├── .gitignore ├── CMakeLists.txt ├── README.md ├── cmake ├── inria_wbc.cmake.in └── inria_wbcConfigVersion.cmake.in ├── docs └── installation.md ├── etc ├── franka │ ├── cartesian_line.yaml │ ├── configurations.srdf │ ├── pos_tracker.yaml │ └── tasks.yaml ├── icub │ ├── align.yaml │ ├── arm.yaml │ ├── clapping.yaml │ ├── collision_thresholds.yaml │ ├── configuration.srdf │ ├── configurations.srdf │ ├── frames.yaml │ ├── humanoid_pos_tracker.yaml │ ├── squat.yaml │ ├── stab_double_support.yaml │ ├── stab_fixed_base.yaml │ ├── stab_single_support.yaml │ ├── tasks.yaml │ ├── traj_teleop1.yaml │ ├── traj_teleop1 │ │ ├── com.csv │ │ ├── lh.csv │ │ ├── rh.csv │ │ └── trajectory.yaml │ ├── walk.yaml │ └── walk_on_spot.yaml ├── talos │ ├── align.yaml │ ├── arm.yaml │ ├── clapping.yaml │ ├── collision_thresholds.yaml │ ├── collisions │ │ ├── talos_collisions.yaml │ │ └── talos_collisions_margin.yaml │ ├── configurations.srdf │ ├── frames.yaml │ ├── load_external │ │ ├── q_one_knee.csv │ │ ├── q_one_leg.csv │ │ ├── taichi.csv │ │ └── trajectory.yaml │ ├── move_com.yaml │ ├── move_feet.yaml │ ├── squat.yaml │ ├── stab_double_support.yaml │ ├── stab_fixed_base.yaml │ ├── stab_single_support.yaml │ ├── talos_pos_tracker.yaml │ ├── talos_pos_tracker_real_robot.yaml │ ├── tasks.yaml │ ├── traj_teleop1.yaml │ ├── traj_teleop1 │ │ ├── com.csv │ │ ├── lh.csv │ │ ├── rh.csv │ │ └── trajectory.yaml │ ├── walk.yaml │ └── walk_on_spot.yaml └── tiago │ ├── cartesian_line.yaml │ ├── collisions.yaml │ ├── configurations-elbow-down.srdf │ ├── configurations-elbow-up.srdf │ ├── frames.yaml │ ├── pos_tracker.yaml │ └── tasks.yaml ├── example_project ├── CMakeLists.txt ├── README.md ├── cmake │ ├── example_project.cmake.in │ └── example_projectConfigVersion.cmake.in ├── create_project.sh ├── etc │ ├── example_collisions_margin.yaml │ ├── example_project_behavior.yaml │ ├── example_project_controller.yaml │ ├── frames_example.yaml │ ├── talos_configurations.srdf │ └── tasks_example.yaml ├── include │ ├── inria_wbc │ │ ├── behaviors │ │ │ └── ex_behavior.hpp │ │ └── controllers │ │ │ └── ex_controller.hpp │ └── tsid │ │ └── tasks │ │ └── ex_task.hpp └── src │ ├── behaviors │ └── ex_behavior.cpp │ ├── controllers │ └── ex_controller.cpp │ ├── robot_dart │ ├── talos.cpp │ ├── tutorial_0.cpp │ └── tutorial_1.cpp │ └── tsid │ └── ex_task.cpp ├── include ├── inria_wbc │ ├── behaviors │ │ ├── behavior.hpp │ │ ├── generic │ │ │ ├── cartesian.hpp │ │ │ └── cartesian_traj.hpp │ │ └── humanoid │ │ │ ├── clapping.hpp │ │ │ ├── move_com.hpp │ │ │ ├── move_feet.hpp │ │ │ ├── walk.hpp │ │ │ └── walk_on_spot.hpp │ ├── controllers │ │ ├── controller.hpp │ │ ├── humanoid_pos_tracker.hpp │ │ ├── pos_tracker.hpp │ │ ├── talos_pos_tracker.hpp │ │ └── tasks.hpp │ ├── estimators │ │ ├── cop.hpp │ │ └── filtering.hpp │ ├── exceptions.hpp │ ├── robot_dart │ │ ├── cmd.hpp │ │ ├── damages.hpp │ │ ├── external_collision_detector.hpp │ │ ├── self_collision_detector.hpp │ │ └── utils.hpp │ ├── safety │ │ ├── collision_check.hpp │ │ └── torque_collision_detection.hpp │ ├── stabilizers │ │ ├── stabilizer.hpp │ │ └── stabilizer_conf.hpp │ ├── trajs │ │ ├── loader.hpp │ │ ├── saver.hpp │ │ ├── trajectory_generator.hpp │ │ └── utils.hpp │ └── utils │ │ ├── factory.hpp │ │ ├── robot_model.hpp │ │ ├── timer.hpp │ │ └── utils.hpp └── tsid │ ├── contacts │ └── contact-6d-ext.hpp │ └── tasks │ ├── task-momentum-equality.hpp │ └── task-self-collision.hpp ├── src ├── behaviors │ ├── behavior.cpp │ ├── generic │ │ ├── cartesian.cpp │ │ └── cartesian_traj.cpp │ └── humanoid │ │ ├── clapping.cpp │ │ ├── move_com.cpp │ │ ├── move_feet.cpp │ │ ├── walk.cpp │ │ └── walk_on_spot.cpp ├── controllers │ ├── controller.cpp │ ├── humanoid_pos_tracker.cpp │ ├── pos_tracker.cpp │ ├── talos_pos_tracker.cpp │ └── tasks.cpp ├── estimators │ └── cop.cpp ├── robot_dart │ ├── CMakeLists.txt │ ├── franka.cpp │ ├── icub.cpp │ ├── qp_timer_test.cpp │ ├── talos.cpp │ ├── talos_load_external.cpp │ ├── tiago.cpp │ ├── tutorial_0.cpp │ └── tutorial_1.cpp ├── safety │ ├── collision_check.cpp │ └── torque_collision_detection.cpp ├── stabilizers │ └── stabilizer.cpp ├── trajs │ ├── loader.cpp │ └── saver.cpp ├── tsid │ ├── task-momentum-equality.cpp │ └── task-self-collision.cpp └── utils │ └── robot_model.cpp └── tests ├── CMakeLists.txt ├── ref_test_franka.yaml ├── test_all_robots.cpp ├── test_determinism.cpp ├── test_example_project.sh ├── test_franka.cpp ├── test_robot_model.cpp ├── test_talos.cpp └── utest.hpp /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/.gitignore -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/README.md -------------------------------------------------------------------------------- /cmake/inria_wbc.cmake.in: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/cmake/inria_wbc.cmake.in -------------------------------------------------------------------------------- /cmake/inria_wbcConfigVersion.cmake.in: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/cmake/inria_wbcConfigVersion.cmake.in -------------------------------------------------------------------------------- /docs/installation.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/docs/installation.md -------------------------------------------------------------------------------- /etc/franka/cartesian_line.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/franka/cartesian_line.yaml -------------------------------------------------------------------------------- /etc/franka/configurations.srdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/franka/configurations.srdf -------------------------------------------------------------------------------- /etc/franka/pos_tracker.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/franka/pos_tracker.yaml -------------------------------------------------------------------------------- /etc/franka/tasks.