├── LICENSE ├── README.md ├── image ├── 运行截图.png ├── 项目结构-english.png └── 项目结构.png ├── nabo_coppelia ├── 000.ini ├── child script.py ├── coppelia说明.md ├── libnabo.so ├── nabo.dll ├── nabo.ttm └── nabo_py.ttt ├── nabo_core ├── 000.ini ├── CMakeLists.txt ├── nabo_output │ ├── libnabo.so │ ├── nabo.dll │ ├── nabo.h │ ├── nabo.lib │ └── nabo_config.h ├── src │ ├── balance │ │ ├── cbic.cpp │ │ ├── cbic.h │ │ ├── com_data.cpp │ │ ├── com_data.h │ │ ├── mpc.cpp │ │ └── mpc.h │ ├── common │ │ ├── curve.cpp │ │ └── curve.h │ ├── estimate │ │ ├── estimator.cpp │ │ └── estimator.h │ ├── manager │ │ ├── manager.cpp │ │ ├── manager.h │ │ ├── nabo.cpp │ │ ├── nabo.h │ │ └── nabo_config.h │ ├── plan │ │ ├── plan.cpp │ │ ├── plan.h │ │ ├── plan_recover.cpp │ │ ├── plan_recover.h │ │ ├── plan_walk.cpp │ │ └── plan_walk.h │ └── robot │ │ ├── cpg.cpp │ │ ├── cpg.h │ │ ├── imu.h │ │ ├── robot.cpp │ │ └── robot.h ├── test │ ├── main.cpp │ └── main.h ├── third_party.zip ├── tools │ ├── py_copy2mujoco.py │ ├── py_copy2vrep.py │ └── py_copy2webots.py ├── utility │ ├── algorithms.cpp │ ├── algorithms.h │ ├── eigen.h │ ├── ini.cpp │ ├── ini.h │ ├── iopack.cpp │ └── iopack.h └── 说明.md ├── nabo_mujoco ├── 000.ini ├── CMakeLists.txt ├── glfw │ ├── glfw3.h │ ├── glfw3.lib │ ├── glfw3_lib_backup.zip │ ├── libglfw.so.3 │ ├── libglfw.so.3.2 │ └── libglfw3.so ├── main.cpp ├── mujoco │ ├── libmujoco.so │ ├── libmujoco.so.3.1.1 │ ├── mujoco.dll │ ├── mujoco.lib │ ├── mujoco │ │ ├── mjdata.h │ │ ├── mjexport.h │ │ ├── mjmacro.h │ │ ├── mjmodel.h │ │ ├── mjplugin.h │ │ ├── mjrender.h │ │ ├── mjthread.h │ │ ├── mjtnum.h │ │ ├── mjui.h │ │ ├── mjvisualize.h │ │ ├── mjxmacro.h │ │ └── mujoco.h │ ├── mujoco_lib_backup.zip │ └── 说明.md ├── nabo.xml ├── nabo │ ├── libnabo.so │ ├── nabo.dll │ ├── nabo.h │ ├── nabo.lib │ ├── nabo_config.h │ └── nabo_lib_backup.zip └── 说明.md ├── nabo_webots ├── controllers │ └── my_controller │ │ ├── 000.ini │ │ ├── CMakeLists.txt │ │ ├── libnabo.so │ │ ├── my_controller │ │ ├── my_controller.cpp │ │ ├── my_controller.exe │ │ ├── nabo.dll │ │ ├── nabo.h │ │ ├── nabo.lib │ │ └── nabo_config.h ├── protos │ ├── BrushedAluminium.proto │ ├── Floor.proto │ ├── Parquetry.proto │ ├── RectangleArena.proto │ ├── SolidBox.proto │ ├── TexturedBackground.proto │ ├── TexturedBackgroundLight.proto │ ├── robot.proto │ └── textures │ │ ├── brushed_aluminium │ │ ├── brushed_aluminium_base_color.jpg │ │ ├── brushed_aluminium_normal.jpg │ │ └── brushed_aluminium_roughness.jpg │ │ ├── cubic │ │ ├── mountains_back.hdr │ │ ├── mountains_back.png │ │ ├── mountains_bottom.hdr │ │ ├── mountains_bottom.png │ │ ├── mountains_front.hdr │ │ ├── mountains_front.png │ │ ├── mountains_left.hdr │ │ ├── mountains_left.png │ │ ├── mountains_right.hdr │ │ ├── mountains_right.png │ │ ├── mountains_top.hdr │ │ └── mountains_top.png │ │ └── parquetry │ │ ├── chequered_parquetry_base_color.jpg │ │ ├── chequered_parquetry_normal.jpg │ │ ├── chequered_parquetry_occlusion.jpg │ │ ├── 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