├── .gitignore ├── .gitmodules ├── README.md ├── ocs2_anymal_robot ├── CMakeLists.txt ├── config │ ├── controllers.info │ ├── convex_plane_decomposition_node.yaml │ ├── convex_plane_decomposition_parameters.yaml │ ├── elevation_mapping.yaml │ ├── frame_declarations.info │ ├── gazebo_plugin_info.yaml │ ├── plugins.info │ ├── sqp.info │ ├── targetCommand.info │ └── task.info ├── launch │ ├── load_urdf.launch │ └── simple_gazebo.launch ├── package.xml ├── src │ └── AnymalMpcNode.cpp └── urdf │ └── anymal_gazebo.urdf.xacro ├── ocs2_api ├── CMakeLists.txt ├── package.xml ├── scripts │ └── dummy_node.py ├── setup.py └── src │ └── ocs2_api │ ├── __init__.py │ ├── cams_tf.py │ ├── dummy.py │ ├── dummy2.py │ ├── dummy_folder │ ├── __init__.py │ └── dummy3.py │ ├── grid_map.py │ ├── keyboard_detection.py │ ├── move_to_point.py │ ├── move_to_point_vector.py │ ├── plot.py │ └── pointcloud_proc.py ├── ocs2_control ├── CMakeLists.txt ├── config │ └── controllers.info ├── include │ └── ocs2_control │ │ ├── CentralController.h │ │ ├── Controller.h │ │ ├── StateSubscriber.h │ │ ├── StaticController.h │ │ ├── WbcController.h │ │ ├── simple │ │ └── StandController.h │ │ ├── utils │ │ └── LoadConfig.h │ │ └── wbc │ │ ├── SqpSolver.h │ │ ├── SqpWbc.h │ │ ├── Task.h │ │ └── WbcBase.h ├── package.xml └── src │ ├── CentralController.cpp │ ├── ControllerNode.cpp │ ├── StateSubscriber.cpp │ ├── StaticController.cpp │ ├── WbcController.cpp │ ├── simple │ └── StandController.cpp │ ├── utils │ └── LoadConfig.cpp │ └── wbc │ ├── SqpSolver.cpp │ ├── SqpWbc.cpp │ ├── Task.cpp │ └── WbcBase.cpp ├── ocs2_gazebo ├── CMakeLists.txt ├── config │ ├── controllers.yaml │ └── plugins.info ├── include │ └── ocs2_gazebo │ │ ├── ContactSensor.h │ │ ├── JointController.h │ │ └── StateEstimator.h ├── launch │ ├── world.launch │ └── worlds │ │ ├── custom │ │ ├── custom.ply │ │ └── custom.world │ │ ├── flat │ │ ├── flat.ply │ │ ├── flat.stl │ │ └── flat.world │ │ ├── gap_20cm │ │ ├── gap_20cm.ply │ │ ├── gap_20cm.stl │ │ └── gap_20cm.world │ │ ├── gap_40cm │ │ ├── gap_40cm.ply │ │ ├── gap_40cm.stl │ │ └── gap_40cm.world │ │ ├── gap_40cm_local_min │ │ ├── gap_40cm_local_min.ply │ │ ├── gap_40cm_local_min.stl │ │ └── gap_40cm_local_min.world │ │ ├── gap_80cm │ │ ├── gap_80cm.ply │ │ ├── gap_80cm.stl │ │ └── gap_80cm.world │ │ ├── normal │ │ └── normal.world │ │ ├── parkour_local_min │ │ ├── parkour_local_min.ply │ │ ├── parkour_local_min.stl │ │ └── parkour_local_min.world │ │ ├── rough_25cm │ │ ├── rough_25cm.ply │ │ ├── rough_25cm.stl │ │ └── rough_25cm.world │ │ ├── rough_40cm_huge │ │ ├── rough_40cm_huge.ply │ │ ├── rough_40cm_huge.stl │ │ └── rough_40cm_huge.world │ │ ├── slope_20 │ │ ├── slope_20.ply │ │ ├── slope_20.stl │ │ └── slope_20.world │ │ ├── slope_20_hole │ │ ├── slope_20_hole.ply │ │ ├── slope_20_hole.stl │ │ └── slope_20_hole.world │ │ ├── stairs │ │ ├── stairs.ply │ │ ├── stairs.stl │ │ └── stairs.world │ │ ├── step_10cm │ │ ├── step_10cm.ply │ │ ├── step_10cm.stl │ │ └── step_10cm.world │ │ ├── step_10cm_local_min │ │ ├── step_10cm_local_min.ply │ │ ├── step_10cm_local_min.stl │ │ └── step_10cm_local_min.world │ │ ├── step_15cm_local_min │ │ ├── step_15cm_local_min.ply │ │ ├── step_15cm_local_min.stl │ │ └── step_15cm_local_min.world │ │ ├── step_20cm │ │ ├── step_20cm.ply │ │ ├── step_20cm.stl │ │ └── step_20cm.world │ │ ├── step_25cm │ │ ├── step_25cm.ply │ │ ├── step_25cm.stl │ │ └── step_25cm.world │ │ ├── step_30cm │ │ ├── step_30cm.ply │ │ ├── step_30cm.stl │ │ └── step_30cm.world │ │ └── stepping_stones │ │ ├── stepping_stones.ply │ │ ├── stepping_stones.stl │ │ └── stepping_stones.world ├── msg │ ├── JointCommand.msg │ ├── JointCommandArray.msg │ └── RobotState.msg ├── package.xml ├── plugins │ └── joint_controller_plugin.xml └── src │ ├── ContactSensor.cpp │ ├── JointController.cpp │ ├── StateEstimator.cpp │ └── world_gen │ ├── generate_world.py │ ├── map_generator.py │ ├── ply_generator.py │ ├── shapes.py │ └── utils.py ├── ocs2_quadruped_reference ├── CMakeLists.txt ├── include │ └── ocs2_quadruped_reference │ │ └── ReferenceGenerator.h ├── launch │ ├── joystick_reference.launch │ └── twist_reference.launch ├── package.xml └── src │ ├── JoystickReferenceGeneratorNode.cpp │ ├── ReferenceGenerator.cpp │ └── TwistReferenceGeneratorNode.cpp ├── ocs2_quadruped_ros ├── CMakeLists.txt └── package.xml └── ocs2_spot_robot ├── CMakeLists.txt ├── config ├── controllers.info ├── convex_plane_decomposition_node.yaml ├── convex_plane_decomposition_parameters.yaml ├── elevation_mapping.yaml ├── frame_declarations.info ├── gazebo_plugin_info.yaml ├── plugins.info ├── sqp.info ├── targetCommand.info └── task.info ├── launch ├── load_urdf.launch └── simple_gazebo.launch ├── package.xml ├── src └── SpotMpcNode.cpp └── urdf └── spot_gazebo.urdf.xacro /.gitignore: -------------------------------------------------------------------------------- 1 | __pycache__/ 2 | ocs2_gazebo/launch/worlds/custom/* 3 | dependencies/* 4 | 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