├── .gitignore ├── README.md ├── legged_perceptive_controllers ├── CMakeLists.txt ├── config │ ├── a1 │ │ └── task.info │ ├── aliengo │ │ └── task.info │ ├── body_filter.yaml │ ├── convex_plane_decomposition.yaml │ ├── default.yaml │ ├── elevation_mapping.yaml │ └── rviz.rviz ├── include │ └── legged_perceptive_controllers │ │ ├── PerceptiveController.h │ │ ├── synchronized_module │ │ └── PlanarTerrainReceiver.h │ │ └── visualization │ │ ├── FootPlacementVisualization.h │ │ └── SphereVisualization.h ├── launch │ ├── elevation_mapping.launch │ └── load_controller.launch ├── legged_perceptive_controllers_plugins.xml ├── package.xml ├── src │ ├── PerceptiveController.cpp │ ├── synchronized_module │ │ └── PlanarTerrainReceiver.cpp │ └── visualization │ │ ├── FootPlacementVisualization.cpp │ │ └── SphereVisualization.cpp └── test │ └── MapPublisher.cpp ├── legged_perceptive_description ├── CMakeLists.txt ├── config │ ├── HighAccuracyPreset.json │ └── mid360.json ├── launch │ ├── empty_world.launch │ ├── mid360.launch │ └── unitree_hw.launch ├── package.xml └── urdf │ ├── gazebo_d400.xacro │ ├── mid360.xacro │ ├── robot.xacro │ ├── sensor_d435.xacro │ └── sensor_t265.xacro └── legged_perceptive_interface ├── CMakeLists.txt ├── include └── legged_perceptive_interface │ ├── ConvexRegionSelector.h │ ├── PerceptiveLeggedInterface.h │ ├── PerceptiveLeggedPrecomputation.h │ ├── PerceptiveLeggedReferenceManager.h │ └── constraint │ ├── FootCollisionConstraint.h │ ├── FootPlacementConstraint.h │ └── SphereSdfConstraint.h ├── package.xml └── src ├── ConvexRegionSelector.cpp ├── PerceptiveLeggedInterface.cpp ├── PerceptiveLeggedPrecomputation.cpp ├── PerceptiveLeggedReferenceManager.cpp └── constraint ├── FootCollisionConstraint.cpp ├── FootPlacementConstraint.cpp └── SphereSdfConstraint.cpp /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiayuanl/legged_perceptive/HEAD/.gitignore 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