├── .bazelrc ├── .gitignore ├── .travis.yml ├── BUILD ├── LICENSE ├── README.md ├── WORKSPACE ├── base ├── BUILD ├── aspect_ratio.cc ├── aspect_ratio.h ├── async_i2c.h ├── bezier.h ├── circular_buffer.h ├── common.h ├── component_archives.h ├── context.cc ├── context.h ├── context_full.h ├── error_wrap.h ├── euler.h ├── fail_functor.h ├── fit_plane.cc ├── fit_plane.h ├── format_hex.cc ├── format_hex.h ├── git_info.cc ├── git_info.h ├── git_info_linkstamp.cc ├── handler_util.h ├── interpolate.h ├── kinematic_relation.h ├── leg_force.cc ├── leg_force.h ├── linux_input.cc ├── linux_input.h ├── logging.cc ├── logging.h ├── module_main.bzl ├── module_main.h ├── named_type.h ├── point3d.h ├── quaternion.cc ├── quaternion.h ├── reservoir_sampler.h ├── runfiles.h ├── saturate.h ├── signal_result.h ├── sophus.h ├── stringify.h ├── system_fd.cc ├── system_fd.h ├── system_mmap.h ├── telemetry_log_registrar.h ├── telemetry_registry.h ├── telemetry_remote_debug_registrar.h ├── telemetry_remote_debug_server.cc ├── telemetry_remote_debug_server.h ├── test │ ├── aspect_ratio_test.cc │ ├── bezier_test.cc │ ├── fit_plane_test.cc │ ├── leg_force_test.cc │ ├── linux_input_manual_test.cc │ ├── named_type_test.cc │ ├── quaternion_test.cc │ ├── se3d_test.cc │ ├── signal_result_test.cc │ ├── sophus_test.cc │ ├── telemetry_log_registrar_test.cc │ ├── telemetry_registry_test.cc │ ├── test_main.cc │ ├── udp_manual_test.h │ └── ukf_filter_test.cc ├── timestamped_log.cc ├── timestamped_log.h ├── tokenizer.h ├── udp_data_link.cc ├── udp_data_link.h ├── udp_socket.cc ├── udp_socket.h └── ukf_filter.h ├── configs ├── BUILD ├── gimbal_config.txt ├── lizard_gimbal_config.txt ├── mech_warfare.cfg ├── moteus_gimbal_config.txt ├── quada0.cfg ├── quada1.cfg ├── quada2.cfg ├── quadruped.ini ├── quadruped_a2.ini ├── real_dynamic_high.cfg └── real_dynamic_low.cfg ├── docs ├── diagrams │ ├── 1d_swing.blend │ ├── 1d_swing.png │ ├── as5047_noise_plot.py │ ├── magnetic_saturation.odg │ ├── phase_current.py │ ├── support_line.blend │ ├── support_line.png │ └── torque_compensation.py ├── geometry.md ├── numbered-targets.odp └── quada1 │ └── README.md ├── ffmpeg ├── BUILD ├── codec.h ├── dictionary.h ├── error.h ├── ffmpeg.h ├── file.h ├── frame.h ├── input_format.h ├── packet.h ├── ref_base.h ├── stream.h ├── swscale.h └── test │ ├── codec_test.cc │ ├── data │ └── sample_log.mp4 │ ├── file_test.cc │ ├── frame_test.cc │ ├── packet_test.cc │ ├── stream_test.cc │ ├── swscale_test.cc │ └── test_main.cc ├── gl ├── BUILD ├── camera.h ├── flat_rgb_texture.h ├── framebuffer.h ├── gl_imgui.h ├── image_texture.h ├── orthographic_camera.h ├── perspective_camera.h ├── program.h ├── renderbuffer.h ├── shader.h ├── simple_line_render_list.cc ├── simple_line_render_list.h ├── simple_texture_render_list.cc ├── simple_texture_render_list.h ├── test │ ├── flat_rgb_texture_test.cc │ ├── framebuffer_test.cc │ ├── perspective_camera_test.cc │ ├── program_test.cc │ ├── shader_test.cc │ ├── simple_texture_render_list_test.cc │ ├── test_main.cc │ ├── texture_test.cc │ ├── trackball_test.cc │ ├── vertex_array_object_test.cc │ └── vertex_buffer_object_test.cc ├── texture.h ├── trackball.h ├── vertex_array_object.h └── vertex_buffer_object.h ├── hw ├── chassis │ └── 3dprint │ │ ├── 20200303-battery_stud.3mf │ │ ├── 20200415-stiffener_left.3mf │ │ ├── 20200415-stiffener_right.3mf │ │ ├── 20200415-top.3mf │ │ ├── 20200502-aligners.3mf │ │ ├── 20200504-front_plate.3mf │ │ ├── 20200506-bottom.3mf │ │ ├── 