├── .clang-format ├── .cmake-format.yaml ├── .gitignore ├── .gitmodules ├── .pre-commit-config.yaml ├── CMakeLists.txt ├── LICENSE ├── README.md ├── benchmark ├── CMakeLists.txt ├── affine-transform.cpp └── mujoco-humanoid.cpp ├── bindings ├── CMakeLists.txt └── python │ ├── CMakeLists.txt │ ├── core │ ├── expose-constraints-problem.cpp │ ├── expose-contact-frame.cpp │ └── expose-simulator.cpp │ ├── module.cpp │ └── simple │ └── __init__.py ├── include └── simple │ ├── bindings │ └── python │ │ ├── core │ │ ├── constraints-problem.hpp │ │ └── simulator.hpp │ │ └── fwd.hpp │ ├── core │ ├── constraints-problem.hpp │ ├── constraints-problem.hxx │ ├── constraints-problem.txx │ ├── contact-frame.hpp │ ├── contact-frame.hxx │ ├── fwd.hpp │ ├── simulator.hpp │ ├── simulator.hxx │ └── simulator.txx │ ├── fwd.hpp │ ├── math │ ├── fwd.hpp │ └── qr.hpp │ ├── pch.hpp │ ├── pinocchio_template_instantiation │ ├── aba-derivatives.txx │ ├── aba.txx │ ├── crba.txx │ └── joint-model.txx │ └── utils │ └── visitors.hpp ├── sandbox ├── cartpole.py ├── cassie_mj.py ├── force_action_derivative.py ├── four_bar_linkage.py ├── four_five_bar_linkage.py ├── go2_contact_id.py ├── humanoid_mj.py ├── parallel_rollout.py ├── pendulum.py ├── pin_utils.py ├── robots │ ├── four_bar_linkage.xml │ ├── four_five_bar_linkage.xml │ ├── go2 │ │ └── mjcf │ │ │ ├── go2.xml │ │ │ └── scene.xml │ ├── humanoid.xml │ └── pendulum.xml ├── sim_utils.py ├── simulation_args.py ├── simulation_utils.py ├── test_memory.py └── viz_utils.py ├── sources.cmake ├── src ├── CMakeLists.txt ├── core │ ├── constraints-problem.cpp │ └── simulator.cpp ├── empty.cpp └── pinocchio_template_instantiation │ ├── aba-derivatives.cpp │ ├── aba.cpp │ ├── crba.cpp │ └── joint-model.cpp └── tests ├── CMakeLists.txt ├── forward ├── CMakeLists.txt ├── mujoco-humanoid.cpp ├── simulation-combine-constraints.cpp ├── simulation-robots.cpp ├── simulator-minimal.cpp ├── simulator.cpp └── urdf-romeo.cpp ├── python └── test_simulator_instance.py 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