├── .gitignore ├── LICENSE ├── README.assets └── legged_robot.gif ├── README.md ├── humanoid-legged-description ├── .gitignore ├── CMakeLists.txt ├── config │ └── joint_names_humanoid_legged.yaml ├── export.log ├── launch │ ├── display.launch │ └── gazebo.launch ├── meshes │ ├── arm_l1_link.STL │ ├── arm_l2_link.STL │ ├── arm_l3_link.STL │ ├── arm_l4_link.STL │ ├── arm_l5_link.STL │ ├── arm_l6_link.STL │ ├── arm_r1_link.STL │ ├── arm_r2_link.STL │ ├── arm_r3_link.STL │ ├── arm_r4_link.STL │ ├── arm_r5_link.STL │ ├── arm_r6_link.STL │ ├── base_link.STL │ ├── head_yaw_link.STL │ ├── leg_l1_link.STL │ ├── leg_l2_link.STL │ ├── leg_l3_link.STL │ ├── leg_l4_link.STL │ ├── leg_l5_link.STL │ ├── leg_l6_link.STL │ ├── leg_r1_link.STL │ ├── leg_r2_link.STL │ ├── leg_r3_link.STL │ ├── leg_r4_link.STL │ ├── leg_r5_link.STL │ ├── leg_r6_link.STL │ └── waist_yaw_link.STL ├── mjcf │ ├── humanoid_legged.urdf │ └── humanoid_legged.xml ├── package.xml └── urdf │ ├── humanoid_legged_control.urdf │ └── humanoid_legged_origin.urdf ├── humanoid_common ├── CMakeLists.txt ├── include │ └── humanoid_common │ │ ├── hardware_interface │ │ ├── ContactSensorInterface.h │ │ └── HybridJointInterface.h │ │ └── output_color.h └── package.xml ├── humanoid_controllers ├── CMakeLists.txt ├── config │ └── controllers.yaml ├── humanoid_controllers_plugins.xml ├── include │ └── humanoid_controllers │ │ ├── SafetyChecker.h │ │ ├── TargetTrajectoriesPublisher.h │ │ ├── humanoidController.h │ │ └── visualization │ │ └── humanoidSelfCollisionVisualization.h ├── launch │ ├── load_cheat_controller.launch │ ├── load_joy_controller.launch │ └── load_normal_controller.launch ├── package.xml └── src │ ├── CheatControllerNode.cpp │ ├── JoyControllerNode.cpp │ ├── NormalControllerNode.cpp │ ├── TargetTrajectoriesPublisher.cpp │ └── humanoidController.cpp ├── humanoid_dummy ├── CMakeLists.txt ├── include │ └── humanoid_dummy │ │ ├── gait │ │ ├── GaitKeyboardPublisher.h │ │ ├── GaitReceiver.h │ │ └── ModeSequenceTemplateRos.h │ │ └── visualization │ │ └── HumanoidVisualizer.h ├── launch │ ├── legged_robot_sqp.launch │ └── multiplot.launch ├── package.xml ├── rviz │ └── humanoid.rviz └── src │ ├── HumanoidDdpMpcNode.cpp │ ├── HumanoidDummyNode.cpp │ ├── HumanoidGaitCommandNode.cpp │ ├── HumanoidIpmMpcNode.cpp │ ├── HumanoidPoseCommandNode.cpp │ ├── HumanoidSqpMpcNode.cpp │ ├── gait │ ├── GaitKeyboardPublisher.cpp │ └── GaitReceiver.cpp │ └── visualization │ └── HumanoidVisualizer.cpp ├── humanoid_estimation ├── CMakeLists.txt ├── include │ └── humanoid_estimation │ │ ├── FromTopiceEstimate.h │ │ ├── LinearKalmanFilter.h │ │ └── StateEstimateBase.h ├── package.xml └── src │ ├── FromTopicEstimate.cpp │ ├── LinearKalmanFilter.cpp │ └── StateEstimateBase.cpp ├── humanoid_interface ├── CMakeLists.txt ├── auto_generated │ └── .gitignore ├── config │ ├── command │ │ ├── gait.info │ │ └── reference.info │ ├── mpc │ │ └── task.info │ └── multiplot │ │ ├── friction_cone.xml │ │ └── zero_velocity.xml ├── include │ └── humanoid_interface │ │ ├── HumanoidInterface.h │ │ ├── HumanoidPreComputation.h │ │ ├── common │ │ ├── ModelSettings.h │ │ ├── Types.h │ │ └── utils.h │ │ ├── constraint │ │ ├── EndEffectorLinearConstraint.h │ │ ├── FootRollConstraint.h │ │ ├── FrictionConeConstraint.h │ │ ├── LeggedSelfCollisionConstraint.h │ │ ├── NormalVelocityConstraintCppAd.h │ │ ├── ZeroForceConstraint.h │ │ └── ZeroVelocityConstraintCppAd.h │ │ ├── cost │ │ └── HumanoidQuadraticTrackingCost.h │ │ ├── dynamics │ │ └── HumanoidDynamicsAD.h │ │ ├── foot_planner │ │ ├── CubicSpline.h │ │ ├── SplineCpg.h │ │ └── SwingTrajectoryPlanner.h │ │ ├── gait │ │ ├── Gait.h │ │ ├── GaitSchedule.h │ │ ├── LegLogic.h │ │ ├── ModeSequenceTemplate.h │ │ └── MotionPhaseDefinition.h │ │ ├── initialization │ │ └── HumanoidInitializer.h │ │ ├── package_path.h.in │ │ └── reference_manager │ │ └── SwitchedModelReferenceManager.h ├── package.xml ├── src │ ├── HumanoidInterface.cpp │ ├── HumanoidPreComputation.cpp │ ├── common │ │ └── ModelSettings.cpp │ ├── constraint │ │ ├── EndEffectorLinearConstraint.cpp │ │ ├── FootRollContraint.cpp │ │ ├── FrictionConeConstraint.cpp │ │ ├── NormalVelocityConstraintCppAd.cpp │ │ ├── ZeroForceConstraint.cpp │ │ └── ZeroVelocityConstraintCppAd.cpp │ ├── dynamics │ │ └── HumanoidDynamicsAD.cpp │ ├── foot_planner │ │ ├── CubicSpline.cpp │ │ ├── SplineCpg.cpp │ │ └── SwingTrajectoryPlanner.cpp │ ├── gait │ │ ├── Gait.cpp │ │ ├── GaitSchedule.cpp │ │ ├── LegLogic.cpp │ │ └── ModeSequenceTemplate.cpp │ ├── initialization │ │ └── HumanoidInitializer.cpp │ └── reference_manager │ │ └── SwitchedModelReferenceManager.cpp └── test │ ├── AnymalFactoryFunctions.cpp │ ├── constraint │ ├── testEndEffectorLinearConstraint.cpp │ ├── testFrictionConeConstraint.cpp │ └── testZeroForceConstraint.cpp │ └── include │ └── humanoid_interface │ └── test │ └── AnymalFactoryFunctions.h ├── humanoid_wbc ├── CMakeLists.txt ├── include │ └── humanoid_wbc │ │ 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