├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── MATLAB ├── +CustomContact │ └── CassieFootCustom.m ├── Cassie_v4.m ├── simulink │ ├── evaluate_dynamics.cpp │ ├── evaluate_dynamics.mexw64 │ ├── evaluate_holonomics.cpp │ ├── evaluate_holonomics.mexw64 │ ├── run_mex.m │ ├── src │ │ ├── Be_cassie_v4.cpp │ │ ├── Be_cassie_v4.hpp │ │ ├── Ce_cassie_v4.cpp │ │ ├── Ce_cassie_v4.hpp │ │ ├── De_cassie_v4.cpp │ │ ├── De_cassie_v4.hpp │ │ ├── F_spring_cassie_v4.cpp │ │ ├── F_spring_cassie_v4.hpp │ │ ├── Ge_cassie_v4.cpp │ │ ├── Ge_cassie_v4.hpp │ │ ├── J_achilles_constraint.cpp │ │ ├── J_achilles_constraint.hpp │ │ ├── J_leftSole_constraint.cpp │ │ ├── J_leftSole_constraint.hpp │ │ ├── J_left_fixed_constraint.cpp │ │ ├── J_left_fixed_constraint.hpp │ │ ├── J_rightSole_constraint.cpp │ │ ├── J_rightSole_constraint.hpp │ │ ├── J_right_fixed_constraint.cpp │ │ ├── J_right_fixed_constraint.hpp │ │ ├── Jdot_achilles_constraint.cpp │ │ ├── Jdot_achilles_constraint.hpp │ │ ├── Jdot_leftSole_constraint.cpp │ │ ├── Jdot_leftSole_constraint.hpp │ │ ├── Jdot_left_fixed_constraint.cpp │ │ ├── Jdot_left_fixed_constraint.hpp │ │ ├── Jdot_rightSole_constraint.cpp │ │ ├── Jdot_rightSole_constraint.hpp │ │ ├── Jdot_right_fixed_constraint.cpp │ │ └── Jdot_right_fixed_constraint.hpp │ └── test_mex.slx ├── src │ └── CassieStateEnum.m └── symbolic │ ├── Template │ ├── template_export.cc │ └── template_export.hh │ ├── common │ └── Arctan.m │ ├── convertFile.m │ ├── export_fun.m │ └── frostConv.py ├── README.md ├── cassie ├── cassie.sdf ├── cassie_empty.world ├── images │ ├── BQ76PL536A.png │ ├── CassieV3 │ │ ├── CassieV2.png │ │ ├── abduction.png │ │ ├── achilles_rod.png │ │ ├── foot.png │ │ ├── foot_crank.png │ │ ├── hip.png │ │ ├── knee.png │ │ ├── pelvis.png │ │ ├── plantar_rod.png │ │ ├── shin.png │ │ ├── tarsus.png │ │ ├── thigh.png │ │ └── yaw.png │ ├── Fr Sky Taranis.png │ ├── Gold Drum.png │ ├── Gold Twitter.png │ ├── KVH 1750 IMU.png │ ├── MPU-9250 IMU.png │ ├── Medulla.png │ ├── RoboDrive.png │ └── VN-100 IMU.png ├── meshes │ ├── LeftHipPitch.stl │ ├── LeftHipRoll.stl │ ├── LeftHipYaw.stl │ ├── RightHipPitch.stl │ ├── RightHipRoll.stl │ ├── RightHipYaw.stl │ ├── achilles-rod.stl │ ├── cassie-pelvis.stl │ ├── foot-crank.stl │ ├── foot.stl │ ├── heel-spring.stl │ ├── hip-pitch.stl │ ├── hip-roll.stl │ ├── hip-yaw.stl │ ├── knee-spring.stl │ ├── knee.stl │ ├── left-achilles-rod.stl │ ├── left-foot-crank.stl │ ├── left-foot.stl │ ├── left-heel-spring.stl │ ├── left-hip-pitch.stl │ ├── left-hip-roll.stl │ ├── left-hip-yaw.stl │ ├── left-knee-spring.stl │ ├── left-knee.stl │ ├── left-plantar-rod.stl │ ├── left-shin.stl │ ├── left-tarsus.stl │ ├── pelvis.stl │ ├── plantar-rod.stl │ ├── right-achilles-rod.stl │ ├── right-foot-crank.stl │ ├── right-foot.stl │ ├── right-heel-spring.stl │ ├── right-hip-pitch.stl │ ├── right-hip-roll.stl │ ├── right-hip-yaw.stl │ ├── right-knee-spring.stl │ ├── right-knee.stl │ ├── right-plantar-rod.stl │ ├── 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