │ │ │ ├── TESTDartConfig.cmake │ │ │ │ └── TestSuite.cmake │ │ │ ├── CMakeLists.txt │ │ │ ├── README.md │ │ │ ├── model │ │ │ │ └── constrainedDoublePendulum.lua │ │ │ └── src │ │ │ │ ├── constrainedDoublePendulumForwardDynamics.cc │ │ │ │ ├── csvtools.cc │ │ │ │ └── csvtools.h │ │ ├── luamodel │ │ │ ├── CMakeLists.txt │ │ │ ├── FindEigen3.cmake │ │ │ ├── FindRBDL.cmake │ │ │ ├── README.md │ │ │ ├── example_luamodel.cc │ │ │ ├── sampleconstrainedmodel.lua │ │ │ └── samplemodel.lua │ │ ├── pendulum │ │ │ ├── CMake │ │ │ │ ├── FindEigen3.cmake │ │ │ │ └── FindRBDL.cmake │ │ │ ├── CMakeLists.txt │ │ │ ├── README.md │ │ │ ├── model │ │ │ │ ├── pendulum.lua │ │ │ │ └── unit_cube.obj │ │ │ └── src │ │ │ │ ├── csvtools.cc │ │ │ │ ├── csvtools.h │ │ │ │ └── pendulumForwardDynamics.cc │ │ ├── python │ │ │ └── example.py │ │ ├── simple │ │ │ ├── CMakeLists.txt │ │ │ ├── FindEigen3.cmake │ │ │ ├── FindRBDL.cmake │ │ │ └── example.cc │ │ ├── urdfreader │ │ │ ├── CMakeLists.txt │ │ │ ├── FindEigen3.cmake │ │ │ ├── FindRBDL.cmake │ │ │ ├── README.md │ │ │ └── example_urdfreader.cc │ │ └── walkingInverseDynamicsWithPython │ │ │ ├── README.md │ │ │ ├── gait912.lua │ │ │ ├── gaitDataPlanar.c3d │ │ │ ├── grf.ff │ │ │ ├── meshes │ │ │ ├── foot.obj │ │ │ ├── hand.obj │ │ │ ├── head.obj │ │ │ ├── lowerArm.obj │ │ │ ├── middleTrunk.obj │ │ │ ├── pelvis.obj │ │ │ ├── shank.obj │ │ │ ├── thigh.obj │ │ │ ├── trunk.obj │ │ │ ├── unit_sphere_medres.obj │ │ │ ├── upperArm.obj │ │ │ └── upperTrunk.obj │ │ │ └── processInverseDynamics.py │ ├── include │ │ └── rbdl │ │ │ ├── Body.h │ │ │ ├── CasadiMath │ │ │ ├── MX_Xd_dynamic.h │ │ │ ├── MX_Xd_scalar.h │ │ │ ├── MX_Xd_static.h │ │ │ ├── MX_Xd_subMatrix.h │ │ │ └── MX_Xd_utils.h │ │ │ ├── Constraint.h │ │ │ ├── Constraint_Contact.h │ │ │ ├── Constraint_Loop.h │ │ │ ├── Constraints.h │ │ │ ├── Dynamics.h │ │ │ ├── Joint.h │ │ │ ├── Kinematics.h │ │ │ ├── Logging.h │ │ │ ├── Model.h │ │ │ ├── Quaternion.h │ │ │ ├── SpatialAlgebraOperators.h │ │ │ ├── compileassert.h │ │ │ ├── rbdl.h │ │ │ ├── rbdl_casadi_config.h.cmake │ │ │ ├── rbdl_config.h.cmake │ │ │ ├── rbdl_eigenmath.h │ │ │ ├── rbdl_errors.h │ │ │ ├── rbdl_math.h │ │ │ ├── rbdl_mathutils.h │ │ │ └── rbdl_utils.h │ ├── python │ │ ├── CMakeLists.txt │ │ ├── ICustomJoint.cpp │ │ ├── ICustomJoint.h │ │ ├── README.md │ │ ├── crbdl.pxd │ │ ├── crbdlmuscle.pxd │ │ ├── rbdl-python.h │ │ ├── rbdl-python_api.h │ │ ├── rbdl-wrapper.pyx │ │ ├── rbdl.pxd │ │ ├── rbdl_loadmodel.cc │ │ ├── rbdl_ptr_functions.h │ │ ├── rbdlmuscle.pyx │ │ ├── setup.py.cmake │ │ ├── test_rbdlmuscle.py │ │ ├── test_wrapper.py │ │ └── wrappergen.py │ ├── rbdl.pc.cmake │ ├── share │ │ ├── FindRBDL.cmake │ │ ├── RBDLCasadiConfig.cmake.in │ │ ├── RBDLConfig.cmake.in │ │ ├── rbdl-casadi.pc.cmake │ │ └── rbdl.pc.cmake │ ├── src │ │ ├── Constraint_Contact.cc │ │ ├── Constraint_Loop.cc │ │ ├── Constraints.cc │ │ ├── Dynamics.cc │ │ ├── Joint.cc │ │ ├── Kinematics.cc │ │ ├── Logging.cc │ │ ├── Model.cc │ │ ├── rbdl_errors.cc │ │ ├── rbdl_mathutils.cc │ │ ├── rbdl_utils.cc │ │ └── rbdl_version.cc │ ├── tests │ │ ├── BodyTests.cc │ │ ├── CMakeLists.txt │ │ ├── CalcAccelerationsTests.cc │ │ ├── CalcVelocitiesTests.cc │ │ ├── CompositeRigidBodyTests.cc │ │ ├── ContactsTests.cc │ │ ├── CustomConstraintsTests.cc │ │ ├── CustomJointMultiBodyTests.cc │ │ ├── CustomJointSingleBodyTests.cc │ │ ├── CustomJointTests.cc │ │ ├── DynamicsTests.cc │ │ ├── ErrorTests.cc │ │ ├── Fixtures.h │ │ ├── FloatingBaseTests.cc │ │ ├── ForwardDynamicsConstraintsExternalForces.cc │ │ ├── Human36Fixture.h │ │ ├── ImpulsesTests.cc │ │ ├── InverseDynamicsTests.cc │ │ ├── InverseDynamicsWithConstraintsTests.cc │ │ ├── InverseKinematicsTests.cc │ │ ├── KinematicsTests.cc │ │ ├── LoopConstraintsTests.cc │ │ ├── MathTests.cc │ │ ├── ModelTests.cc │ │ ├── MultiDofTests.cc │ │ ├── PendulumModels.h │ │ ├── ScrewJointTests.cc │ │ ├── SparseFactorizationTests.cc │ │ ├── SpatialAlgebraTests.cc │ │ ├── TwolegModelTests.cc │ │ ├── UtilsTests.cc │ │ ├── main.cc │ │ └── rbdl_tests.h │ ├── update.sh │ └── utils │ │ └── matlab │ │ ├── FrameTranslation.m │ │ ├── VectorCrossMatrix.m │ │ └── ZYXEulerToMatrix.m ├── setup_deps.sh ├── teleop_twist_joy │ ├── .gitignore │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── LICENSE.txt │ ├── README.md │ ├── config │ │ ├── atk3.config.yaml │ │ ├── joy-con-r.config.yaml │ │ ├── ps3-holonomic.config.yaml │ │ ├── ps3.config.yaml │ │ ├── xbox.config.yaml │ │ └── xd3.config.yaml │ ├── include │ │ └── teleop_twist_joy │ │ │ └── teleop_twist_joy.h │ ├── launch │ │ └── teleop.launch │ ├── package.xml │ ├── src │ │ ├── teleop_node.cpp │ │ └── teleop_twist_joy.cpp │ └── test │ │ ├── differential_joy.test │ │ ├── holonomic_joy.test │ │ ├── no_enable_joy.test │ │ ├── only_turbo_joy.test │ │ ├── six_dof_joy.test │ │ ├── test_joy_twist.py │ │ ├── turbo_angular_enable_joy.test │ │ ├── turbo_angular_enable_joy_with_rosparam_map.test │ │ └── turbo_enable_joy.test └── teleop_twist_keyboard │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ └── teleop_twist_keyboard.py ├── global_body_planner ├── CMakeLists.txt ├── README.md ├── global_body_planner.yaml ├── include │ ├── .DS_Store │ └── global_body_planner │ │ ├── gbpl.h │ │ ├── global_body_plan.h │ │ ├── global_body_planner.h │ │ ├── global_body_planner_test_fixture.h │ │ ├── graph_class.h │ │ ├── planner_class.h │ │ ├── planning_utils.h │ │ └── rrt.h ├── launch │ ├── diagnostics.launch │ └── example.launch ├── package.xml ├── setup_deps.sh ├── src │ ├── gbpl.cpp │ ├── global_body_plan.cpp │ ├── global_body_planner.cpp │ ├── global_body_planner_node.cpp │ ├── graph_class.cpp │ ├── planner_class.cpp │ ├── planning_utils.cpp │ └── rrt.cpp └── test │ ├── test_global_body_planner.cpp │ ├── test_kinematics.cpp │ ├── test_performance.cpp │ └── test_rotate_grf.cpp ├── lmpc_controller ├── CMakeLists.txt ├── include │ └── lmpc_controller │ │ └── lmpc_controller.h ├── package.xml └── src │ └── lmpc_controller.cpp ├── local_planner ├── CMakeLists.txt ├── README.md ├── include │ └── local_planner │ │ ├── local_footstep_planner.h │ │ ├── local_planner.h │ │ └── local_planner_modes.h ├── local_planner.yaml ├── package.xml ├── setup_deps.sh ├── src │ ├── local_footstep_planner.cpp │ ├── local_planner.cpp │ └── local_planner_node.cpp └── test │ ├── test_local_footstep_planner.cpp │ └── test_local_planner.cpp ├── nmpc_controller ├── CMakeLists.txt ├── README.md ├── include │ └── nmpc_controller │ │ ├── gen │ │ ├── eval_g_a1.h │ │ ├── eval_g_leg_complex.h │ │ ├── eval_g_leg_complex_to_simple.h │ │ ├── eval_g_leg_simple.h │ │ ├── eval_g_leg_simple_to_complex.h │ │ ├── eval_g_spirit.h │ │ ├── eval_hess_g_a1.h │ │ ├── eval_hess_g_leg_complex.h │ │ ├── eval_hess_g_leg_complex_to_simple.h │ │ ├── eval_hess_g_leg_simple.h │ │ ├── eval_hess_g_leg_simple_to_complex.h │ │ ├── eval_hess_g_spirit.h │ │ ├── eval_jac_g_a1.h │ │ ├── eval_jac_g_leg_complex.h │ │ ├── eval_jac_g_leg_complex_to_simple.h │ │ ├── eval_jac_g_leg_simple.h │ │ ├── eval_jac_g_leg_simple_to_complex.h │ │ └── eval_jac_g_spirit.h │ │ ├── nmpc_controller.h │ │ └── quad_nlp.h ├── nmpc_controller.yaml ├── package.xml ├── scripts │ ├── dynamicsModel.m │ ├── main.m │ └── utils │ │ ├── angvel2skew.m │ │ ├── elementwiseSimplify.m │ │ ├── rbvel2twist.m │ │ ├── skew2angvel.m │ │ ├── tform2adjoint.m │ │ └── twist2rbvel.m ├── setup_deps.sh ├── src │ ├── adaptive_complexity_utils.cpp │ ├── gen │ │ ├── eval_g_a1.cpp │ │ ├── eval_g_leg_complex.cpp │ │ ├── eval_g_leg_complex_to_simple.cpp │ │ ├── eval_g_leg_simple.cpp │ │ ├── eval_g_leg_simple_to_complex.cpp │ │ ├── eval_g_spirit.cpp │ │ ├── eval_hess_g_a1.cpp │ │ ├── eval_hess_g_leg_complex.cpp │ │ ├── eval_hess_g_leg_complex_to_simple.cpp │ │ ├── eval_hess_g_leg_simple.cpp │ │ ├── eval_hess_g_leg_simple_to_complex.cpp │ │ ├── eval_hess_g_spirit.cpp │ │ ├── eval_jac_g_a1.cpp │ │ ├── eval_jac_g_leg_complex.cpp │ │ ├── eval_jac_g_leg_complex_to_simple.cpp │ │ ├── eval_jac_g_leg_simple.cpp │ │ ├── eval_jac_g_leg_simple_to_complex.cpp │ │ └── eval_jac_g_spirit.cpp │ ├── nmpc_controller.cpp │ ├── quad_nlp.cpp │ └── quad_nlp_utils.cpp └── test │ ├── test_adaptive_complexity.cpp │ └── test_nmpc_controller.cpp ├── quad_logger ├── .DS_Store ├── .gitignore ├── CMakeLists.txt ├── bags │ ├── .gitignore │ └── archive │ │ └── .gitignore ├── logs │ └── .gitkeep ├── package.xml ├── scripts │ ├── .gitignore │ ├── align_Ylabels.m │ ├── animateData.m │ ├── bag_reader.py │ ├── cmuColor.m │ ├── getToeForces.m │ ├── mouse_interface.py │ ├── parseQuadBag.m │ ├── plotControl.m │ ├── plotLocalPlan.m │ ├── plotState.m │ ├── plotToeForces.m │ ├── processLog.m │ ├── read_bag.py │ └── saveLog.m └── setup_deps.sh ├── quad_msgs ├── .DS_Store ├── CMakeLists.txt ├── README.md ├── msg │ ├── BodyPlan.msg │ ├── BodyState.msg │ ├── ContactMode.msg │ ├── FootPlanDiscrete.msg │ ├── FootState.msg │ ├── GRFArray.msg │ ├── LegCommand.msg │ ├── LegCommandArray.msg │ ├── LegContactMode.msg │ ├── LocalPlan.msg │ ├── MotorCommand.msg │ ├── MultiFootPlanContinuous.msg │ ├── MultiFootPlanDiscrete.msg │ ├── MultiFootState.msg │ ├── RobotPlan.msg │ ├── RobotPlanDiagnostics.msg │ ├── RobotState.msg │ └── matlab_msg_gen_ros1 │ │ ├── CATKIN_IGNORE │ │ └── COLCON_IGNORE └── package.xml ├── quad_simulator ├── LICENSE ├── README.md ├── a1_description │ ├── CMakeLists.txt │ ├── LICENSE │ ├── launch │ │ ├── a1_rviz.launch │ │ └── check_joint.rviz │ ├── meshes │ │ ├── calf.dae │ │ ├── hip.dae │ │ ├── thigh.dae │ │ ├── thigh_mirror.dae │ │ ├── trunk.dae │ │ ├── trunk_A1.png │ │ └── trunk_A1_original.png │ ├── package.xml │ ├── sdf_mesh │ │ ├── a1.sdf │ │ └── model.config │ ├── urdf │ │ └── a1.urdf │ └── xacro │ │ ├── const.xacro │ │ ├── gazebo.xacro │ │ ├── leg.xacro │ │ ├── materials.xacro │ │ ├── robot.xacro │ │ └── transmission.xacro ├── gazebo_scripts │ ├── CMakeLists.txt │ ├── config │ │ ├── a1_control.yaml │ │ ├── default.rviz │ │ └── quad_control.yaml │ ├── include │ │ ├── contact_plugin.h │ │ ├── contact_state_publisher.h │ │ ├── controller_plugin.h │ │ └── estimator_plugin.h │ ├── package.xml │ ├── spirit_controller_plugin.xml │ ├── src │ │ ├── contact_plugin.cpp │ │ ├── contact_state_publisher.cpp │ │ ├── contact_state_publisher_node.cpp │ │ ├── controller_plugin.cpp │ │ └── estimator_plugin.cpp │ └── worlds │ │ ├── flat │ │ ├── flat.ply │ │ ├── flat.stl │ │ └── flat.world │ │ ├── gap_20cm │ │ ├── gap_20cm.ply │ │ ├── gap_20cm.stl │ │ └── gap_20cm.world │ │ ├── gap_40cm │ │ ├── gap_40cm.ply │ │ ├── gap_40cm.stl │ │ └── gap_40cm.world │ │ ├── gap_40cm_local_min │ │ ├── gap_40cm_local_min.ply │ │ ├── gap_40cm_local_min.stl │ │ └── gap_40cm_local_min.world │ │ ├── gap_80cm │ │ ├── gap_80cm.ply │ │ ├── gap_80cm.stl │ │ └── gap_80cm.world │ │ ├── parkour_local_min │ │ ├── parkour_local_min.ply │ │ ├── parkour_local_min.stl │ │ └── parkour_local_min.world │ │ ├── rough_25cm │ │ ├── rough_25cm.ply │ │ ├── rough_25cm.stl │ │ └── rough_25cm.world │ │ ├── rough_40cm_huge │ │ ├── rough_40cm_huge.ply │ │ ├── rough_40cm_huge.stl │ │ └── rough_40cm_huge.world │ │ ├── slope_20 │ │ ├── slope_20.ply │ │ ├── slope_20.stl │ │ └── slope_20.world │ │ ├── slope_20_hole │ │ ├── slope_20_hole.ply │ │ ├── slope_20_hole.stl │ │ └── slope_20_hole.world │ │ ├── step_10cm │ │ ├── step_10cm.ply │ │ ├── step_10cm.stl │ │ └── step_10cm.world │ │ ├── step_10cm_local_min │ │ ├── step_10cm_local_min.ply │ │ ├── step_10cm_local_min.stl │ │ └── step_10cm_local_min.world │ │ ├── step_15cm_local_min │ │ ├── step_15cm_local_min.ply │ │ ├── step_15cm_local_min.stl │ │ └── step_15cm_local_min.world │ │ ├── step_20cm │ │ ├── step_20cm.ply │ │ ├── step_20cm.stl │ │ └── step_20cm.world │ │ ├── step_25cm │ │ ├── step_25cm.ply │ │ ├── step_25cm.stl │ │ └── step_25cm.world │ │ └── step_30cm │ │ ├── step_30cm.ply │ │ ├── step_30cm.stl │ │ └── step_30cm.world ├── other │ ├── objects_description │ │ ├── bars │ │ │ ├── bars.sdf │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── bars.material │ │ │ │ └── textures │ │ │ │ │ └── frame.jpg │ │ │ └── model.config │ │ ├── box │ │ │ ├── box.sdf │ │ │ └── model.config │ │ ├── cmu_text │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── custom_ground_plane │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── custom_sun │ │ │ ├── model.config │ │ │ └── model.sdf │ │ └── mesh_terrain │ │ │ ├── model.config │ │ │ └── model.sdf │ └── sensor_description │ │ └── imu │ │ ├── model.config │ │ └── model.sdf ├── setup_deps.sh └── spirit_description │ ├── CMakeLists.txt │ ├── materials │ └── materials.mtl │ ├── meshes │ ├── Spirit40_Body_Mesh_transformed.stl │ ├── Spirit40_CMU_Text.stl │ ├── Spirit40_CMU_Text_transformed.stl │ ├── Spirit40_Hip_Module_transformed.stl │ ├── Spirit40_Lower_Leg_transformed.stl │ └── Spirit40_Upper_leg_transformed.stl │ ├── package.xml │ ├── sdf_mesh │ ├── model.config │ ├── spirit.sdf │ └── spirit_rotors.sdf │ └── urdf │ ├── spirit.urdf │ ├── spirit.urdf.xacro │ ├── spirit_gazebo.urdf │ ├── spirit_gazebo.urdf.xacro │ ├── spirit_meshes.urdf │ └── xacro.py ├── quad_utils ├── CMakeLists.txt ├── FindRBDL.cmake ├── README.md ├── config │ ├── a1.yaml │ ├── dashboard.perspective │ ├── filter_chain.yaml │ ├── grid_map_visualization.yaml │ ├── plotjuggler_config.xml │ ├── plotjuggler_config_hw.xml │ ├── remote_heartbeat.yaml │ ├── rviz_interface.yaml │ ├── spirit.yaml │ ├── teleop_twist_keyboard.yaml │ ├── terrain_map_publisher.yaml │ ├── topics_global.yaml │ ├── topics_robot.yaml │ └── trajectory_publisher.yaml ├── data │ ├── ground.png │ ├── rough_terrain │ │ ├── dxdata.csv │ │ ├── dxdata_filt.csv │ │ ├── dydata.csv │ │ ├── dydata_filt.csv │ │ ├── dzdata.csv │ │ ├── dzdata_filt.csv │ │ ├── nx_data.csv │ │ ├── nx_data_filt.csv │ │ ├── ny_data.csv │ │ ├── ny_data_filt.csv │ │ ├── nz_data.csv │ │ ├── nz_data_filt.csv │ │ ├── x_data.csv │ │ ├── xdata.csv │ │ ├── y_data.csv │ │ ├── ydata.csv │ │ ├── z_data.csv │ │ ├── z_data_filt.csv │ │ └── zdata.csv │ ├── slope.png │ ├── slope │ │ ├── nx_data.csv │ │ ├── nx_data_filt.csv │ │ ├── ny_data.csv │ │ ├── ny_data_filt.csv │ │ ├── nz_data.csv │ │ ├── nz_data_filt.csv │ │ ├── x_data.csv │ │ ├── y_data.csv │ │ ├── z_data.csv │ │ └── z_data_filt.csv │ └── step │ │ ├── nx_data.csv │ │ ├── nx_data_filt.csv │ │ ├── ny_data.csv │ │ ├── ny_data_filt.csv │ │ ├── nz_data.csv │ │ ├── nz_data_filt.csv │ │ ├── x_data.csv │ │ ├── y_data.csv │ │ ├── z_data.csv │ │ └── z_data_filt.csv ├── include │ └── quad_utils │ │ ├── fast_terrain_map.h │ │ ├── function_timer.h │ │ ├── math_utils.h │ │ ├── matrix_utils.h │ │ ├── mesh_to_grid_map_converter.hpp │ │ ├── quad_kd.h │ │ ├── remote_heartbeat.h │ │ ├── ros_utils.h │ │ ├── rviz_interface.h │ │ ├── tail_type.h │ │ ├── terrain_map_publisher.h │ │ └── trajectory_publisher.h ├── launch │ ├── load_global_params.launch │ ├── load_robot_params.launch │ ├── logging.launch │ ├── mapping.launch │ ├── mocap.launch │ ├── planning.launch │ ├── quad_gazebo.launch │ ├── quad_plan.launch │ ├── quad_spawn.launch │ ├── quad_visualization.launch │ ├── remote_driver.launch │ ├── robot_driver.launch │ └── visualization_plugins.launch ├── package.xml ├── rviz │ └── quad_viewer.rviz ├── scripts │ ├── init_remote.sh │ ├── init_robot.sh │ ├── launch_remote_env.sh │ ├── launch_robot_env.sh │ ├── load_params_bg.sh │ └── twist_key_controller.py ├── setup_deps.sh ├── src │ ├── fast_terrain_map.cpp │ ├── math_utils.cpp │ ├── mesh_to_grid_map_converter.cpp │ ├── mesh_to_grid_map_node.cpp │ ├── quad_kd.cpp │ ├── remote_heartbeat.cpp │ ├── remote_heartbeat_node.cpp │ ├── ros_utils.cpp │ ├── rviz_interface.cpp │ ├── rviz_interface_node.cpp │ ├── terrain_map_publisher.cpp │ ├── terrain_map_publisher_node.cpp │ ├── trajectory_publisher.cpp │ └── trajectory_publisher_node.cpp └── test │ ├── test_eigen.cpp │ ├── test_fast_terrain_map.cpp │ ├── test_main.cpp │ ├── 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