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/franka/tasks.yaml -------------------------------------------------------------------------------- /etc/icub/align.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/icub/align.yaml -------------------------------------------------------------------------------- /etc/icub/arm.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/icub/arm.yaml -------------------------------------------------------------------------------- /etc/icub/clapping.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/icub/clapping.yaml -------------------------------------------------------------------------------- /etc/icub/collision_thresholds.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/icub/collision_thresholds.yaml -------------------------------------------------------------------------------- /etc/icub/configuration.srdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/icub/configuration.srdf -------------------------------------------------------------------------------- /etc/icub/configurations.srdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/icub/configurations.srdf -------------------------------------------------------------------------------- /etc/icub/frames.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/icub/frames.yaml -------------------------------------------------------------------------------- /etc/icub/humanoid_pos_tracker.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/icub/humanoid_pos_tracker.yaml -------------------------------------------------------------------------------- /etc/icub/squat.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/icub/squat.yaml -------------------------------------------------------------------------------- /etc/icub/stab_double_support.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/icub/stab_double_support.yaml -------------------------------------------------------------------------------- /etc/icub/stab_fixed_base.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/icub/stab_fixed_base.yaml -------------------------------------------------------------------------------- /etc/icub/stab_single_support.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/icub/stab_single_support.yaml -------------------------------------------------------------------------------- /etc/icub/tasks.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/icub/tasks.yaml -------------------------------------------------------------------------------- /etc/icub/traj_teleop1.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/icub/traj_teleop1.yaml -------------------------------------------------------------------------------- /etc/icub/traj_teleop1/com.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/icub/traj_teleop1/com.csv -------------------------------------------------------------------------------- /etc/icub/traj_teleop1/lh.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/icub/traj_teleop1/lh.csv -------------------------------------------------------------------------------- /etc/icub/traj_teleop1/rh.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/icub/traj_teleop1/rh.csv -------------------------------------------------------------------------------- /etc/icub/traj_teleop1/trajectory.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/icub/traj_teleop1/trajectory.yaml -------------------------------------------------------------------------------- /etc/icub/walk.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/icub/walk.yaml -------------------------------------------------------------------------------- /etc/icub/walk_on_spot.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/icub/walk_on_spot.yaml -------------------------------------------------------------------------------- /etc/talos/align.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/talos/align.yaml -------------------------------------------------------------------------------- /etc/talos/arm.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/talos/arm.yaml -------------------------------------------------------------------------------- /etc/talos/clapping.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/talos/clapping.yaml -------------------------------------------------------------------------------- /etc/talos/collision_thresholds.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/talos/collision_thresholds.yaml -------------------------------------------------------------------------------- /etc/talos/collisions/talos_collisions.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/talos/collisions/talos_collisions.yaml -------------------------------------------------------------------------------- /etc/talos/collisions/talos_collisions_margin.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/talos/collisions/talos_collisions_margin.yaml -------------------------------------------------------------------------------- /etc/talos/configurations.srdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/talos/configurations.srdf -------------------------------------------------------------------------------- /etc/talos/frames.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/talos/frames.yaml -------------------------------------------------------------------------------- /etc/talos/load_external/q_one_knee.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/talos/load_external/q_one_knee.csv -------------------------------------------------------------------------------- /etc/talos/load_external/q_one_leg.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/talos/load_external/q_one_leg.csv -------------------------------------------------------------------------------- /etc/talos/load_external/taichi.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/talos/load_external/taichi.csv -------------------------------------------------------------------------------- /etc/talos/load_external/trajectory.