├── .gitignore ├── CMakeLists.txt ├── LICENSE.md ├── README.md ├── ThirdPartyLicenses.txt ├── apply_coding_style.sh ├── bin ├── CMakeLists.txt ├── Rcs.cpp ├── TestCore.cpp ├── TestGeometry.cpp ├── TestGraph.cpp ├── TestGraphics.cpp ├── TestGui.cpp ├── TestMath.cpp ├── TestOrientations.cpp ├── TestTasks.cpp └── template.hpp ├── cmake ├── CompileSettings.cmake ├── Export.cmake ├── Externals.cmake ├── FindEigen3.cmake ├── FindLibXml2-win.cmake ├── FindQwt.cmake ├── FindVortex.cmake ├── FindWM5.cmake ├── FindqpOASES.cmake └── RcsConfig.cmake.in ├── config ├── colors │ └── colors.xml ├── fonts │ ├── COPYRIGHT.TXT │ ├── Vera.ttf │ └── VeraMono.ttf ├── physics │ ├── physics.xml │ └── vortex.xml ├── textures │ ├── fMRT_bavaria.jpg │ ├── fMRT_bavaria.png │ ├── fMRT_pattern_brown_squares_2x2.png │ ├── fMRT_pattern_brown_squares_single.png │ └── fMRT_pattern_circular.png └── xml │ ├── AvatarSkeleton │ ├── cAction.xml │ ├── gScenario.xml │ ├── human-body.xml │ ├── human-full.xml │ ├── human-leftArm.xml │ ├── human-leftLeg.xml │ ├── human-rightArm.xml │ └── human-rightLeg.xml │ ├── BavariaTech │ ├── beerbench-articulated.xml │ ├── beerbench.xml │ ├── gPitcher_detailed.xml │ └── gPitcher_simple.xml │ ├── DexBot │ ├── LBR.xml │ ├── TwoArmLBR.xml │ ├── cAction.xml │ ├── cRotateBox.xml │ ├── gPPS.xml │ ├── gRotateBox.xml │ ├── gScenario.xml │ ├── sdh.xml │ └── sdh2.xml │ ├── Examples │ ├── cBoxLifting_simple.xml │ ├── cContactGrasping.xml │ ├── cCoupledKinematics.xml │ ├── cDistanceTask.xml │ ├── cFace.xml │ ├── cNormalAlign.xml │ ├── cPlanarArm7D.xml │ ├── cPlanarArmHighD.xml │ ├── cSoftPhysicsIK.xml │ ├── gBoxFiddle.xml │ ├── gCartesianBot.xml │ ├── gLabyrinth.xml │ ├── gPingPong.xml │ ├── gShapes.xml │ ├── gSoftPhysics.xml │ └── gSoftShirtPerson.xml │ ├── GenericHumanoid │ ├── cAction.xml │ ├── gScenario.xml │ ├── robot-body.xml │ ├── robot-full.xml │ ├── robot-leftArm.xml │ ├── robot-leftFingers.xml │ ├── robot-leftLeg.xml │ ├── robot-rightArm.xml │ ├── robot-rightFingers.xml │ └── robot-rightLeg.xml │ ├── HumanModel │ └── cHumanModel.xml │ ├── Husky │ ├── husky-all.xml │ └── husky.xml │ ├── LightTraverse │ ├── traverse_big.xml │ ├── traverse_big2.xml │ ├── traverse_big3.xml │ ├── traverse_big_parts.xml │ ├── traverse_big_side.xml │ ├── traverse_big_trans.xml │ ├── traverse_long.xml │ ├── traverse_small.xml │ ├── traverse_small_parts.xml │ └── traverse_small_side.xml │ ├── PPStest │ ├── cAction.xml │ └── gScenario.xml │ ├── QuanserQube │ └── gScenario.xml │ ├── Schunk │ ├── LWA-platform.xml │ ├── Schunk-ft-sensor.xml │ ├── cMinigolf.xml │ ├── gBotSchunk.xml │ ├── gScenario.xml │ ├── lwa.xml │ └── sdh.xml │ └── WAM │ ├── WAM-arm-primitives.xml │ ├── WAM-ft-sensor.xml │ ├── WAM-hand-primitives.xml │ ├── WAM-platform.xml │ ├── cAction.xml │ └── gScenario.xml ├── cpp.hint ├── debug └── gdb │ ├── __init__.py │ └── rcs_printers.py ├── doc ├── CMakeLists.txt ├── Doxyfile.in ├── DoxygenLayout.xml ├── Mainpage.dox └── images │ ├── RcsBody.png │ ├── RcsJoint.png │ ├── RcsShape.png │ ├── ShapeTypes.png │ ├── WAM-bulb.png │ ├── asimo-sim-1.5.png │ ├── atlas.jpg │ ├── darwin.jpg │ ├── ergo.jpg │ ├── example_fwdKinematics.png │ ├── example_prioritizedIK.png │ ├── face.jpg │ ├── humanoid.jpg │ ├── husky.jpg │ ├── jaco.jpg │ ├── lwa.jpg │ ├── mobile-manipulator.jpg │ ├── pa10-creature.jpg │ ├── pa10.jpg │ ├── rcs-logo.png │ ├── valkyrie.jpg │ └── wam.jpg ├── examples ├── CMakeLists.txt ├── ExampleBullet.cpp ├── ExampleForwardKinematics.cpp ├── ExampleHighGui.cpp ├── ExampleIK.cpp ├── ExampleKinetics.cpp ├── ExamplePeriodicCallback.cpp └── ExamplePrioritizedIK.cpp ├── external ├── EulerAngles.c ├── EulerAngles.h ├── QuatTypes.h └── Rcs_thirdPartyMath.c ├── pkgInfo.py ├── postInstallHook.sh ├── remove_coding_style_backups.sh ├── src ├── CMakeLists.txt ├── RcsCore │ ├── CMakeLists.txt │ ├── CompositeTask.cpp │ ├── CompositeTask.h │ ├── ControllerBase.cpp │ ├── ControllerBase.h │ ├── HardwareComponent.cpp │ ├── HardwareComponent.h │ ├── IkSolverConstraintRMR.cpp │ ├── IkSolverConstraintRMR.h │ ├── IkSolverPrioRMR.cpp │ ├── IkSolverPrioRMR.h │ ├── IkSolverRMR.cpp │ ├── IkSolverRMR.h │ ├── KeyCatcherBase.cpp │ ├── KeyCatcherBase.h │ ├── MotionControlLayer.cpp │ ├── MotionControlLayer.h │ ├── PeriodicCallback.cpp │ ├── PeriodicCallback.h │ ├── PhysicsBase.cpp │ ├── PhysicsBase.h │ ├── PhysicsConfig.cpp │ ├── PhysicsConfig.h │ ├── PhysicsFactory.cpp │ ├── PhysicsFactory.h │ ├── Rcs_BVHParser.c │ ├── Rcs_BVHParser.h │ ├── Rcs_HTr.c │ ├── Rcs_HTr.h │ ├── Rcs_Mat3d.c │ ├── Rcs_Mat3d.h │ ├── Rcs_MatNd.c │ ├── Rcs_MatNd.h │ ├── Rcs_URDFParser.c │ ├── Rcs_URDFParser.h │ ├── Rcs_Vec3d.c │ ├── Rcs_Vec3d.h │ ├── Rcs_VecNd.c │ ├── Rcs_VecNd.h │ ├── Rcs_basicMath.c │ ├── Rcs_basicMath.h │ ├── Rcs_body.c │ ├── Rcs_body.h │ ├── Rcs_bool.h │ ├── Rcs_cmdLine.cpp │ ├── Rcs_cmdLine.h │ ├── Rcs_collisionModel.c │ ├── Rcs_collisionModel.h │ ├── Rcs_distanceWM5.cpp │ ├── Rcs_distanceWM5.h │ ├── Rcs_dynamics.c │ ├── Rcs_dynamics.h │ ├── Rcs_eigen.cpp │ ├── Rcs_eigen.h │ ├── Rcs_filters.cpp │ ├── Rcs_filters.h │ ├── Rcs_geometry.c │ ├── Rcs_geometry.h │ ├── Rcs_gradientTests.c │ ├── Rcs_gradientTests.h │ ├── Rcs_graph.c │ ├── Rcs_graph.h │ ├── Rcs_graphOpenRAVEParser.c │ ├── Rcs_graphOpenRAVEParser.h │ ├── Rcs_graphParser.c │ ├── Rcs_graphParser.h │ ├── Rcs_intersectionWM5.cpp │ ├── Rcs_intersectionWM5.h │ ├── Rcs_joint.c │ ├── Rcs_joint.h │ ├── Rcs_kinematics.c │ ├── Rcs_kinematics.h │ ├── Rcs_linAlg.c │ ├── Rcs_macros.c │ ├── Rcs_macros.h │ ├── Rcs_math.h │ ├── Rcs_mathTests.cpp │ ├── Rcs_mathTests.h │ ├── Rcs_mesh.c │ ├── Rcs_mesh.h │ ├── Rcs_msvc.cpp │ ├── Rcs_msvc.h │ ├── Rcs_parser.c │ ├── Rcs_parser.h │ ├── Rcs_quaternion.c │ ├── Rcs_quaternion.h │ ├── Rcs_resourcePath.cpp │ ├── Rcs_resourcePath.h │ ├── Rcs_sensor.c │ ├── Rcs_sensor.h │ ├── Rcs_shape.c │ ├── Rcs_shape.h │ ├── Rcs_stackTrace.cpp │ ├── Rcs_stlParser.cpp │ ├── Rcs_stlParser.h │ ├── Rcs_timer.c │ ├── Rcs_timer.h │ ├── Rcs_typedef.h │ ├── Rcs_utils.c │ ├── Rcs_utils.h │ ├── Rcs_utilsCPP.cpp │ ├── Rcs_utilsCPP.h │ ├── SegFaultHandler.h │ ├── SensorComponent.cpp │ ├── SensorComponent.h │ ├── SolverRAC.cpp │ ├── SolverRAC.h │ ├── StackVec.h │ ├── Task.cpp │ ├── Task.h │ ├── TaskAngularMomentum3D.cpp │ ├── TaskAngularMomentum3D.h │ ├── TaskCOM1D.cpp │ ├── TaskCOM1D.h │ ├── TaskCOM3D.cpp │ ├── TaskCOM3D.h │ ├── TaskCollision.cpp │ ├── TaskCollision.h │ ├── TaskCompositeXml.cpp │ ├── TaskCompositeXml.h │ ├── TaskCylindrical1D.cpp │ ├── TaskCylindrical1D.h │ ├── TaskCylindrical3D.cpp │ ├── TaskCylindrical3D.h │ ├── TaskCylindricalForce1D.cpp │ ├── TaskCylindricalForce1D.h │ ├── TaskCylindricalPos3D.cpp │ ├── TaskCylindricalPos3D.h │ ├── TaskDifferentialConstraint1D.cpp │ ├── TaskDifferentialConstraint1D.h │ ├── TaskDistance.cpp │ ├── TaskDistance.h │ ├── TaskDistance1D.cpp │ ├── TaskDistance1D.h │ ├── TaskDistance3D.cpp │ ├── TaskDistance3D.h │ ├── TaskEuler1D.cpp │ ├── TaskEuler1D.h │ ├── TaskEuler3D.cpp │ ├── TaskEuler3D.h │ ├── TaskFactory.cpp │ ├── TaskFactory.h │ ├── TaskGenericEuler3D.cpp │ ├── TaskGenericEuler3D.h │ ├── TaskGenericIK.cpp │ ├── TaskGenericIK.h │ ├── TaskInclination.cpp │ ├── TaskInclination.h │ ├── TaskJoint.cpp │ ├── TaskJoint.h │ ├── TaskJointLimit.cpp │ ├── TaskJointLimit.h │ ├── TaskJointLimitPlateau.cpp │ ├── TaskJointLimitPlateau.h │ ├── TaskJoints.cpp │ ├── TaskJoints.h │ ├── TaskOmega1D.cpp │ ├── TaskOmega1D.h │ ├── TaskOmega3D.cpp │ ├── TaskOmega3D.h │ ├── TaskPolar2D.cpp │ ├── TaskPolar2D.h │ ├── TaskPolarSurfaceNormal.cpp │ ├── TaskPolarSurfaceNormal.h │ ├── TaskPolarTarget2D.cpp │ ├── TaskPolarTarget2D.h │ ├── TaskPose5D.cpp │ ├── TaskPose5D.h │ ├── TaskPose6D.cpp │ ├── TaskPose6D.h │ ├── TaskPosition1D.cpp │ ├── TaskPosition1D.h │ ├── TaskPosition3D.cpp │ ├── TaskPosition3D.h │ ├── TaskPositionForce1D.cpp │ ├── TaskPositionForce1D.h │ ├── TaskPositionForce3D.cpp │ ├── TaskPositionForce3D.h │ ├── TaskPositionTarget3D.cpp │ ├── TaskPositionTarget3D.h │ ├── TaskRegion.cpp │ ├── TaskRegion.h │ ├── TaskRegionBoundingBox.cpp │ ├── TaskRegionBoundingBox.h │ ├── TaskRegionBoxInterval.cpp │ ├── TaskRegionBoxInterval.h │ ├── TaskRegionFactory.cpp │ ├── TaskRegionFactory.h │ ├── TaskSpaceBlender.cpp │ ├── TaskSpaceBlender.h │ ├── TaskSpherical1D.cpp │ ├── TaskSpherical1D.h │ ├── TaskSpherical3D.cpp │ ├── TaskSpherical3D.h │ ├── TaskSphericalForce1D.cpp │ ├── TaskSphericalForce1D.h │ ├── TaskStaticEffort.cpp │ ├── TaskStaticEffort.h │ ├── TaskVelocity1D.cpp │ ├── TaskVelocity1D.h │ ├── TaskVelocity3D.cpp │ ├── TaskVelocity3D.h │ ├── TaskVelocityJoint.cpp │ ├── TaskVelocityJoint.h │ ├── ViaPointSequence.cpp │ └── ViaPointSequence.h ├── RcsGraphics │ ├── ArrowNode.cpp │ ├── ArrowNode.h │ ├── BodyNode.cpp │ ├── BodyNode.h │ ├── BodyPointDragger.cpp │ ├── BodyPointDragger.h │ ├── BoxNode.cpp │ ├── BoxNode.h │ ├── CMakeLists.txt │ ├── COSNode.cpp │ ├── COSNode.h │ ├── CapsuleNode.cpp │ ├── CapsuleNode.h │ ├── CylinderNode.cpp │ ├── CylinderNode.h │ ├── DepthRenderer.cpp │ ├── DepthRenderer.h │ ├── FTSensorNode.cpp │ ├── FTSensorNode.h │ ├── GraphNode.cpp │ ├── GraphNode.h │ ├── HUD.cpp │ ├── HUD.h │ ├── KeyCatcher.cpp │ ├── KeyCatcher.h │ ├── MeshNode.cpp │ ├── MeshNode.h │ ├── MouseDragger.cpp │ ├── MouseDragger.h │ ├── NodeBase.cpp │ ├── NodeBase.h │ ├── PPSSensorNode.cpp │ ├── PPSSensorNode.h │ ├── RcsViewer.cpp │ ├── RcsViewer.h │ ├── Rcs_graphicsUtils.cpp │ ├── Rcs_graphicsUtils.h │ ├── RigidBodyTracker.cpp │ ├── RigidBodyTracker.h │ ├── SSRNode.cpp │ ├── SSRNode.h │ ├── ShapeNode.cpp │ ├── ShapeNode.h │ ├── SphereNode.cpp │ ├── SphereNode.h │ ├── TargetSetter.cpp │ ├── TargetSetter.h │ ├── TextNode3D.cpp │ ├── TextNode3D.h │ ├── TorusNode.cpp │ ├── TorusNode.h │ ├── TransformTrace.cpp │ ├── TransformTrace.h │ ├── VectorFieldNode.cpp │ ├── VectorFieldNode.h │ ├── VertexArrayNode.cpp │ └── VertexArrayNode.h ├── RcsGui │ ├── Atomic.hpp │ ├── CMakeLists.txt │ ├── ControllerWidgetBase.cpp │ ├── ControllerWidgetBase.h │ ├── DblSlider.cpp │ ├── DblSlider.h │ ├── DynamicDataPlot.cpp │ ├── DynamicDataPlot.h │ ├── ForceControlGui.cpp │ ├── ForceControlGui.h │ ├── GuiFactory.cpp │ ├── GuiFactory.h │ ├── HighGui.cpp │ ├── HighGui.h │ ├── HighGuiButton.cpp │ ├── HighGuiButton.h │ ├── HighGuiImage.cpp │ ├── HighGuiImage.h │ ├── HighGuiLabel.cpp │ ├── HighGuiLabel.h │ ├── HighGuiPlot.cpp │ ├── HighGuiPlot.h │ ├── HighGuiSlider.cpp │ ├── HighGuiSlider.h │ ├── HighGuiWidget.cpp │ ├── HighGuiWidget.h │ ├── HighGuiWindow.cpp │ ├── HighGuiWindow.h │ ├── JointSlider.cpp │ ├── JointSlider.h │ ├── JointWidget.cpp │ ├── JointWidget.h │ ├── LcdSlider.cpp │ ├── LcdSlider.h │ ├── MatNdWidget.cpp │ ├── MatNdWidget.h │ ├── PPSGui.cpp │ ├── PPSGui.h │ ├── PPSWidget.cpp │ ├── PPSWidget.h │ ├── Rcs_guiFactory.c │ ├── Rcs_guiFactory.h │ ├── SimpleSlider.cpp │ ├── SimpleSlider.h │ ├── Slider1Dof.cpp │ ├── Slider1Dof.h │ ├── SliderCheck1Dof.cpp │ ├── SliderCheck1Dof.h │ ├── TaskWidget.cpp │ └── TaskWidget.h └── RcsPhysics │ ├── BulletDebugDrawer.cpp │ 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