20200506-internal_cover.3mf │ │ ├── 20200708-shore_plug.3mf │ │ ├── 20201223-sides.3mf │ │ ├── 20231218-front_plate-0_6mm.3mf │ │ ├── 20231218-sides-0_6mm.3mf │ │ ├── 20231219-battery_stud-0_6.3mf │ │ ├── 20231219-bottom-0_6mm.3mf │ │ ├── 20231219-top-0_6mm.3mf │ │ ├── 20231220-internal_cover-0_6mm.3mf │ │ └── 20231220-stiffeners-0_6mm.3mf ├── chassis_a2 │ ├── battery_tray.3mf │ ├── bottom.3mf │ ├── computer_tray.3mf │ ├── front_back_plate.3mf │ ├── knee_zero.3mf │ ├── rail_carrier.3mf │ ├── shoulder_zero_left.3mf │ ├── shoulder_zero_right.3mf │ ├── side_wall.3mf │ └── top.3mf ├── leg │ └── 3dprint │ │ ├── 20200223-shoulder.3mf │ │ ├── 20200825-upper_leg.3mf │ │ ├── 20201009-lower_leg_and_bracket.3mf │ │ ├── 20201009-shoulder_conduit.3mf │ │ ├── 20210602-upper_motor_joint.3mf │ │ ├── 20210713-pulleys-tensioner.3mf │ │ ├── 20210806-lower_leg_and_bracket-left.3mf │ │ ├── 20210806-lower_leg_and_bracket-right.3mf │ │ ├── 20210806-lower_leg_and_bracket.3mf │ │ ├── 20231220-lower_leg_and_bracket-petg-0_6mm.3mf │ │ ├── 20231220-shoulder_conduit-0_6mm.3mf │ │ └── 20231220-upper_leg-0_6mm.3mf └── leg_a2 │ ├── 2x_lower_leg_base.3mf │ ├── 2x_shoulder.3mf │ ├── 2x_upper_motor.3mf │ ├── 4x_foot_axle_cap_pulley.3mf │ ├── 4x_tensioners.3mf │ ├── upper_leg_base_lower_leg_top.3mf │ ├── upper_leg_right_base_lower_leg_top.3mf │ ├── upper_leg_right_top.3mf │ └── upper_leg_top.3mf ├── install-packages ├── mech ├── BUILD ├── aruco_draw.cc ├── aruco_test.cc ├── attitude_data.h ├── control_timing.h ├── direct_servo_latency_test.cc ├── expo_map.h ├── ik.h ├── imgui_test.cc ├── imu_client.h ├── imu_data.h ├── info-networking.txt ├── mammal_ik.cc ├── mammal_ik.h ├── mcast_telemetry_interface.h ├── mime_type.cc ├── mime_type.h ├── moteus.h ├── moteus_tool_main.cc ├── multiplex_tool_main.cc ├── nrfusb_client.cc ├── nrfusb_client.h ├── pi3hat_interface.h ├── pi3hat_wrapper.cc ├── pi3hat_wrapper.h ├── propagate_leg.h ├── qdd100_test.cc ├── quadruped.cc ├── quadruped.h ├── quadruped_command.h ├── quadruped_config.h ├── quadruped_context.h ├── quadruped_control.cc ├── quadruped_control.h ├── quadruped_state.h ├── quadruped_trot.cc ├── quadruped_trot.h ├── quadruped_util.h ├── reticle.png ├── rf_client.h ├── rf_control.cc ├── rf_control.h ├── servo_interface.h ├── swing_trajectory.cc ├── swing_trajectory.h ├── system_info.cc ├── system_info.h ├── target_tracker_data.h ├── test │ ├── expo_map_test.cc │ ├── mammal_ik_test.cc │ ├── swing_trajectory_test.cc │ ├── test_main.cc │ ├── trajectory_line_intersect_test.cc │ ├── trajectory_test.cc │ └── vertical_line_frame_test.cc ├── trajectory.cc ├── trajectory.h ├── trajectory_line_intersect.cc ├── trajectory_line_intersect.h ├── valid_leg_region.h ├── vertical_line_frame.h ├── web_control.h ├── web_control_assets │ ├── index.html │ ├── js │ │ └── app.js │ ├── mjbots.png │ └── styles.css ├── web_server.cc └── web_server.h ├── simulator ├── BUILD ├── make_robot.cc ├── make_robot.h ├── simulator.cc ├── simulator_window.cc └── simulator_window.h ├── tools ├── bazel ├── workspace │ ├── BUILD │ ├── bazel_deps │ │ ├── BUILD │ │ └── repository.bzl │ ├── default.bzl │ ├── generate_file.bzl │ ├── github_archive.bzl │ ├── i2c-tools │ │ ├── BUILD │ │ ├── package.BUILD │ │ └── repository.bzl │ ├── implot │ │ ├── BUILD │ │ ├── empty-legend.diff │ │ ├── package.BUILD │ │ └── repository.bzl │ ├── mjlib │ │ ├── BUILD │ │ └── repository.bzl │ ├── moteus │ │ ├── BUILD │ │ └── repository.bzl │ ├── pi3hat │ │ ├── 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