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/talos/load_external/trajectory.yaml -------------------------------------------------------------------------------- /etc/talos/move_com.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/talos/move_com.yaml -------------------------------------------------------------------------------- /etc/talos/move_feet.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/talos/move_feet.yaml -------------------------------------------------------------------------------- /etc/talos/squat.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/talos/squat.yaml -------------------------------------------------------------------------------- /etc/talos/stab_double_support.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/talos/stab_double_support.yaml -------------------------------------------------------------------------------- /etc/talos/stab_fixed_base.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/talos/stab_fixed_base.yaml -------------------------------------------------------------------------------- /etc/talos/stab_single_support.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/talos/stab_single_support.yaml -------------------------------------------------------------------------------- /etc/talos/talos_pos_tracker.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/talos/talos_pos_tracker.yaml -------------------------------------------------------------------------------- /etc/talos/talos_pos_tracker_real_robot.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/talos/talos_pos_tracker_real_robot.yaml -------------------------------------------------------------------------------- /etc/talos/tasks.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/talos/tasks.yaml -------------------------------------------------------------------------------- /etc/talos/traj_teleop1.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/talos/traj_teleop1.yaml -------------------------------------------------------------------------------- /etc/talos/traj_teleop1/com.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/talos/traj_teleop1/com.csv -------------------------------------------------------------------------------- /etc/talos/traj_teleop1/lh.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/talos/traj_teleop1/lh.csv -------------------------------------------------------------------------------- /etc/talos/traj_teleop1/rh.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/talos/traj_teleop1/rh.csv -------------------------------------------------------------------------------- /etc/talos/traj_teleop1/trajectory.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/talos/traj_teleop1/trajectory.yaml -------------------------------------------------------------------------------- /etc/talos/walk.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/talos/walk.yaml -------------------------------------------------------------------------------- /etc/talos/walk_on_spot.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/talos/walk_on_spot.yaml -------------------------------------------------------------------------------- /etc/tiago/cartesian_line.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/tiago/cartesian_line.yaml -------------------------------------------------------------------------------- /etc/tiago/collisions.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/tiago/collisions.yaml -------------------------------------------------------------------------------- /etc/tiago/configurations-elbow-down.srdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/tiago/configurations-elbow-down.srdf -------------------------------------------------------------------------------- /etc/tiago/configurations-elbow-up.srdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/tiago/configurations-elbow-up.srdf -------------------------------------------------------------------------------- /etc/tiago/frames.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/tiago/frames.yaml -------------------------------------------------------------------------------- /etc/tiago/pos_tracker.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/tiago/pos_tracker.yaml -------------------------------------------------------------------------------- /etc/tiago/tasks.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/etc/tiago/tasks.yaml -------------------------------------------------------------------------------- /example_project/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/example_project/CMakeLists.txt -------------------------------------------------------------------------------- /example_project/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/example_project/README.md -------------------------------------------------------------------------------- /example_project/cmake/example_project.cmake.in: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/example_project/cmake/example_project.cmake.in -------------------------------------------------------------------------------- /example_project/cmake/example_projectConfigVersion.cmake.in: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/example_project/cmake/example_projectConfigVersion.cmake.in -------------------------------------------------------------------------------- /example_project/create_project.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/example_project/create_project.sh -------------------------------------------------------------------------------- /example_project/etc/example_collisions_margin.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/example_project/etc/example_collisions_margin.yaml -------------------------------------------------------------------------------- /example_project/etc/example_project_behavior.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/example_project/etc/example_project_behavior.yaml -------------------------------------------------------------------------------- /example_project/etc/example_project_controller.