Differential Flatness of Demonstrated Systems

[ErcBunny]

Dear authors,

Thanks for open-sourcing the project. The video looks nice too. I have a pretty trival question regarding your work and that is how did u model the vehicles on uneven grounds, and how is the flatness output constructed? I assume this can be found in the code but I guess it is never a bad choice to ask the creators. I'd appreciate it if you can give me some hints or refer me to some sections of the paper.

Best regards, Yueqian