├── .github └── workflows │ └── industrial_ci_action.yml ├── .gitignore ├── README.md ├── anymal_b_robcogen ├── CMakeLists.txt ├── config │ ├── anymal.dtdsl │ └── anymal.kindsl ├── include │ └── anymal_b_robcogen │ │ ├── declarations.h │ │ ├── dynamics_parameters.h │ │ ├── forward_dynamics.h │ │ ├── inertia_properties.h │ │ ├── inverse_dynamics.h │ │ ├── jacobians.h │ │ ├── joint_data_map.h │ │ ├── jsim.h │ │ ├── kinematics_parameters.h │ │ ├── link_data_map.h │ │ ├── miscellaneous.h │ │ ├── model_constants.h │ │ ├── rbd_types.h │ │ ├── traits.h │ │ └── transforms.h ├── package.xml └── src │ ├── forward_dynamics.cpp │ ├── inertia_properties.cpp │ ├── inverse_dynamics.cpp │ ├── jacobians.cpp │ ├── jsim.cpp │ ├── miscellaneous.cpp │ └── transforms.cpp ├── anymal_b_simple_description ├── CMakeLists.txt ├── LICENSE ├── README.md ├── config │ └── rviz │ │ └── standalone.rviz ├── doc │ └── anymal_b_rviz.png ├── launch │ ├── load.launch │ └── standalone.launch ├── meshes │ ├── anymal_base.dae │ ├── anymal_foot.dae │ ├── anymal_hip_l.dae │ ├── anymal_hip_r.dae │ ├── anymal_shank_l.dae │ ├── anymal_shank_r.dae │ ├── anymal_thigh_l.dae │ ├── anymal_thigh_r.dae │ ├── base_uv_texture.jpg │ └── carbon_uv_texture.jpg ├── package.xml └── urdf │ ├── anymal.urdf │ ├── anymal.urdf.xacro │ └── xsens_mti.urdf.xacro ├── dependencies.rosinstall ├── pronto_anymal_b ├── CMakeLists.txt ├── config │ ├── fsc.rviz │ ├── pose_to_tf.yaml │ ├── pronto.rviz │ └── state_estimator.yaml ├── data │ └── gt.csv ├── doc │ └── rviz_output.png ├── launch │ ├── demo.launch │ └── publish_trajectory.launch ├── package.xml ├── scripts │ ├── clone_deps.bash │ ├── download_sample_rosbag.sh │ ├── pose_to_tf.py │ └── publish_csv_as_path.py └── src │ └── pronto_anymal_node.cpp └── pronto_anymal_b_commons ├── CMakeLists.txt ├── README.md ├── include └── pronto_anymal_b_commons │ ├── feet_contact_forces.hpp │ ├── feet_jacobians.hpp │ └── forward_kinematics.hpp ├── package.xml └── src ├── feet_contact_forces.cpp ├── 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