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/example_project/etc/example_project_controller.yaml -------------------------------------------------------------------------------- /example_project/etc/frames_example.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/example_project/etc/frames_example.yaml -------------------------------------------------------------------------------- /example_project/etc/talos_configurations.srdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/example_project/etc/talos_configurations.srdf -------------------------------------------------------------------------------- /example_project/etc/tasks_example.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/example_project/etc/tasks_example.yaml -------------------------------------------------------------------------------- /example_project/include/inria_wbc/behaviors/ex_behavior.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/example_project/include/inria_wbc/behaviors/ex_behavior.hpp -------------------------------------------------------------------------------- /example_project/include/inria_wbc/controllers/ex_controller.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/example_project/include/inria_wbc/controllers/ex_controller.hpp -------------------------------------------------------------------------------- /example_project/include/tsid/tasks/ex_task.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/example_project/include/tsid/tasks/ex_task.hpp -------------------------------------------------------------------------------- /example_project/src/behaviors/ex_behavior.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/example_project/src/behaviors/ex_behavior.cpp -------------------------------------------------------------------------------- /example_project/src/controllers/ex_controller.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/example_project/src/controllers/ex_controller.cpp -------------------------------------------------------------------------------- /example_project/src/robot_dart/talos.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/example_project/src/robot_dart/talos.cpp -------------------------------------------------------------------------------- /example_project/src/robot_dart/tutorial_0.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/example_project/src/robot_dart/tutorial_0.cpp -------------------------------------------------------------------------------- /example_project/src/robot_dart/tutorial_1.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/example_project/src/robot_dart/tutorial_1.cpp -------------------------------------------------------------------------------- /example_project/src/tsid/ex_task.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/example_project/src/tsid/ex_task.cpp -------------------------------------------------------------------------------- /include/inria_wbc/behaviors/behavior.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/behaviors/behavior.hpp -------------------------------------------------------------------------------- /include/inria_wbc/behaviors/generic/cartesian.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/behaviors/generic/cartesian.hpp -------------------------------------------------------------------------------- /include/inria_wbc/behaviors/generic/cartesian_traj.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/behaviors/generic/cartesian_traj.hpp -------------------------------------------------------------------------------- /include/inria_wbc/behaviors/humanoid/clapping.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/behaviors/humanoid/clapping.hpp -------------------------------------------------------------------------------- /include/inria_wbc/behaviors/humanoid/move_com.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/behaviors/humanoid/move_com.hpp -------------------------------------------------------------------------------- /include/inria_wbc/behaviors/humanoid/move_feet.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/behaviors/humanoid/move_feet.hpp -------------------------------------------------------------------------------- /include/inria_wbc/behaviors/humanoid/walk.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/behaviors/humanoid/walk.hpp -------------------------------------------------------------------------------- /include/inria_wbc/behaviors/humanoid/walk_on_spot.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/behaviors/humanoid/walk_on_spot.hpp -------------------------------------------------------------------------------- /include/inria_wbc/controllers/controller.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/controllers/controller.hpp -------------------------------------------------------------------------------- /include/inria_wbc/controllers/humanoid_pos_tracker.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/controllers/humanoid_pos_tracker.hpp -------------------------------------------------------------------------------- /include/inria_wbc/controllers/pos_tracker.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/controllers/pos_tracker.hpp -------------------------------------------------------------------------------- /include/inria_wbc/controllers/talos_pos_tracker.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/controllers/talos_pos_tracker.hpp -------------------------------------------------------------------------------- /include/inria_wbc/controllers/tasks.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/controllers/tasks.hpp -------------------------------------------------------------------------------- /include/inria_wbc/estimators/cop.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/estimators/cop.hpp -------------------------------------------------------------------------------- /include/inria_wbc/estimators/filtering.