├── .editorconfig ├── .gitignore ├── .gitmodules ├── CMake ├── FindCasadi.cmake ├── FindCython.cmake ├── FindIPOPT.cmake ├── FindNumPy2.cmake ├── FindNumPy3.cmake ├── ReplicatePythonSourceTree.cmake └── UseCython.cmake ├── CMakeLists.txt ├── CONTRIBUTING.md ├── Doxyfile ├── Jenkinsfile ├── LICENSE ├── README.md ├── addons ├── balance │ ├── BalanceToolkit.cc │ ├── BalanceToolkit.h │ ├── CMakeLists.txt │ ├── balance.h │ └── tests │ │ ├── CMakeLists.txt │ │ └── testBalanceToolkit.cc ├── benchmark │ ├── CMakeLists.txt │ ├── Human36Model.cc │ ├── Human36Model.h │ ├── SampleData.h │ ├── Timer.h │ ├── benchmark.cc │ ├── model_generator.cc │ └── model_generator.h ├── geometry │ ├── CMakeLists.txt │ ├── Function.h │ ├── LICENSE │ ├── LICENSE_APACHE-2.0.txt │ ├── NOTICE │ ├── README.md │ ├── SegmentedQuinticBezierToolkit.cc │ ├── SegmentedQuinticBezierToolkit.h │ ├── SmoothSegmentedFunction.cc │ ├── SmoothSegmentedFunction.h │ ├── geometry.h │ └── tests │ │ ├── CMakeLists.txt │ │ ├── numericalTestFunctions.cc │ │ ├── numericalTestFunctions.h │ │ └── testSmoothSegmentedFunction.cc ├── luamodel │ ├── CMakeLists.txt │ ├── README │ ├── complexmodel.lua │ ├── luamodel.cc │ ├── luamodel.h │ ├── luastructs.h │ ├── luatables.cc │ ├── luatables.h │ ├── luatypes.h │ ├── rbdl_luamodel_util.cc │ ├── sampleconstrainedmodel.lua │ ├── samplemodel.lua │ ├── samplemodelwithtorquemuscles.lua │ └── tests │ │ ├── CMakeLists.txt │ │ └── testLuaModel.cc ├── muscle │ ├── CMakeLists.txt │ ├── LICENSE │ ├── LICENSE_APACHE-2.0.txt │ ├── Millard2016TorqueMuscle.cc │ ├── Millard2016TorqueMuscle.h │ ├── MuscleFunctionFactory.cc │ ├── MuscleFunctionFactory.h │ ├── NOTICE │ ├── README.md │ ├── TorqueMuscleFittingToolkit.cc │ ├── TorqueMuscleFittingToolkit.h │ ├── TorqueMuscleFunctionFactory.cc │ ├── TorqueMuscleFunctionFactory.h │ ├── csvtools.cc │ ├── csvtools.h │ ├── muscle.h │ └── tests │ │ ├── CMakeLists.txt │ │ ├── testMillard2016TorqueMuscle.cc │ │ ├── testMuscleFunctionFactory.cc │ │ └── testTorqueMuscleFunctionFactory.cc └── urdfreader │ ├── CMake │ ├── FindURDF.cmake │ ├── pkg-config.cmake │ ├── ros.cmake │ └── shared-library.cmake │ ├── CMakeLists.txt │ ├── README.md │ ├── rbdl_urdfreader_util.cc │ ├── thirdparty │ └── CMakeLists.txt │ ├── urdfreader.cc │ └── urdfreader.h ├── casadi ├── CMakeLists.txt └── info.h ├── doc ├── Mainpage.h ├── api_changes.txt ├── example.h ├── images │ ├── fig_Constraint_Contact.png │ ├── fig_Constraint_Loop.png │ ├── fig_GeometryAddon_quinticCornerSections.png │ ├── fig_MuscleAddon_Anderson2007AllPositiveSigns.png │ ├── fig_MuscleAddon_BlendableTorqueMuscle.png │ ├── fig_MuscleAddon_Gymnast_ElbowForearm.png │ ├── fig_MuscleAddon_Gymnast_HipKneeAnkle.png │ ├── fig_MuscleAddon_Gymnast_Lumbar.png │ ├── fig_MuscleAddon_Gymnast_Shoulder3Dof.png │ ├── fig_MuscleAddon_Gymnast_Wrist3Dof.png │ ├── fig_MuscleAddon_MuscleFunctionFactory_falCurve.png │ ├── fig_MuscleAddon_MuscleFunctionFactory_fcCosPhiCurve.png │ ├── fig_MuscleAddon_MuscleFunctionFactory_fcLengthCurve.png │ ├── fig_MuscleAddon_MuscleFunctionFactory_fcphiCurve.png │ ├── fig_MuscleAddon_MuscleFunctionFactory_fpeCurve.png │ ├── fig_MuscleAddon_MuscleFunctionFactory_fseCurve.png │ ├── fig_MuscleAddon_MuscleFunctionFactory_fvCurve.png │ ├── fig_MuscleAddon_MuscleFunctionFactory_fvInvCurve.png │ ├── fig_MuscleAddon_TorqueMuscleFunctionFactory_DampingBlendingCurve.png │ ├── fig_MuscleAddon_TorqueMuscleFunctionFactory_GaussianActiveTorqueAngleCurve.png │ ├── fig_MuscleAddon_TorqueMuscleFunctionFactory_GaussianActiveTorqueAngleCurveSimple.png │ ├── fig_MuscleAddon_TorqueMuscleFunctionFactory_PassiveTorqueAngleCurve.png │ ├── fig_MuscleAddon_TorqueMuscleFunctionFactory_PassiveTorqueAngleCurveSimple.png │ ├── fig_MuscleAddon_TorqueMuscleFunctionFactory_TendonTorqueAngleCurve.png │ ├── fig_MuscleAddon_TorqueMuscleFunctionFactory_TendonTorqueAngleCurveSimple.png │ ├── fig_MuscleAddon_TorqueMuscleFunctionFactory_TorqueVelocityCurve.png │ └── fig_MuscleAddon_TorqueMuscleFunctionFactory_TorqueVelocityCurveSimple.png ├── logo │ ├── rbdl_logo.png │ ├── rbdl_logo.svg │ ├── rbdl_logo_16x16.png │ ├── rbdl_logo_32x32.png │ └── rbdl_logo_64x64.png ├── luamodel_example.h ├── notes │ ├── Makefile │ ├── acceleration_visualization.pdf │ ├── acceleration_visualization.svg │ └── point_velocity_acceleration.tex └── python_example.h ├── examples ├── README.md ├── bouncingBall │ ├── CMake │ │ ├── FindEigen3.cmake │ │ ├── FindIPOPT.cmake │ │ └── FindRBDL.cmake │ ├── CMakeFiles │ │ └── cmake.check_cache │ ├── CMakeLists.txt │ ├── README.md │ ├── model │ │ └── ballPlaneContact.lua │ ├── output │ │ ├── animation.csv │ │ ├── animationForces.ff │ │ ├── frictionCoefficientCurve.csv │ │ └── kepe.csv │ └── src │ │ ├── ContactToolkit.h │ │ ├── Timer.h │ │ ├── bouncingBallBenchmark.cc │ │ ├── csvtools.cc │ │ └── csvtools.h ├── casadi_simple │ ├── CMakeLists.txt │ ├── FindCasadi.cmake │ └── example.cc ├── constrainedDoublePendulum │ ├── CMake │ │ ├── FindBTK.cmake │ │ ├── FindEigen3.cmake │ │ ├── FindRBDL.cmake │ │ ├── Modules │ │ │ ├── Build.cmake │ │ │ ├── BuildFortran.cmake │ │ │ ├── BuildMuscodApps.cmake │ │ │ ├── BuildPaths.cmake │ │ │ ├── BuildVplanApps.cmake │ │ │ ├── CompilerOptions.cmake │ │ │ ├── CompilerSettingsC.cmake │ │ │ ├── CompilerSettingsCpp.cmake │ │ │ ├── CompilerSettingsFortran.cmake │ │ │ ├── Cosmetics.cmake │ │ │ ├── DefaultSearchPaths.cmake │ │ │ ├── ExportIncludeDirs.cmake │ │ │ ├── FindADIFOR2.cmake │ │ │ ├── FindADOLC.cmake │ │ │ ├── FindAMD.cmake │ │ │ ├── FindBOOST.cmake │ │ │ ├── FindBQPD.cmake │ │ │ ├── FindCOMMON_CODE.cmake │ │ │ ├── FindEFENCE.cmake │ │ │ ├── FindHDF5.cmake │ │ │ ├── FindJMODELICA.cmake │ │ │ ├── FindLIBLAC.cmake │ │ │ ├── FindMATLAB.cmake │ │ │ ├── FindMUSCOD.cmake │ │ │ ├── FindNETCDF.cmake │ │ │ ├── FindOCTAVE.cmake │ │ │ ├── FindOOQP.cmake │ │ │ ├── FindPGPLOT.cmake │ │ │ ├── FindPLPLOT.cmake │ │ │ ├── FindQPOASES.cmake │ │ │ ├── FindQPOPT.cmake │ │ │ ├── FindSNOPT.cmake │ │ │ ├── FindSOLVIND.cmake │ │ │ ├── FindSONIC.cmake │ │ │ ├── FindSUNDIALS.cmake │ │ │ ├── FindUFCONFIG.cmake │ │ │ ├── FindUMFPACK.cmake │ │ │ ├── FindVPLAN.cmake │ │ │ ├── FindXERCESC.cmake │ │ │ ├── FindXXX.cmake │ │ │ ├── ImportIncludeDirs.cmake │ │ │ ├── InstallCmakeModules.cmake │ │ │ ├── Logging.cmake │ │ │ ├── OptimizeCompilerSettings.cmake │ │ │ ├── ProblemHandling.cmake │ │ │ ├── SimOptDefaults.cmake │ │ │ ├── UseADIFOR2.cmake │ │ │ ├── UseADOLC.cmake │ │ │ ├── UseAMD.cmake │ │ │ ├── UseBOOST.cmake │ │ │ ├── UseEFENCE.cmake │ │ │ ├── UseHDF5.cmake │ │ │ ├── UseMATLAB.cmake │ │ │ ├── UseNETCDF.cmake │ │ │ ├── UseOCTAVE.cmake │ │ │ ├── UseOOQP.cmake │ │ │ ├── UsePGPLOT.cmake │ │ │ ├── UsePLPLOT.cmake │ │ │ ├── UseQPOASES.cmake │ │ │ ├── UseSNOPT.cmake │ │ │ ├── UseSUNDIALS.cmake │ │ │ ├── UseUFCONFIG.cmake │ │ │ ├── UseUMFPACK.cmake │ │ │ ├── UseX11.cmake │ │ │ └── UseXERCESC.cmake │ │ ├── TESTDartConfig.cmake │ │ └── TestSuite.cmake │ ├── CMakeLists.txt │ ├── README.md │ ├── model │ │ └── constrainedDoublePendulum.lua │ └── src │ │ ├── constrainedDoublePendulumForwardDynamics.cc │ │ ├── csvtools.cc │ │ └── csvtools.h ├── luamodel │ ├── CMakeLists.txt │ ├── FindEigen3.cmake │ ├── FindRBDL.cmake │ ├── README.md │ ├── example_luamodel.cc │ ├── sampleconstrainedmodel.lua │ └── samplemodel.lua ├── pendulum │ ├── CMake │ │ ├── FindEigen3.cmake │ │ └── FindRBDL.cmake │ ├── CMakeLists.txt │ ├── README.md │ ├── model │ │ ├── pendulum.lua │ │ └── unit_cube.obj │ └── src │ │ ├── csvtools.cc │ │ ├── csvtools.h │ │ └── pendulumForwardDynamics.cc ├── python │ └── example.py ├── simple │ ├── CMakeLists.txt │ ├── FindEigen3.cmake │ ├── FindRBDL.cmake │ └── example.cc ├── urdfreader │ ├── CMakeLists.txt │ ├── FindEigen3.cmake │ ├── FindRBDL.cmake │ ├── README.md │ └── example_urdfreader.cc └── walkingInverseDynamicsWithPython │ ├── README.md │ ├── animation.csv │ ├── fitting_log.csv │ ├── gait912.lua │ ├── gaitDataPlanar.c3d │ ├── grf.ff │ ├── meshes │ ├── foot.obj │ ├── hand.obj │ ├── head.obj │ ├── lowerArm.obj │ ├── middleTrunk.obj │ ├── pelvis.obj │ ├── shank.obj │ ├── thigh.obj │ ├── trunk.obj │ ├── unit_sphere_medres.obj │ ├── upperArm.obj │ └── upperTrunk.obj │ ├── processInverseDynamics.py │ └── qIK.csv ├── include └── rbdl │ ├── Body.h │ ├── CasadiMath │ ├── MX_Xd_dynamic.h │ ├── MX_Xd_scalar.h │ ├── MX_Xd_static.h │ ├── MX_Xd_subMatrix.h │ └── MX_Xd_utils.h │ ├── Constraint.h │ ├── Constraint_Contact.h │ ├── Constraint_Loop.h │ ├── Constraints.h │ ├── Dynamics.h │ ├── Joint.h │ ├── Kinematics.h │ ├── Logging.h │ ├── Model.h │ ├── Quaternion.h │ ├── SpatialAlgebraOperators.h │ ├── compileassert.h │ ├── rbdl.h │ ├── rbdl_casadi_config.h.cmake │ ├── rbdl_config.h.cmake │ ├── rbdl_eigenmath.h │ ├── rbdl_errors.h │ ├── rbdl_math.h │ ├── rbdl_mathutils.h │ └── rbdl_utils.h ├── python ├── CMakeLists.txt ├── ICustomJoint.cpp ├── ICustomJoint.h ├── README.md ├── crbdl.pxd ├── crbdlmuscle.pxd ├── rbdl-python.h ├── rbdl-python_api.h ├── rbdl-wrapper.pyx ├── rbdl.pxd ├── rbdl_loadmodel.cc ├── rbdl_ptr_functions.h ├── rbdlmuscle.pyx ├── setup.py.cmake ├── test_rbdlmuscle.py ├── test_wrapper.py └── wrappergen.py ├── rbdl.pc.cmake ├── share ├── FindRBDL.cmake ├── RBDLCasadiConfig.cmake.in ├── RBDLConfig.cmake.in ├── rbdl-casadi.pc.cmake └── rbdl.pc.cmake ├── src ├── Constraint_Contact.cc ├── Constraint_Loop.cc ├── Constraints.cc ├── Dynamics.cc ├── Joint.cc ├── Kinematics.cc ├── Logging.cc ├── Model.cc ├── rbdl_errors.cc ├── rbdl_mathutils.cc ├── rbdl_utils.cc └── rbdl_version.cc ├── tests ├── BodyTests.cc ├── CMakeLists.txt ├── CalcAccelerationsTests.cc ├── CalcVelocitiesTests.cc ├── CompositeRigidBodyTests.cc ├── ContactsTests.cc ├── CustomConstraintsTests.cc ├── CustomJointMultiBodyTests.cc ├── CustomJointSingleBodyTests.cc ├── CustomJointTests.cc ├── DynamicsTests.cc ├── ErrorTests.cc ├── Fixtures.h ├── FloatingBaseTests.cc ├── ForwardDynamicsConstraintsExternalForces.cc ├── Human36Fixture.h ├── ImpulsesTests.cc ├── 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