├── .gitignore ├── .gitlab-ci.yml ├── .gitmodules ├── CMakeLists.txt ├── LICENSE ├── README.md ├── data ├── contacts_flat.txt ├── contacts_plateformes.txt └── contacts_plateformes_dic.txt ├── package.xml └── sl1m ├── __init__.py ├── constants_and_tools.py ├── constraints.py ├── constraints_biped.py ├── fix_sparsity.py ├── generic_solver.py ├── planner_biped.py ├── planner_generic.py ├── planner_scenarios ├── __init__.py ├── hrp2 │ ├── __init__.py │ ├── complex.py │ └── path_files │ │ ├── lp_complex.py │ │ ├── lp_complex1.py │ │ ├── lp_complex_path copy.py │ │ ├── lp_complex_path.py │ │ ├── lp_stair_bauzil.py │ │ ├── lp_stair_bauzil_10.py │ │ ├── lp_stair_bauzil_hrp2_path.py │ │ └── lp_stair_bauzil_hrp2_path_10.py └── talos │ ├── __init__.py │ ├── broken │ ├── lp_slalom_debris.py │ ├── lp_slalom_debris_path.py │ └── slalom_debris.py │ ├── complex.py │ ├── path_files │ ├── lp_complex_path.py │ ├── lp_ramp_path.py │ ├── lp_rubbles_path.py │ └── lp_stairs_path.py │ ├── ramp.py │ ├── rubbles.py │ └── stairs.py ├── problem_data.py ├── problem_definition.py ├── rbprm ├── __init__.py ├── constants_and_tools.py ├── narrow_convex_hull.py └── surfaces_from_planning.py ├── solver.py ├── stand_alone_scenarios ├── __init__.py ├── anymal_stairs.py ├── anymal_trot.py ├── constraints_files │ ├── COM_constraints_in_LF_effector_frame.obj │ ├── COM_constraints_in_LF_effector_frame_quasi_static_reduced.obj │ ├── COM_constraints_in_RF_effector_frame.obj │ └── COM_constraints_in_RF_effector_frame_quasi_static_reduced.obj ├── data.pickle ├── hrp2_complex.py ├── hrp2_stairs.py ├── problem_definition_hrp2.py ├── problem_definition_talos.py ├── solo_stairs.py ├── solo_trot.py ├── surfaces │ ├── __init__.py │ ├── complex_surfaces.py │ ├── flat_ground.py │ ├── ramp_surfaces.py │ └── stair_surfaces.py ├── talos_ramp.py └── talos_rubble_stairs.py └── tools ├── __init__.py ├── geom_utils.py ├── heightmap_generator.py ├── heightmap_tools.py ├── obj_to_constraints.py ├── plot_tools.py ├── 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