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/estimators/filtering.hpp -------------------------------------------------------------------------------- /include/inria_wbc/exceptions.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/exceptions.hpp -------------------------------------------------------------------------------- /include/inria_wbc/robot_dart/cmd.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/robot_dart/cmd.hpp -------------------------------------------------------------------------------- /include/inria_wbc/robot_dart/damages.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/robot_dart/damages.hpp -------------------------------------------------------------------------------- /include/inria_wbc/robot_dart/external_collision_detector.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/robot_dart/external_collision_detector.hpp -------------------------------------------------------------------------------- /include/inria_wbc/robot_dart/self_collision_detector.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/robot_dart/self_collision_detector.hpp -------------------------------------------------------------------------------- /include/inria_wbc/robot_dart/utils.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/robot_dart/utils.hpp -------------------------------------------------------------------------------- /include/inria_wbc/safety/collision_check.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/safety/collision_check.hpp -------------------------------------------------------------------------------- /include/inria_wbc/safety/torque_collision_detection.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/safety/torque_collision_detection.hpp -------------------------------------------------------------------------------- /include/inria_wbc/stabilizers/stabilizer.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/stabilizers/stabilizer.hpp -------------------------------------------------------------------------------- /include/inria_wbc/stabilizers/stabilizer_conf.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/stabilizers/stabilizer_conf.hpp -------------------------------------------------------------------------------- /include/inria_wbc/trajs/loader.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/trajs/loader.hpp -------------------------------------------------------------------------------- /include/inria_wbc/trajs/saver.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/trajs/saver.hpp -------------------------------------------------------------------------------- /include/inria_wbc/trajs/trajectory_generator.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/trajs/trajectory_generator.hpp -------------------------------------------------------------------------------- /include/inria_wbc/trajs/utils.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/trajs/utils.hpp -------------------------------------------------------------------------------- /include/inria_wbc/utils/factory.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/utils/factory.hpp -------------------------------------------------------------------------------- /include/inria_wbc/utils/robot_model.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/utils/robot_model.hpp -------------------------------------------------------------------------------- /include/inria_wbc/utils/timer.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/utils/timer.hpp -------------------------------------------------------------------------------- /include/inria_wbc/utils/utils.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/inria_wbc/utils/utils.hpp -------------------------------------------------------------------------------- /include/tsid/contacts/contact-6d-ext.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/tsid/contacts/contact-6d-ext.hpp -------------------------------------------------------------------------------- /include/tsid/tasks/task-momentum-equality.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/tsid/tasks/task-momentum-equality.hpp -------------------------------------------------------------------------------- /include/tsid/tasks/task-self-collision.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/include/tsid/tasks/task-self-collision.hpp -------------------------------------------------------------------------------- /src/behaviors/behavior.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/behaviors/behavior.cpp -------------------------------------------------------------------------------- /src/behaviors/generic/cartesian.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/behaviors/generic/cartesian.cpp -------------------------------------------------------------------------------- /src/behaviors/generic/cartesian_traj.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/behaviors/generic/cartesian_traj.cpp -------------------------------------------------------------------------------- /src/behaviors/humanoid/clapping.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/behaviors/humanoid/clapping.cpp -------------------------------------------------------------------------------- /src/behaviors/humanoid/move_com.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/behaviors/humanoid/move_com.cpp -------------------------------------------------------------------------------- /src/behaviors/humanoid/move_feet.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/behaviors/humanoid/move_feet.cpp -------------------------------------------------------------------------------- /src/behaviors/humanoid/walk.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/behaviors/humanoid/walk.cpp -------------------------------------------------------------------------------- /src/behaviors/humanoid/walk_on_spot.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/behaviors/humanoid/walk_on_spot.cpp -------------------------------------------------------------------------------- /src/controllers/controller.