Large refactor (moving files around/moving gains to different places)
Main new features
new diagram: centroidal_mpc_reference.cc: takes in robot state and joystick commands and outputs centroidal mpc solution
new diagram: run_mpc_visualization.cc: takes in centroidal mpc solution and draws traces of trajectory in drake visualizer and meshcat
cassie_kcmpc_trajopt: now all the settings are contained in yamls: motion specifications are contained in examples/Cassie/kinematic_centroidal_planner/gaits and examples/Cassie/kinematic_centroidal_planner/motions. Where motions contains whole trajectory parameters including the gait sequence.
small bazel things like combining data files into filegroup rule
Large refactor (moving files around/moving gains to different places)
Main new features
centroidal_mpc_reference.cc: takes in robot state and joystick commands and outputs centroidal mpc solutionrun_mpc_visualization.cc: takes in centroidal mpc solution and draws traces of trajectory in drake visualizer and meshcatcassie_kcmpc_trajopt: now all the settings are contained in yamls: motion specifications are contained inexamples/Cassie/kinematic_centroidal_planner/gaitsandexamples/Cassie/kinematic_centroidal_planner/motions. Where motions contains whole trajectory parameters including the gait sequence.filegroupruleThis change is