├── .gitignore ├── LICENSE ├── README.md ├── config ├── cmd.py ├── linear_mpc_configs.py └── robot_configs.py ├── doc ├── linear_mpc.md ├── results │ └── trotting10_mujoco.gif └── state_estimation_kf.md ├── linear_mpc ├── gait.py ├── leg_controller.py ├── mpc.py └── swing_foot_trajectory_generator.py ├── requirements.txt ├── robot ├── a1 │ ├── a1_license.txt │ ├── meshes │ │ ├── calf.dae │ │ ├── hip.dae │ │ ├── thigh.dae │ │ ├── thigh_mirror.dae │ │ ├── trunk.dae │ │ └── trunk_A1.png │ └── urdf │ │ └── a1.urdf └── aliengo │ ├── aliengo.xml │ ├── meshes │ ├── calf.stl │ ├── hip.stl │ ├── thigh.stl │ ├── thigh_mirror.stl │ └── trunk.stl │ └── urdf │ └── aliengo.urdf ├── scripts ├── isaacgym_a1.py └── mujoco_aliengo.py └── utils ├── dynamics.py ├── isaacgym_utils.py ├── kinematics.py └── robot_data.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yinghansun/pympc-quadruped/HEAD/.gitignore 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