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/controllers/controller.cpp -------------------------------------------------------------------------------- /src/controllers/humanoid_pos_tracker.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/controllers/humanoid_pos_tracker.cpp -------------------------------------------------------------------------------- /src/controllers/pos_tracker.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/controllers/pos_tracker.cpp -------------------------------------------------------------------------------- /src/controllers/talos_pos_tracker.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/controllers/talos_pos_tracker.cpp -------------------------------------------------------------------------------- /src/controllers/tasks.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/controllers/tasks.cpp -------------------------------------------------------------------------------- /src/estimators/cop.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/estimators/cop.cpp -------------------------------------------------------------------------------- /src/robot_dart/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/robot_dart/CMakeLists.txt -------------------------------------------------------------------------------- /src/robot_dart/franka.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/robot_dart/franka.cpp -------------------------------------------------------------------------------- /src/robot_dart/icub.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/robot_dart/icub.cpp -------------------------------------------------------------------------------- /src/robot_dart/qp_timer_test.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/robot_dart/qp_timer_test.cpp -------------------------------------------------------------------------------- /src/robot_dart/talos.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/robot_dart/talos.cpp -------------------------------------------------------------------------------- /src/robot_dart/talos_load_external.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/robot_dart/talos_load_external.cpp -------------------------------------------------------------------------------- /src/robot_dart/tiago.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/robot_dart/tiago.cpp -------------------------------------------------------------------------------- /src/robot_dart/tutorial_0.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/robot_dart/tutorial_0.cpp -------------------------------------------------------------------------------- /src/robot_dart/tutorial_1.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/robot_dart/tutorial_1.cpp -------------------------------------------------------------------------------- /src/safety/collision_check.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/safety/collision_check.cpp -------------------------------------------------------------------------------- /src/safety/torque_collision_detection.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/safety/torque_collision_detection.cpp -------------------------------------------------------------------------------- /src/stabilizers/stabilizer.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/stabilizers/stabilizer.cpp -------------------------------------------------------------------------------- /src/trajs/loader.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/trajs/loader.cpp -------------------------------------------------------------------------------- /src/trajs/saver.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/trajs/saver.cpp -------------------------------------------------------------------------------- /src/tsid/task-momentum-equality.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/tsid/task-momentum-equality.cpp -------------------------------------------------------------------------------- /src/tsid/task-self-collision.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/tsid/task-self-collision.cpp -------------------------------------------------------------------------------- /src/utils/robot_model.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/src/utils/robot_model.cpp -------------------------------------------------------------------------------- /tests/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/tests/CMakeLists.txt -------------------------------------------------------------------------------- /tests/ref_test_franka.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/tests/ref_test_franka.yaml -------------------------------------------------------------------------------- /tests/test_all_robots.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/tests/test_all_robots.cpp -------------------------------------------------------------------------------- /tests/test_determinism.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/tests/test_determinism.cpp -------------------------------------------------------------------------------- /tests/test_example_project.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/tests/test_example_project.sh -------------------------------------------------------------------------------- /tests/test_franka.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/tests/test_franka.cpp -------------------------------------------------------------------------------- /tests/test_robot_model.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/tests/test_robot_model.cpp -------------------------------------------------------------------------------- /tests/test_talos.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/tests/test_talos.cpp -------------------------------------------------------------------------------- /tests/utest.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/resibots/inria_wbc/HEAD/tests/utest.hpp --------------------------------------------------------------------------------