├── .gitignore ├── CMakeLists.txt ├── CMakeModules ├── FindBoost.cmake ├── FindDL.cmake ├── FindDXL.cmake ├── FindGSL.cmake ├── FindLibXml2.cmake ├── FindMoby.cmake ├── FindPthread.cmake ├── FindRT.cmake ├── FindRavelin.cmake ├── FindSDL2.cmake ├── Findcurses.cmake ├── Findreveal.cmake ├── cmake_uninstall.cmake.in └── setup.sh.in ├── Example ├── CMakeLists.txt ├── Demo │ ├── Joystick │ │ ├── model.xml.in │ │ ├── plugins.xml │ │ └── vars.xml.in │ ├── Jump │ │ ├── model.xml.in │ │ ├── plugins.xml │ │ └── vars.xml.in │ ├── Run │ │ ├── model.xml.in │ │ ├── plugins.xml │ │ └── vars.xml.in │ ├── Stand │ │ ├── README.md │ │ ├── model.xml.in │ │ ├── plugins.xml │ │ └── vars.xml.in │ ├── Terrain │ │ ├── heightmap.dat │ │ ├── heightmap.py │ │ ├── heightmap2.dat │ │ ├── heightmap2.py │ │ ├── model.xml.in │ │ ├── plugins.xml │ │ └── vars.xml.in │ ├── Trot │ │ ├── model.xml.in │ │ ├── plugins.xml │ │ └── vars.xml.in │ └── Walk │ │ ├── model.xml.in │ │ ├── plugins.xml │ │ └── vars.xml.in ├── Model │ ├── Arm │ │ ├── init.xml │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.world │ │ ├── model.xml │ │ └── uncertainty.xml │ ├── Human │ │ ├── human.generated.sdf │ │ ├── human.include │ │ ├── human.pacer │ │ ├── human.world │ │ ├── human.xacro │ │ ├── model.config │ │ ├── vars.xml │ │ └── world.xacro │ ├── README.md │ ├── atlas │ │ ├── atlas.world │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.xml │ │ └── vars.xml │ ├── hopper │ │ ├── hopper.world │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.xml │ │ └── vars.xml │ ├── links │ │ ├── control-uncertainty.xml │ │ ├── init.xml │ │ ├── model-limits.sdf │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.world │ │ ├── model.xml │ │ └── uncertainty.xml │ └── monitor │ │ ├── init.xml │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.world │ │ └── model.xml └── Script │ ├── CMakeLists.txt │ ├── README.md │ ├── build-and-test.sh │ ├── clean-data.sh │ ├── clean-file.sh │ ├── clean_data.sh │ ├── downsample.sh │ ├── output-data.sh │ ├── parse_all_data.sh │ ├── parse_data.sh │ ├── run-test.sh │ ├── run_all_test.sh │ ├── run_all_test_sequential.sh │ ├── setup-tests.sh │ └── start-moby.sh ├── Plugin ├── CMakeLists.txt ├── Component │ ├── CMakeLists.txt │ ├── README.md │ ├── camera.cpp │ ├── center-of-mass.cpp │ ├── command.cpp │ ├── crouch.cpp │ ├── delay.cpp │ ├── eef-PID-controller.cpp │ ├── eef-data.cpp │ ├── end-effectors.cpp │ ├── error-check-builder.cpp │ ├── error-check.cpp │ ├── exit-contact.cpp │ ├── exit.cpp │ ├── forward-kinematics.cpp │ ├── gait-planner.cpp │ ├── gamepad │ │ ├── CMakeLists.txt │ │ └── gamepad.cpp │ ├── goForward.cpp │ ├── goto-stand.cpp │ ├── grasp.cpp │ ├── hardware │ │ ├── CMakeLists.txt │ │ ├── arduino.cpp │ │ └── dynamixel.cpp │ ├── imu │ │ ├── CMakeLists.txt │ │ ├── driver.cpp │ │ ├── driver.h │ │ ├── interface.cpp │ │ └── interface.h │ ├── inverse-dynamics │ │ ├── CMakeLists.txt │ │ ├── anitescu-potra.cpp │ │ ├── fix-trajectory.cpp │ │ ├── inverse-dynamics.cpp │ │ ├── maximal-dissipation.cpp │ │ ├── no-slip.cpp │ │ ├── plugin.cpp │ │ └── test.cpp │ ├── inverse-kinematics.cpp │ ├── joint-PID-controller.cpp │ ├── jump-to.cpp │ ├── jump.cpp │ ├── limits.cpp │ ├── monte-carlo-simulation │ │ ├── CMakeLists.txt │ │ ├── Random.h │ │ ├── Sample.cpp │ │ ├── Simulate.cpp │ │ ├── pendulum │ │ │ ├── multi-pendulum-12.xml │ │ │ ├── multi-pendulum.xml │ │ │ ├── nrutil.h │ │ │ ├── pendulum-init.cpp │ │ │ ├── pendulum.xml │ │ │ └── sobol-12d.mat │ │ ├── print.cpp │ │ ├── sample-perturb.cpp │ │ ├── service.h │ │ ├── simulate-message.cpp │ │ ├── test │ │ │ ├── internet │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── simple-planner.cpp │ │ │ │ ├── simple-robot.cpp │ │ │ │ └── simple-simulation.cpp │ │ │ └── local │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── simple-planner.cpp │ │ │ │ ├── simple-robot.cpp │ │ │ │ └── simple-simulation.cpp │ │ └── visualize.cpp │ ├── orient-base.cpp │ ├── output │ │ ├── CMakeLists.txt │ │ └── output.cpp │ ├── pick.cpp │ ├── plugin-scheduler.cpp │ ├── plugin-template.cpp │ ├── plugin.h │ ├── poseListener.cpp │ ├── settle.cpp │ ├── sinusoid-walk.cpp │ ├── sinusoid.cpp │ ├── stabilization.cpp │ ├── stand.cpp │ ├── stay.cpp │ ├── switch-gait.cpp │ ├── trajectory-table.cpp │ ├── visualize-ballistic-moton.cpp │ ├── waypoints.cpp │ └── wcpg.cpp └── Simulator │ ├── CMakeLists.txt │ ├── README.md │ ├── gazebo.cpp │ ├── moby.cpp │ └── visualize.cpp ├── README.md ├── Test ├── CMakeLists.txt ├── Jump │ ├── CMakeLists.txt │ ├── checks.cpp │ └── main.cpp ├── Run │ ├── CMakeLists.txt │ ├── checks.cpp │ └── main.cpp ├── Stand │ ├── CMakeLists.txt │ ├── checks.cpp │ └── main.cpp ├── Terrain │ ├── CMakeLists.txt │ ├── checks.cpp │ └── main.cpp ├── Trot │ ├── CMakeLists.txt │ ├── checks.cpp │ └── main.cpp ├── Walk │ ├── CMakeLists.txt │ ├── checks.cpp │ └── main.cpp └── main.cpp └── src ├── contact.cpp ├── controller.cpp ├── include └── Pacer │ ├── Log.h │ ├── Visualizable.h │ ├── controller.h │ ├── output.h │ ├── robot.h │ └── utilities.h ├── 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