- Quadruped,
- RobotRunner ->
- LegController,
- StateEstimator,
- ControlFSM ->
- FSM State RecoveryStand,
- FSM State FrontJump->
1. FrontJumpCtrl,
2. DataReader,
3. DataReaderCtrl
- FSM State Backflip->
1. BackFlipCtrl,
2. DataReader,
3. DataReaderCtrl
- FSM State Locomotion ->
- ConvexMPCLocomotion->
1. FootSwingTrajectory,
2. Gait,
3. MPC Solver in C
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