├── .git-blame-ignore-revs ├── .github ├── dependabot.yml └── workflows │ ├── ci-linux-osx-conda.yml │ ├── ci-linux-ros.yml │ ├── conda │ └── environment.yml │ ├── nix.yml │ └── update-flake-lock.yml ├── .gitignore ├── .gitlab-ci.yml ├── .gitmodules ├── .pre-commit-config.yaml ├── CHANGELOG.md ├── CMakeLists.txt ├── LICENSE ├── README.md ├── bindings ├── CMakeLists.txt └── python │ ├── CMakeLists.txt │ ├── constraint │ ├── constraint-bound.cpp │ ├── constraint-equality.cpp │ └── constraint-inequality.cpp │ ├── contacts │ ├── contact-6d.cpp │ ├── contact-point.cpp │ ├── contact-two-frame-positions.cpp │ └── measured-6d-wrench.cpp │ ├── formulations │ └── formulation.cpp │ ├── math │ └── utils.cpp │ ├── module.cpp │ ├── robots │ └── robot-wrapper.cpp │ ├── solvers │ ├── HQPData.cpp │ ├── HQPOutput.cpp │ └── solver-HQP-eiquadprog.cpp │ ├── tasks │ ├── task-actuation-bounds.cpp │ ├── task-actuation-equality.cpp │ ├── task-am-equality.cpp │ ├── task-com-equality.cpp │ ├── task-contact-force-equality.cpp │ ├── task-cop-equality.cpp │ ├── task-joint-bounds.cpp │ ├── task-joint-posVelAcc-bounds.cpp │ ├── task-joint-posture.cpp │ ├── task-se3-equality.cpp │ └── task-two-frames-equality.cpp │ ├── trajectories │ ├── trajectory-base.cpp │ ├── trajectory-euclidian.cpp │ └── trajectory-se3.cpp │ └── tsid │ └── __init__.py ├── demo ├── demo_quadruped.py └── demo_tsid_talos_gripper_closed_kinematic_chain.py ├── dependencies.rosinstall ├── doc └── tsid_cheatsheet.tex ├── exercizes ├── ex_0_ur5_joint_space_control.py ├── ex_1.py ├── ex_1_ur5.py ├── ex_2.py ├── ex_3_biped_balance_with_gui.py ├── ex_4_LIPM_to_TSID.py ├── ex_4_conf.py ├── ex_4_long_conf.py ├── ex_4_plan_LIPM_romeo.py ├── ex_4_talos_conf.py ├── ex_4_walking.py ├── notebooks │ ├── Installation process.html │ ├── Installation process.ipynb │ ├── ex_0_joint_space_inverse_dynamics_arm.ipynb │ ├── ex_1_com_sin_track_talos.ipynb │ └── ex_3_biped_balance_with_gui.ipynb ├── plot_utils.py ├── romeo_conf.py ├── talos_arm_conf.py ├── talos_conf.py ├── test_cop_task.py ├── tsid_biped.py ├── tsid_manipulator.py ├── ur5_conf.py ├── ur5_reaching_conf.py └── vizutils.py ├── flake.lock ├── flake.nix ├── include └── tsid │ ├── bindings │ └── python │ │ ├── constraint │ │ ├── constraint-bound.hpp │ │ ├── constraint-equality.hpp │ │ ├── constraint-inequality.hpp │ │ └── expose-constraints.hpp │ │ ├── contacts │ │ ├── contact-6d.hpp │ │ ├── contact-point.hpp │ │ ├── contact-two-frame-positions.hpp │ │ ├── contact-two-frames.hpp │ │ ├── expose-contact.hpp │ │ └── measured-6d-wrench.hpp │ │ ├── formulations │ │ ├── expose-formulations.hpp │ │ └── formulation.hpp │ │ ├── fwd.hpp │ │ ├── math │ │ └── utils.hpp │ │ ├── robots │ │ ├── expose-robots.hpp │ │ └── robot-wrapper.hpp │ │ ├── solvers │ │ ├── HQPData.hpp │ │ ├── HQPOutput.hpp │ │ ├── expose-solvers.hpp │ │ ├── solver-HQP-eiquadprog.hpp │ │ ├── solver-osqp.hpp │ │ └── solver-proxqp.hpp │ │ ├── tasks │ │ ├── expose-tasks.hpp │ │ ├── task-actuation-bounds.hpp │ │ ├── task-actuation-equality.hpp │ │ ├── task-am-equality.hpp │ │ ├── task-com-equality.hpp │ │ ├── task-contact-force-equality.hpp │ │ ├── task-cop-equality.hpp │ │ ├── task-joint-bounds.hpp │ │ ├── task-joint-posVelAcc-bounds.hpp │ │ ├── task-joint-posture.hpp │ │ ├── task-se3-equality.hpp │ │ └── task-two-frames-equality.hpp │ │ ├── trajectories │ │ ├── expose-trajectories.hpp │ │ ├── trajectory-base.hpp │ │ ├── trajectory-euclidian.hpp │ │ └── trajectory-se3.hpp │ │ └── utils │ │ └── container.hpp │ ├── contacts │ ├── contact-6d.hpp │ ├── contact-base.hpp │ ├── contact-point.hpp │ ├── contact-two-frame-positions.hpp │ ├── fwd.hpp │ ├── measured-3Dforce.hpp │ ├── measured-3d-force.hpp │ ├── measured-6Dwrench.hpp │ ├── measured-6d-wrench.hpp │ └── measured-force-base.hpp │ ├── formulations │ ├── contact-level.hpp │ ├── inverse-dynamics-formulation-acc-force.hpp │ └── inverse-dynamics-formulation-base.hpp │ ├── macros.hpp │ ├── math │ ├── constraint-base.hpp │ ├── constraint-bound.hpp │ ├── constraint-equality.hpp │ ├── constraint-inequality.hpp │ ├── fwd.hpp │ └── utils.hpp │ ├── robots │ ├── fwd.hpp │ └── robot-wrapper.hpp │ ├── solvers │ ├── .DS_Store │ ├── fwd.hpp │ ├── solver-HQP-base.hpp │ ├── solver-HQP-eiquadprog-fast.hpp │ ├── solver-HQP-eiquadprog-rt.hpp │ ├── solver-HQP-eiquadprog-rt.hxx │ ├── solver-HQP-eiquadprog.hpp │ ├── solver-HQP-factory.hpp │ ├── solver-HQP-factory.hxx │ ├── solver-HQP-output.hpp │ ├── solver-HQP-qpmad.hpp │ ├── solver-HQP-qpoases.hpp │ ├── solver-osqp.hpp │ ├── solver-proxqp.hpp │ ├── solver-qpData.hpp │ └── utils.hpp │ ├── tasks │ ├── fwd.hpp │ ├── task-actuation-bounds.hpp │ ├── task-actuation-equality.hpp │ ├── task-actuation.hpp │ ├── task-angular-momentum-equality.hpp │ ├── task-base.hpp │ ├── task-capture-point-inequality.hpp │ ├── task-com-equality.hpp │ ├── task-contact-force-equality.hpp │ ├── task-contact-force.hpp │ ├── task-cop-equality.hpp │ ├── task-joint-bounds.hpp │ ├── task-joint-posVelAcc-bounds.hpp │ ├── task-joint-posture.hpp │ ├── task-motion.hpp │ ├── task-se3-equality.hpp │ └── task-two-frames-equality.hpp │ ├── trajectories │ ├── fwd.hpp │ ├── trajectory-base.hpp │ ├── trajectory-euclidian.hpp │ └── trajectory-se3.hpp │ └── utils │ ├── Stdafx.hh │ ├── statistics.hpp │ └── stop-watch.hpp ├── models ├── quadruped │ └── urdf │ │ ├── cube.obj │ │ ├── cylinder.obj │ │ ├── quadruped.urdf │ │ └── sphere.obj └── romeo │ ├── meshes │ └── romeo │ │ ├── collision │ │ ├── HeadRoll.dae │ │ ├── LAnkleRoll.dae │ │ ├── LAnkleRollBasic.dae │ │ ├── LElbowYaw.dae │ │ ├── LHand.dae │ │ ├── LHipPitch.dae │ │ ├── LKneePitch.dae │ │ ├── LShoulderYaw.dae │ │ ├── LThumb.dae │ │ ├── LToePitch.dae │ │ ├── LWristPitch.dae │ │ ├── LWristRoll.dae │ │ ├── LWristYaw.dae │ │ ├── NeckPitch.dae │ │ ├── Phalax.dae │ │ ├── PhalaxEnd.dae │ │ ├── RAnkleRoll.dae │ │ ├── RAnkleRollBasic.dae │ │ ├── RElbowYaw.dae │ │ ├── RHand.dae │ │ ├── RHipPitch.dae │ │ ├── RKneePitch.dae │ │ ├── RShoulderYaw.dae │ │ ├── RThumb.dae │ │ ├── RToePitch.dae │ │ ├── RWristPitch.dae │ │ ├── RWristRoll.dae │ │ ├── RWristYaw.dae │ │ ├── Torso.dae │ │ └── TrunkYaw.dae │ │ └── visual │ │ ├── HeadRoll.dae │ │ ├── LAnkleRoll.dae │ │ ├── LAnkleRollWithouToe.dae │ │ ├── LElbowYaw.dae │ │ ├── LHand.dae │ │ ├── LHipPitch.dae │ │ ├── LKneePitch.dae │ │ ├── LShoulderYaw.dae │ │ ├── LThumb.dae │ │ ├── LToePitch.dae │ │ ├── LWristPitch.dae │ │ ├── LWristRoll.dae │ │ ├── LWristYaw.dae │ │ ├── NeckPitch.dae │ │ ├── Phalax.dae │ │ ├── PhalaxEnd.dae │ │ ├── RAnkleRoll.dae │ │ ├── RAnkleRollWithoutToe.dae │ │ ├── RElbowYaw.dae │ │ ├── RHand.dae │ │ ├── RHipPitch.dae │ │ ├── RKneePitch.dae │ │ ├── RShoulderYaw.dae │ │ ├── RThumb.dae │ │ ├── RToePitch.dae │ │ ├── RWristPitch.dae │ │ ├── RWristRoll.dae │ │ ├── RWristYaw.dae │ │ ├── Torso.dae │ │ └── TrunkYaw.dae │ ├── srdf │ └── romeo_collision.srdf │ └── urdf │ └── romeo.urdf ├── package.xml ├── pyproject.toml ├── src ├── contacts │ ├── contact-6d.cpp │ ├── contact-base.cpp │ ├── contact-point.cpp │ ├── contact-two-frame-positions.cpp │ ├── measured-3d-force.cpp │ ├── measured-6d-wrench.cpp │ └── measured-force-base.cpp ├── formulations │ ├── contact-level.cpp │ ├── inverse-dynamics-formulation-acc-force.cpp │ └── inverse-dynamics-formulation-base.cpp ├── math │ ├── constraint-base.cpp │ ├── constraint-bound.cpp │ ├── constraint-equality.cpp │ ├── constraint-inequality.cpp │ └── utils.cpp ├── robots │ └── robot-wrapper.cpp ├── solvers │ ├── solver-HQP-base.cpp │ ├── solver-HQP-eiquadprog-fast.cpp │ ├── solver-HQP-eiquadprog.cpp │ ├── solver-HQP-factory.cpp │ ├── solver-HQP-qpmad.cpp │ ├── solver-HQP-qpoases.cpp │ ├── solver-osqp.cpp │ ├── solver-proxqp.cpp │ └── utils.cpp ├── tasks │ ├── task-actuation-bounds.cpp │ ├── task-actuation-equality.cpp │ ├── task-actuation.cpp │ ├── task-angular-momentum-equality.cpp │ ├── task-base.cpp │ ├── task-capture-point-inequality.cpp │ ├── task-com-equality.cpp │ ├── task-contact-force-equality.cpp │ ├── task-contact-force.cpp │ ├── task-cop-equality.cpp │ ├── task-joint-bounds.cpp │ ├── task-joint-posVelAcc-bounds.cpp │ ├── task-joint-posture.cpp │ ├── task-motion.cpp │ ├── task-se3-equality.cpp │ └── task-two-frames-equality.cpp ├── trajectories │ ├── trajectory-euclidian.cpp │ └── trajectory-se3.cpp └── utils │ ├── statistics.cpp │ └── stop-watch.cpp └── tests ├── CMakeLists.txt ├── constraints.cpp ├── contacts.cpp ├── hqp_solvers.cpp ├── math_utils.cpp ├── python ├── CMakeLists.txt ├── generator.py ├── test_Constraint.py ├── test_Contact.py ├── test_ContactPoint.py ├── test_Deprecations.py ├── test_Formulation.py ├── test_Gravity.py ├── test_Measured6DWrench.py ├── test_RobotWrapper.py ├── test_Solvers.py ├── test_Tasks.py └── test_Trajectories.py ├── robot-wrapper.cpp ├── set_gravity.cpp ├── tasks.cpp ├── trajectories.cpp └── tsid-formulation.cpp /.git-blame-ignore-revs: 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