The first task is to develop models whose actuation we can then optimize for the flip maneuver. We walk through the code in modeling.cpp, which becomes an executable that creates two cat models. The first model is simply two segments connected by a 2-degree-of-freedom (no twist) joint. It exhibits the counter-rotation mechanism of flipping. The second builds on top of the first with actuate-able legs, and a twist degree of freedom between the model's two halves. This model exhibits both the counter-rotation and variable- inertia mechanisms of flipping. Here's a skeleton of modeling.cpp:
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Let's put these cats to use!