├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── Readme.md ├── data ├── bookshelf │ ├── assets │ │ ├── box_l1.csv │ │ └── unit_cube_surface_contacts.csv │ ├── batch.yaml │ ├── output.csv │ └── setup.yaml ├── corner_pivot │ ├── assets │ │ └── box_l1_2D.csv │ ├── output.csv │ └── setup.yaml ├── cube_surface_contacts.csv ├── ddhand_tasks │ ├── ddhand_flip_pinch │ │ ├── assets │ │ │ └── box_l1_2D.csv │ │ ├── output.csv │ │ └── setup.yaml │ ├── ddhand_occluded_grasp │ │ ├── assets │ │ │ └── box_l1_2D.csv │ │ ├── output.csv │ │ └── setup.yaml │ ├── ddhand_peg_in_hole_side │ │ ├── assets │ │ │ └── box_l1_2D.csv │ │ ├── output.csv │ │ └── setup.yaml │ ├── ddhand_peg_in_hole_upward │ │ ├── assets │ │ │ └── box_l1_2D.csv │ │ ├── output.csv │ │ └── setup.yaml │ └── ddhand_push_reorient │ │ ├── assets │ │ └── box_l1_2D.csv │ │ ├── output.csv │ │ └── setup.yaml ├── delta_array_tasks │ ├── passage │ │ ├── assets │ │ │ └── box_l1_xyplane.csv │ │ ├── output.csv │ │ └── setup.yaml │ └── planar_reorient │ │ ├── assets │ │ └── box_l1_xyplane.csv │ │ ├── output.csv │ │ └── setup.yaml ├── inhand │ ├── assets │ │ ├── a_lego_duplo.csv │ │ ├── a_lego_duplo.stl │ │ ├── airplanetoy_b.csv │ │ ├── airplanetoy_b.stl │ │ ├── apple.csv │ │ ├── apple.stl │ │ ├── b_lego_duplo.csv │ │ ├── b_lego_duplo.stl │ │ ├── banana.csv │ │ ├── banana.stl │ │ ├── box_halflength_1.stl │ │ ├── box_halflength_50.csv │ │ ├── c_lego_duplo.csv │ │ ├── c_lego_duplo.stl │ │ ├── clamp.csv │ │ ├── clamp.stl │ │ ├── cylindar_l_2_r_1.csv │ │ ├── cylindar_l_2_r_1.stl │ │ ├── hammer.csv │ │ ├── hammer.stl │ │ ├── mug.csv │ │ ├── mug.stl │ │ ├── power_drill.csv │ │ ├── power_drill.stl │ │ ├── tuna_fish_can.csv │ │ └── tuna_fish_can.stl │ ├── batch.yaml │ ├── output.csv │ └── setup.yaml ├── obstacle │ ├── assets │ │ └── box_l1.csv │ ├── batch.yaml │ ├── output.csv │ └── setup.yaml ├── peg_out_hole │ ├── assets │ │ ├── box_l1.csv │ │ └── unit_cube_surface_contacts.csv │ ├── batch.yaml │ ├── output.csv │ └── setup.yaml ├── pick_card │ ├── assets │ │ ├── box_l1.csv │ │ └── unit_cube_surface_contacts.csv │ ├── batch.yaml │ ├── output.csv │ └── setup.yaml ├── placedown │ ├── assets │ │ └── box_l1.csv │ ├── output.csv │ └── setup.yaml ├── pushing │ ├── assets │ │ └── box_l1.csv │ ├── batch.yaml │ ├── output.csv │ └── setup.yaml ├── reorient │ ├── assets │ │ └── box_l1.csv │ ├── batch.yaml │ ├── output.csv │ └── setup.yaml ├── reorient_quasidynamic │ ├── assets │ │ └── box_l1.csv │ ├── output.csv │ └── setup.yaml ├── template_task │ ├── assets │ │ ├── box_l1.csv │ │ ├── cylinder_r1_h1.csv │ │ └── ellipsoid_unit_semi_axis.csv │ ├── batch.yaml │ └── setup.yaml └── wall │ ├── assets │ └── box_l1.csv │ ├── batch.yaml │ ├── output.csv │ └── setup.yaml ├── general_planner ├── CMakeLists.txt ├── collect_data_in_batch.cpp ├── hidex_planner.cpp └── readme.md └── src ├── CMakeLists.txt ├── mechanics ├── CMakeLists.txt ├── contacts │ ├── contact_constraints.cpp │ ├── contact_constraints.h │ ├── contact_kinematics.cpp │ ├── contact_kinematics.h │ ├── contact_mode_enumeration.cpp │ └── contact_mode_enumeration.h ├── dart_utils │ ├── dart_utils.cpp │ └── dart_utils.h ├── external │ ├── CMakeLists.txt │ ├── dartsim │ │ ├── .ci │ │ │ ├── build.sh │ │ │ ├── build_docs.sh │ │ │ ├── docker │ │ │ │ └── env.list │ │ │ ├── docs_versions.txt │ │ │ └── install_osx.sh │ │ ├── .clang-format │ │ ├── .github │ │ │ ├── ISSUE_TEMPLATE │ │ │ │ ├── bug_report.md │ │ │ │ └── feature_request.md │ │ │ ├── PULL_REQUEST_TEMPLATE.md │ │ │ └── workflows │ │ │ │ ├── api_doc.yml │ │ │ │ ├── build_farm.yml │ │ │ │ ├── ci_macos.yml │ │ │ │ ├── ci_ubuntu.yml │ │ │ │ └── ci_windows.yml │ │ ├── .gitignore │ │ ├── Brewfile │ │ ├── CHANGELOG.md │ │ ├── CMakeLists.txt │ │ ├── CONTRIBUTING.md │ │ ├── Dockerfile │ │ ├── LICENSE │ │ ├── Migration.md │ │ ├── README.md │ │ ├── cmake │ │ │ ├── CodeCoverage.cmake │ │ │ ├── Components.cmake │ │ │ ├── DARTConfig.cmake.in │ │ │ ├── DARTFindBoost.cmake │ │ │ ├── DARTFindBullet.cmake │ │ │ ├── DARTFindDependencies.cmake │ │ │ ├── DARTFindEigen3.cmake │ │ │ ├── DARTFindGLUT.cmake │ │ │ ├── DARTFindIPOPT.cmake │ │ │ ├── DARTFindNLOPT.cmake │ │ │ ├── DARTFindODE.cmake │ │ │ ├── DARTFindOpenGL.cmake │ │ │ ├── DARTFindOpenSceneGraph.cmake │ │ │ ├── DARTFindassimp.cmake │ │ │ ├── DARTFindccd.cmake │ │ │ ├── DARTFindfcl.cmake │ │ │ ├── DARTFindflann.cmake │ │ │ ├── DARTFindlz4.cmake │ │ │ ├── DARTFindoctomap.cmake │ │ │ ├── DARTFindpagmo.cmake │ │ │ ├── DARTFindtinyxml2.cmake │ │ │ ├── DARTFindurdfdom.cmake │ │ │ ├── DARTMacros.cmake │ │ │ ├── FindIPOPT.cmake │ │ │ ├── FindNLOPT.cmake │ │ │ ├── FindODE.cmake │ │ │ ├── FindSHARK.cmake │ │ │ ├── FindSNOPT.cmake │ │ │ ├── FindTinyXML.cmake │ │ │ ├── Findassimp.cmake │ │ │ ├── Findccd.cmake │ │ │ ├── Findfcl.cmake │ │ │ ├── Findflann.cmake │ │ │ ├── Findlz4.cmake │ │ │ ├── Findtinyxml2.cmake │ │ │ ├── dart.pc.in │ │ │ ├── dart_Component.cmake.in │ │ │ └── uninstall_target.cmake.in │ │ ├── codecov.yml │ │ ├── colcon.pkg │ │ ├── dart │ │ │ ├── CMakeLists.txt │ │ │ ├── collision │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── CollisionDetector.cpp │ │ │ │ ├── CollisionDetector.hpp │ │ │ │ ├── CollisionFilter.cpp │ │ │ │ ├── CollisionFilter.hpp │ │ │ │ ├── CollisionGroup.cpp │ │ │ │ ├── CollisionGroup.hpp │ │ │ │ ├── CollisionObject.cpp │ │ │ │ ├── CollisionObject.hpp │ │ │ │ ├── CollisionOption.cpp │ │ │ │ ├── CollisionOption.hpp │ │ │ │ ├── CollisionResult.cpp │ │ │ │ ├── CollisionResult.hpp │ │ │ │ ├── Contact.cpp │ │ │ │ ├── Contact.hpp │ │ │ │ ├── DistanceFilter.cpp │ │ │ │ ├── DistanceFilter.hpp │ │ │ │ ├── DistanceOption.cpp │ │ │ │ ├── DistanceOption.hpp │ │ │ │ ├── DistanceResult.cpp │ │ │ │ ├── DistanceResult.hpp │ │ │ │ ├── Option.hpp │ │ │ │ ├── RaycastOption.cpp │ │ │ │ ├── RaycastOption.hpp │ │ │ │ ├── RaycastResult.cpp │ │ │ │ ├── RaycastResult.hpp │ │ │ │ ├── Result.hpp │ │ │ │ ├── SmartPointer.hpp │ │ │ │ ├── bullet │ │ │ │ │ ├── BulletCollisionDetector.cpp │ │ │ │ │ ├── BulletCollisionDetector.hpp │ │ │ │ │ ├── BulletCollisionGroup.cpp │ │ │ │ │ ├── BulletCollisionGroup.hpp │ │ │ │ │ ├── BulletCollisionObject.cpp │ │ │ │ │ ├── BulletCollisionObject.hpp │ │ │ │ │ ├── BulletCollisionShape.cpp │ │ │ │ │ ├── BulletCollisionShape.hpp │ │ │ │ │ ├── BulletInclude.hpp │ │ │ │ │ ├── BulletTypes.cpp │ │ │ │ │ ├── BulletTypes.hpp │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── bullet.hpp.in │ │ │ │ │ └── detail │ │ │ │ │ │ ├── BulletCollisionDispatcher.cpp │ │ │ │ │ │ ├── BulletCollisionDispatcher.hpp │ │ │ │ │ │ ├── BulletOverlapFilterCallback.cpp │ │ │ │ │ │ └── BulletOverlapFilterCallback.hpp │ │ │ │ ├── dart │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── DARTCollide.cpp │ │ │ │ │ ├── DARTCollide.hpp │ │ │ │ │ ├── DARTCollisionDetector.cpp │ │ │ │ │ ├── DARTCollisionDetector.hpp │ │ │ │ │ ├── DARTCollisionGroup.cpp │ │ │ │ │ ├── DARTCollisionGroup.hpp │ │ │ │ │ ├── DARTCollisionObject.cpp │ │ │ │ │ ├── DARTCollisionObject.hpp │ │ │ │ │ └── dart.hpp.in │ │ │ │ ├── detail │ │ │ │ │ ├── CollisionDetector.hpp │ │ │ │ │ ├── CollisionGroup.hpp │ │ │ │ │ ├── Contact-impl.hpp │ │ │ │ │ └── UnorderedPairs.hpp │ │ │ │ ├── fcl │ │ │ │ │ ├── BackwardCompatibility.cpp │ │ │ │ │ ├── BackwardCompatibility.hpp │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── CollisionShapes.hpp │ │ │ │ │ ├── FCLCollisionDetector.cpp │ │ │ │ │ ├── FCLCollisionDetector.hpp │ │ │ │ │ ├── FCLCollisionGroup.cpp │ │ │ │ │ ├── FCLCollisionGroup.hpp │ │ │ │ │ ├── FCLCollisionObject.cpp │ │ │ │ │ ├── FCLCollisionObject.hpp │ │ │ │ │ ├── FCLTypes.cpp │ │ │ │ │ ├── FCLTypes.hpp │ │ │ │ │ ├── fcl.hpp.in │ │ │ │ │ └── tri_tri_intersection_test.hpp │ │ │ │ └── ode │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── OdeCollisionDetector.cpp │ │ │ │ │ ├── OdeCollisionDetector.hpp │ │ │ │ │ ├── OdeCollisionGroup.cpp │ │ │ │ │ ├── OdeCollisionGroup.hpp │ │ │ │ │ ├── OdeCollisionObject.cpp │ │ │ │ │ ├── OdeCollisionObject.hpp │ │ │ │ │ ├── OdeTypes.cpp │ │ │ │ │ ├── OdeTypes.hpp │ │ │ │ │ ├── detail │ │ │ │ │ ├── OdeBox.cpp │ │ │ │ │ ├── OdeBox.hpp │ │ │ │ │ ├── OdeCapsule.cpp │ │ │ │ │ ├── OdeCapsule.hpp │ │ │ │ │ ├── OdeCylinder.cpp │ │ │ │ │ ├── OdeCylinder.hpp │ │ │ │ │ ├── OdeGeom.cpp │ │ │ │ │ ├── OdeGeom.hpp │ │ │ │ │ ├── OdeHeightmap-impl.hpp │ │ │ │ │ ├── OdeHeightmap.hpp │ │ │ │ │ ├── OdeMesh.cpp │ │ │ │ │ ├── OdeMesh.hpp │ │ │ │ │ ├── OdePlane.cpp │ │ │ │ │ ├── OdePlane.hpp │ │ │ │ │ ├── OdeSphere.cpp │ │ │ │ │ └── OdeSphere.hpp │ │ │ │ │ └── ode.hpp.in │ │ │ ├── common │ │ │ │ ├── Aspect.cpp │ │ │ │ ├── Aspect.hpp │ │ │ │ ├── AspectWithVersion.hpp │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── ClassWithVirtualBase.hpp │ │ │ │ ├── Cloneable.hpp │ │ │ │ ├── Composite.cpp │ │ │ │ ├── Composite.hpp │ │ │ │ ├── CompositeJoiner.hpp │ │ │ │ ├── Console.cpp │ │ │ │ ├── Console.hpp │ │ │ │ ├── Deprecated.hpp │ │ │ │ ├── EmbeddedAspect.hpp │ │ │ │ ├── Empty.hpp │ │ │ │ ├── Factory.hpp │ │ │ │ ├── LocalResource.cpp │ │ │ │ ├── LocalResource.hpp │ │ │ │ ├── LocalResourceRetriever.cpp │ │ │ │ ├── LocalResourceRetriever.hpp │ │ │ │ ├── LockableReference.hpp │ │ │ │ ├── Memory.hpp │ │ │ │ ├── NameManager.hpp │ │ │ │ ├── Observer.cpp │ │ │ │ ├── Observer.hpp │ │ │ │ ├── Optional.hpp │ │ │ │ ├── Platform.hpp │ │ │ │ ├── ProxyAspect.hpp │ │ │ │ ├── RequiresAspect.hpp │ │ │ │ ├── Resource.cpp │ │ │ │ ├── Resource.hpp │ │ │ │ ├── ResourceRetriever.cpp │ │ │ │ ├── ResourceRetriever.hpp │ │ │ │ ├── SharedLibrary.cpp │ │ │ │ ├── SharedLibrary.hpp │ │ │ │ ├── Signal.cpp │ │ │ │ ├── Signal.hpp │ │ │ │ ├── Singleton.hpp │ │ │ │ ├── SmartPointer.hpp │ │ │ │ ├── SpecializedForAspect.hpp │ │ │ │ ├── StlHelpers.hpp │ │ │ │ ├── Subject.cpp │ │ │ │ ├── Subject.hpp │ │ │ │ ├── Timer.cpp │ │ │ │ ├── Timer.hpp │ │ │ │ ├── Uri.cpp │ │ │ │ ├── Uri.hpp │ │ │ │ ├── VersionCounter.cpp │ │ │ │ ├── VersionCounter.hpp │ │ │ │ ├── Virtual.hpp │ │ │ │ ├── detail │ │ │ │ │ ├── AlignedAllocator.hpp │ │ │ │ │ ├── Aspect.hpp │ │ │ │ │ ├── AspectWithVersion.hpp │ │ │ │ │ ├── Cloneable.hpp │ │ │ │ │ ├── Composite.hpp │ │ │ │ │ ├── CompositeData.hpp │ │ │ │ │ ├── CompositeJoiner.hpp │ │ │ │ │ ├── ConnectionBody.cpp │ │ │ │ │ ├── ConnectionBody.hpp │ │ │ │ │ ├── EmbeddedAspect.hpp │ │ │ │ │ ├── Factory-impl.hpp │ │ │ │ │ ├── LockableReference-impl.hpp │ │ │ │ │ ├── Memory-impl.hpp │ │ │ │ │ ├── NameManager.hpp │ │ │ │ │ ├── NoOp.hpp │ │ │ │ │ ├── ProxyAspect.hpp │ │ │ │ │ ├── RequiresAspect.hpp │ │ │ │ │ ├── SharedLibraryManager.cpp │ │ │ │ │ ├── SharedLibraryManager.hpp │ │ │ │ │ ├── Signal.hpp │ │ │ │ │ ├── Singleton-impl.hpp │ │ │ │ │ ├── SpecializedForAspect.hpp │ │ │ │ │ ├── TemplateJoinerDispatchMacro.hpp │ │ │ │ │ └── sub_ptr.hpp │ │ │ │ └── sub_ptr.hpp │ │ │ ├── config.hpp.in │ │ │ ├── constraint │ │ │ │ ├── BalanceConstraint.cpp │ │ │ │ ├── BalanceConstraint.hpp │ │ │ │ ├── BallJointConstraint.cpp │ │ │ │ ├── BallJointConstraint.hpp │ │ │ │ ├── BoxedLcpConstraintSolver.cpp │ │ │ │ ├── BoxedLcpConstraintSolver.hpp │ │ │ │ ├── BoxedLcpSolver.hpp │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── ConstrainedGroup.cpp │ │ │ │ ├── ConstrainedGroup.hpp │ │ │ │ ├── ConstraintBase.cpp │ │ │ │ ├── ConstraintBase.hpp │ │ │ │ ├── ConstraintSolver.cpp │ │ │ │ ├── ConstraintSolver.hpp │ │ │ │ ├── ContactConstraint.cpp │ │ │ │ ├── ContactConstraint.hpp │ │ │ │ ├── DantzigBoxedLcpSolver.cpp │ │ │ │ ├── DantzigBoxedLcpSolver.hpp │ │ │ │ ├── DantzigLCPSolver.cpp │ │ │ │ ├── DantzigLCPSolver.hpp │ │ │ │ ├── DynamicJointConstraint.cpp │ │ │ │ ├── DynamicJointConstraint.hpp │ │ │ │ ├── JointConstraint.cpp │ │ │ │ ├── JointConstraint.hpp │ │ │ │ ├── JointCoulombFrictionConstraint.cpp │ │ │ │ ├── JointCoulombFrictionConstraint.hpp │ │ │ │ ├── JointLimitConstraint.cpp │ │ │ │ ├── JointLimitConstraint.hpp │ │ │ │ ├── LCPSolver.cpp │ │ │ │ ├── LCPSolver.hpp │ │ │ │ ├── MimicMotorConstraint.cpp │ │ │ │ ├── MimicMotorConstraint.hpp │ │ │ │ ├── PGSLCPSolver.cpp │ │ │ │ ├── PGSLCPSolver.hpp │ │ │ │ ├── PgsBoxedLcpSolver.cpp │ │ │ │ ├── PgsBoxedLcpSolver.hpp │ │ │ │ ├── ServoMotorConstraint.cpp │ │ │ │ ├── ServoMotorConstraint.hpp │ │ │ │ ├── SmartPointer.hpp │ │ │ │ ├── SoftContactConstraint.cpp │ │ │ │ ├── SoftContactConstraint.hpp │ │ │ │ ├── WeldJointConstraint.cpp │ │ │ │ ├── WeldJointConstraint.hpp │ │ │ │ └── detail │ │ │ │ │ └── BoxedLcpSolver-impl.hpp │ │ │ ├── dart.cpp │ │ │ ├── dart.hpp │ │ │ ├── dynamics │ │ │ │ ├── ArrowShape.cpp │ │ │ │ ├── ArrowShape.hpp │ │ │ │ ├── AssimpInputResourceAdaptor.cpp │ │ │ │ ├── AssimpInputResourceAdaptor.hpp │ │ │ │ ├── BallJoint.cpp │ │ │ │ ├── BallJoint.hpp │ │ │ │ ├── BodyNode.cpp │ │ │ │ ├── BodyNode.hpp │ │ │ │ ├── BoxShape.cpp │ │ │ │ ├── BoxShape.hpp │ │ │ │ ├── Branch.cpp │ │ │ │ ├── Branch.hpp │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── CapsuleShape.cpp │ │ │ │ ├── CapsuleShape.hpp │ │ │ │ ├── Chain.cpp │ │ │ │ ├── Chain.hpp │ │ │ │ ├── CompositeNode.hpp │ │ │ │ ├── ConeShape.cpp │ │ │ │ ├── ConeShape.hpp │ │ │ │ ├── CylinderShape.cpp │ │ │ │ ├── CylinderShape.hpp │ │ │ │ ├── DegreeOfFreedom.cpp │ │ │ │ ├── DegreeOfFreedom.hpp │ │ │ │ ├── EllipsoidShape.cpp │ │ │ │ ├── EllipsoidShape.hpp │ │ │ │ ├── EndEffector.cpp │ │ │ │ ├── EndEffector.hpp │ │ │ │ ├── Entity.cpp │ │ │ │ ├── Entity.hpp │ │ │ │ ├── EntityNode.hpp │ │ │ │ ├── EulerJoint.cpp │ │ │ │ ├── EulerJoint.hpp │ │ │ │ ├── FixedFrame.cpp │ │ │ │ ├── FixedFrame.hpp │ │ │ │ ├── FixedJacobianNode.cpp │ │ │ │ ├── FixedJacobianNode.hpp │ │ │ │ ├── Frame.cpp │ │ │ │ ├── Frame.hpp │ │ │ │ ├── FreeJoint.cpp │ │ │ │ ├── FreeJoint.hpp │ │ │ │ ├── GenericJoint.hpp │ │ │ │ ├── Group.cpp │ │ │ │ ├── Group.hpp │ │ │ │ ├── HeightmapShape.hpp │ │ │ │ ├── HierarchicalIK.cpp │ │ │ │ ├── HierarchicalIK.hpp │ │ │ │ ├── IkFast.cpp │ │ │ │ ├── IkFast.hpp │ │ │ │ ├── Inertia.cpp │ │ │ │ ├── Inertia.hpp │ │ │ │ ├── InvalidIndex.hpp │ │ │ │ ├── InverseKinematics.cpp │ │ │ │ ├── InverseKinematics.hpp │ │ │ │ ├── JacobianNode.cpp │ │ │ │ ├── JacobianNode.hpp │ │ │ │ ├── Joint.cpp │ │ │ │ ├── Joint.hpp │ │ │ │ ├── LineSegmentShape.cpp │ │ │ │ ├── LineSegmentShape.hpp │ │ │ │ ├── Linkage.cpp │ │ │ │ ├── Linkage.hpp │ │ │ │ ├── Marker.cpp │ │ │ │ ├── Marker.hpp │ │ │ │ ├── MeshShape.cpp │ │ │ │ ├── MeshShape.hpp │ │ │ │ ├── MetaSkeleton.cpp │ │ │ │ ├── MetaSkeleton.hpp │ │ │ │ ├── MultiSphereConvexHullShape.cpp │ │ │ │ ├── MultiSphereConvexHullShape.hpp │ │ │ │ ├── MultiSphereShape.hpp │ │ │ │ ├── Node.cpp │ │ │ │ ├── Node.hpp │ │ │ │ ├── NodeManagerJoiner.hpp │ │ │ │ ├── PlanarJoint.cpp │ │ │ │ ├── PlanarJoint.hpp │ │ │ │ ├── PlaneShape.cpp │ │ │ │ ├── PlaneShape.hpp │ │ │ │ ├── PointCloudShape.cpp │ │ │ │ ├── PointCloudShape.hpp │ │ │ │ ├── PointMass.cpp │ │ │ │ ├── PointMass.hpp │ │ │ │ ├── PrismaticJoint.cpp │ │ │ │ ├── PrismaticJoint.hpp │ │ │ │ ├── PyramidShape.cpp │ │ │ │ ├── PyramidShape.hpp │ │ │ │ ├── ReferentialSkeleton.cpp │ │ │ │ ├── ReferentialSkeleton.hpp │ │ │ │ ├── RevoluteJoint.cpp │ │ │ │ ├── RevoluteJoint.hpp │ │ │ │ ├── ScrewJoint.cpp │ │ │ │ ├── ScrewJoint.hpp │ │ │ │ ├── Shape.cpp │ │ │ │ ├── Shape.hpp │ │ │ │ ├── ShapeFrame.cpp │ │ │ │ ├── ShapeFrame.hpp │ │ │ │ ├── ShapeNode.cpp │ │ │ │ ├── ShapeNode.hpp │ │ │ │ ├── SharedLibraryIkFast.cpp │ │ │ │ ├── SharedLibraryIkFast.hpp │ │ │ │ ├── SimpleFrame.cpp │ │ │ │ ├── SimpleFrame.hpp │ │ │ │ ├── Skeleton.cpp │ │ │ │ ├── Skeleton.hpp │ │ │ │ ├── SmartPointer.hpp │ │ │ │ ├── SoftBodyNode.cpp │ │ │ │ ├── SoftBodyNode.hpp │ │ │ │ ├── SoftMeshShape.cpp │ │ │ │ ├── SoftMeshShape.hpp │ │ │ │ ├── SpecializedNodeManager.hpp │ │ │ │ ├── SphereShape.cpp │ │ │ │ ├── SphereShape.hpp │ │ │ │ ├── TemplatedJacobianNode.hpp │ │ │ │ ├── TranslationalJoint.cpp │ │ │ │ ├── TranslationalJoint.hpp │ │ │ │ ├── TranslationalJoint2D.cpp │ │ │ │ ├── TranslationalJoint2D.hpp │ │ │ │ ├── UniversalJoint.cpp │ │ │ │ ├── UniversalJoint.hpp │ │ │ │ ├── VoxelGridShape.cpp │ │ │ │ ├── VoxelGridShape.hpp │ │ │ │ ├── WeldJoint.cpp │ │ │ │ ├── WeldJoint.hpp │ │ │ │ ├── ZeroDofJoint.cpp │ │ │ │ ├── ZeroDofJoint.hpp │ │ │ │ └── detail │ │ │ │ │ ├── BasicNodeManager.hpp │ │ │ │ │ ├── BodyNode.hpp │ │ │ │ │ ├── BodyNodeAspect.hpp │ │ │ │ │ ├── BodyNodePtr.hpp │ │ │ │ │ ├── CompositeNode.hpp │ │ │ │ │ ├── DegreeOfFreedomPtr.hpp │ │ │ │ │ ├── EndEffectorAspect.hpp │ │ │ │ │ ├── EntityNode.hpp │ │ │ │ │ ├── EntityNodeAspect.cpp │ │ │ │ │ ├── EntityNodeAspect.hpp │ │ │ │ │ ├── EulerJointAspect.cpp │ │ │ │ │ ├── EulerJointAspect.hpp │ │ │ │ │ ├── FixedFrameAspect.hpp │ │ │ │ │ ├── FixedJacobianNode.hpp │ │ │ │ │ ├── GenericJoint.hpp │ │ │ │ │ ├── GenericJointAspect.hpp │ │ │ │ │ ├── HeightmapShape-impl.hpp │ │ │ │ │ ├── InverseKinematics.hpp │ │ │ │ │ ├── InverseKinematicsPtr.hpp │ │ │ │ │ ├── JointAspect.hpp │ │ │ │ │ ├── JointPtr.hpp │ │ │ │ │ ├── MarkerAspect.hpp │ │ │ │ │ ├── Node.hpp │ │ │ │ │ ├── NodeManagerJoiner.hpp │ │ │ │ │ ├── NodePtr.hpp │ │ │ │ │ ├── PlanarJointAspect.cpp │ │ │ │ │ ├── PlanarJointAspect.hpp │ │ │ │ │ ├── PrismaticJointAspect.cpp │ │ │ │ │ ├── PrismaticJointAspect.hpp │ │ │ │ │ ├── RevoluteJointAspect.cpp │ │ │ │ │ ├── RevoluteJointAspect.hpp │ │ │ │ │ ├── ScrewJointAspect.cpp │ │ │ │ │ ├── ScrewJointAspect.hpp │ │ │ │ │ ├── Shape.hpp │ │ │ │ │ ├── ShapeFrameAspect.hpp │ │ │ │ │ ├── ShapeNode.hpp │ │ │ │ │ ├── Skeleton.hpp │ │ │ │ │ ├── SkeletonAspect.hpp │ │ │ │ │ ├── SoftBodyNodeAspect.hpp │ │ │ │ │ ├── SpecializedNodeManager.hpp │ │ │ │ │ ├── TemplatedJacobianNode.hpp │ │ │ │ │ ├── TranslationalJoint2DAspect.cpp │ │ │ │ │ ├── TranslationalJoint2DAspect.hpp │ │ │ │ │ ├── UniversalJointAspect.cpp │ │ │ │ │ └── UniversalJointAspect.hpp │ │ │ ├── external │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── convhull_3d │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ └── convhull_3d.h │ │ │ │ ├── ikfast │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ └── ikfast.h │ │ │ │ ├── imgui │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── imconfig.h │ │ │ │ │ ├── imgui.cpp │ │ │ │ │ ├── imgui.h │ │ │ │ │ ├── imgui_draw.cpp │ │ │ │ │ ├── imgui_impl_opengl2.cpp │ │ │ │ │ ├── imgui_impl_opengl2.h │ │ │ │ │ ├── imgui_internal.h │ │ │ │ │ ├── imgui_tables.cpp │ │ │ │ │ ├── imgui_widgets.cpp │ │ │ │ │ ├── imstb_rectpack.h │ │ │ │ │ ├── imstb_textedit.h │ │ │ │ │ └── imstb_truetype.h │ │ │ │ ├── lodepng │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── lodepng.cpp │ │ │ │ │ └── lodepng.h │ │ │ │ └── odelcpsolver │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── common.h │ │ │ │ │ ├── error.cpp │ │ │ │ │ ├── error.h │ │ │ │ │ ├── fastdot.cpp │ │ │ │ │ ├── fastldlt.cpp │ │ │ │ │ ├── fastlsolve.cpp │ │ │ │ │ ├── fastltsolve.cpp │ │ │ │ │ ├── lcp.cpp │ │ │ │ │ ├── lcp.h │ │ │ │ │ ├── matrix.cpp │ │ │ │ │ ├── matrix.h │ │ │ │ │ ├── misc.cpp │ │ │ │ │ ├── misc.h │ │ │ │ │ └── odeconfig.h │ │ │ ├── gui │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── GLFuncs.cpp │ │ │ │ ├── GLFuncs.hpp │ │ │ │ ├── GlutWindow.hpp │ │ │ │ ├── GraphWindow.hpp │ │ │ │ ├── LoadGlut.hpp │ │ │ │ ├── LoadOpengl.hpp │ │ │ │ ├── MotionBlurSimWindow.hpp │ │ │ │ ├── OpenGLRenderInterface.cpp │ │ │ │ ├── OpenGLRenderInterface.hpp │ │ │ │ ├── RenderInterface.cpp │ │ │ │ ├── RenderInterface.hpp │ │ │ │ ├── SimWindow.hpp │ │ │ │ ├── SoftSimWindow.hpp │ │ │ │ ├── TODOs │ │ │ │ ├── Trackball.cpp │ │ │ │ ├── Trackball.hpp │ │ │ │ ├── Win2D.hpp │ │ │ │ ├── Win3D.hpp │ │ │ │ ├── glut │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── GLUTFuncs.cpp │ │ │ │ │ ├── GLUTFuncs.hpp │ │ │ │ │ ├── GlutWindow.cpp │ │ │ │ │ ├── GraphWindow.cpp │ │ │ │ │ ├── GraphWindow.hpp │ │ │ │ │ ├── LoadGlut.hpp │ │ │ │ │ ├── MotionBlurSimWindow.cpp │ │ │ │ │ ├── MotionBlurSimWindow.hpp │ │ │ │ │ ├── SimWindow.cpp │ │ │ │ │ ├── SimWindow.hpp │ │ │ │ │ ├── SoftSimWindow.cpp │ │ │ │ │ ├── SoftSimWindow.hpp │ │ │ │ │ ├── Win2D.cpp │ │ │ │ │ ├── Win2D.hpp │ │ │ │ │ ├── Win3D.cpp │ │ │ │ │ ├── Win3D.hpp │ │ │ │ │ ├── Window.hpp │ │ │ │ │ └── glut.hpp.in │ │ │ │ └── osg │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── DefaultEventHandler.cpp │ │ │ │ │ ├── DefaultEventHandler.hpp │ │ │ │ │ ├── DragAndDrop.cpp │ │ │ │ │ ├── DragAndDrop.hpp │ │ │ │ │ ├── GridVisual.cpp │ │ │ │ │ ├── GridVisual.hpp │ │ │ │ │ ├── ImGuiHandler.cpp │ │ │ │ │ ├── ImGuiHandler.hpp │ │ │ │ │ ├── ImGuiViewer.cpp │ │ │ │ │ ├── ImGuiViewer.hpp │ │ │ │ │ ├── ImGuiWidget.cpp │ │ │ │ │ ├── ImGuiWidget.hpp │ │ │ │ │ ├── InteractiveFrame.cpp │ │ │ │ │ ├── InteractiveFrame.hpp │ │ │ │ │ ├── MouseEventHandler.hpp │ │ │ │ │ ├── RealTimeWorldNode.cpp │ │ │ │ │ ├── RealTimeWorldNode.hpp │ │ │ │ │ ├── ShapeFrameNode.cpp │ │ │ │ │ ├── ShapeFrameNode.hpp │ │ │ │ │ ├── SupportPolygonVisual.cpp │ │ │ │ │ ├── SupportPolygonVisual.hpp │ │ │ │ │ ├── TrackballManipulator.cpp │ │ │ │ │ ├── TrackballManipulator.hpp │ │ │ │ │ ├── Utils.hpp │ │ │ │ │ ├── Viewer.cpp │ │ │ │ │ ├── Viewer.hpp │ │ │ │ │ ├── WorldNode.cpp │ │ │ │ │ ├── WorldNode.hpp │ │ │ │ │ ├── osg.hpp.in │ │ │ │ │ └── render │ │ │ │ │ ├── BoxShapeNode.cpp │ │ │ │ │ ├── BoxShapeNode.hpp │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── CapsuleShapeNode.cpp │ │ │ │ │ ├── CapsuleShapeNode.hpp │ │ │ │ │ ├── ConeShapeNode.cpp │ │ │ │ │ ├── ConeShapeNode.hpp │ │ │ │ │ ├── CylinderShapeNode.cpp │ │ │ │ │ ├── CylinderShapeNode.hpp │ │ │ │ │ ├── EllipsoidShapeNode.cpp │ │ │ │ │ ├── EllipsoidShapeNode.hpp │ │ │ │ │ ├── HeightmapShapeNode.hpp │ │ │ │ │ ├── LineSegmentShapeNode.cpp │ │ │ │ │ ├── LineSegmentShapeNode.hpp │ │ │ │ │ ├── MeshShapeNode.cpp │ │ │ │ │ ├── MeshShapeNode.hpp │ │ │ │ │ ├── MultiSphereShapeNode.cpp │ │ │ │ │ ├── MultiSphereShapeNode.hpp │ │ │ │ │ ├── PlaneShapeNode.cpp │ │ │ │ │ ├── PlaneShapeNode.hpp │ │ │ │ │ ├── PointCloudShapeNode.cpp │ │ │ │ │ ├── PointCloudShapeNode.hpp │ │ │ │ │ ├── PyramidShapeNode.cpp │ │ │ │ │ ├── PyramidShapeNode.hpp │ │ │ │ │ ├── ShapeNode.cpp │ │ │ │ │ ├── ShapeNode.hpp │ │ │ │ │ ├── SoftMeshShapeNode.cpp │ │ │ │ │ ├── SoftMeshShapeNode.hpp │ │ │ │ │ ├── SphereShapeNode.cpp │ │ │ │ │ ├── SphereShapeNode.hpp │ │ │ │ │ ├── VoxelGridShapeNode.cpp │ │ │ │ │ ├── VoxelGridShapeNode.hpp │ │ │ │ │ ├── WarningShapeNode.cpp │ │ │ │ │ ├── WarningShapeNode.hpp │ │ │ │ │ └── render.hpp.in │ │ │ ├── integration │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── EulerIntegrator.cpp │ │ │ │ ├── EulerIntegrator.hpp │ │ │ │ ├── Integrator.cpp │ │ │ │ ├── Integrator.hpp │ │ │ │ ├── RK4Integrator.cpp │ │ │ │ ├── RK4Integrator.hpp │ │ │ │ ├── SemiImplicitEulerIntegrator.cpp │ │ │ │ └── SemiImplicitEulerIntegrator.hpp │ │ │ ├── lcpsolver │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── Lemke.cpp │ │ │ │ ├── Lemke.hpp │ │ │ │ ├── ODELCPSolver.cpp │ │ │ │ └── ODELCPSolver.hpp │ │ │ ├── math │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── ConfigurationSpace.cpp │ │ │ │ ├── ConfigurationSpace.hpp │ │ │ │ ├── Constants.hpp │ │ │ │ ├── Geometry.cpp │ │ │ │ ├── Geometry.hpp │ │ │ │ ├── Helpers.hpp │ │ │ │ ├── Icosphere.hpp │ │ │ │ ├── MathTypes.hpp │ │ │ │ ├── Mesh.hpp │ │ │ │ ├── Random.cpp │ │ │ │ ├── Random.hpp │ │ │ │ ├── TriMesh.cpp │ │ │ │ ├── TriMesh.hpp │ │ │ │ └── detail │ │ │ │ │ ├── ConfigurationSpace.hpp │ │ │ │ │ ├── Geometry-impl.hpp │ │ │ │ │ ├── Icosphere-impl.hpp │ │ │ │ │ ├── Mesh-impl.hpp │ │ │ │ │ ├── Random-impl.hpp │ │ │ │ │ └── TriMesh-impl.hpp │ │ │ ├── optimizer │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── Function.cpp │ │ │ │ ├── Function.hpp │ │ │ │ ├── GenericMultiObjectiveProblem.cpp │ │ │ │ ├── GenericMultiObjectiveProblem.hpp │ │ │ │ ├── GradientDescentSolver.cpp │ │ │ │ ├── GradientDescentSolver.hpp │ │ │ │ ├── MultiObjectiveProblem.cpp │ │ │ │ ├── MultiObjectiveProblem.hpp │ │ │ │ ├── MultiObjectiveSolver.cpp │ │ │ │ ├── MultiObjectiveSolver.hpp │ │ │ │ ├── Population.cpp │ │ │ │ ├── Population.hpp │ │ │ │ ├── Problem.cpp │ │ │ │ ├── Problem.hpp │ │ │ │ ├── Solver.cpp │ │ │ │ ├── Solver.hpp │ │ │ │ ├── ipopt │ │ │ │ │ ├── BackwardCompatibility.hpp │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── IpoptSolver.cpp │ │ │ │ │ ├── IpoptSolver.hpp │ │ │ │ │ └── ipopt.hpp.in │ │ │ │ ├── nlopt │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── NloptSolver.cpp │ │ │ │ │ ├── NloptSolver.hpp │ │ │ │ │ └── nlopt.hpp.in │ │ │ │ ├── pagmo │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── PagmoMultiObjectiveProblemAdaptor.cpp │ │ │ │ │ ├── PagmoMultiObjectiveProblemAdaptor.hpp │ │ │ │ │ ├── PagmoMultiObjectiveSolver.cpp │ │ │ │ │ ├── PagmoMultiObjectiveSolver.hpp │ │ │ │ │ ├── PagmoUtils.cpp │ │ │ │ │ ├── PagmoUtils.hpp │ │ │ │ │ └── pagmo.hpp.in │ │ │ │ └── snopt │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── SnoptInterface.cpp │ │ │ │ │ ├── SnoptInterface.hpp │ │ │ │ │ ├── SnoptSolver.cpp │ │ │ │ │ ├── SnoptSolver.hpp │ │ │ │ │ └── snopt.hpp.in │ │ │ ├── planning │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── Path.cpp │ │ │ │ ├── Path.hpp │ │ │ │ ├── PathFollowingTrajectory.cpp │ │ │ │ ├── PathFollowingTrajectory.hpp │ │ │ │ ├── PathPlanner.hpp │ │ │ │ ├── PathShortener.cpp │ │ │ │ ├── PathShortener.hpp │ │ │ │ ├── RRT.cpp │ │ │ │ ├── RRT.hpp │ │ │ │ └── Trajectory.hpp │ │ │ ├── simulation │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── Recording.cpp │ │ │ │ ├── Recording.hpp │ │ │ │ ├── SmartPointer.hpp │ │ │ │ ├── World.cpp │ │ │ │ ├── World.hpp │ │ │ │ └── detail │ │ │ │ │ └── World-impl.hpp │ │ │ └── utils │ │ │ │ ├── C3D.cpp │ │ │ │ ├── C3D.hpp │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── CompositeResourceRetriever.cpp │ │ │ │ ├── CompositeResourceRetriever.hpp │ │ │ │ ├── DartResourceRetriever.cpp │ │ │ │ ├── DartResourceRetriever.hpp │ │ │ │ ├── FileInfoC3D.cpp │ │ │ │ ├── FileInfoC3D.hpp │ │ │ │ ├── FileInfoDof.cpp │ │ │ │ ├── FileInfoDof.hpp │ │ │ │ ├── FileInfoSkel.hpp_ │ │ │ │ ├── FileInfoWorld.cpp │ │ │ │ ├── FileInfoWorld.hpp │ │ │ │ ├── MayaExportMotion.cpp_ │ │ │ │ ├── MayaExportMotion.h_ │ │ │ │ ├── MayaExportSkeleton.cpp_ │ │ │ │ ├── MayaExportSkeleton.h_ │ │ │ │ ├── PackageResourceRetriever.cpp │ │ │ │ ├── PackageResourceRetriever.hpp │ │ │ │ ├── ParserSkel.cpp_ │ │ │ │ ├── ParserSkel.h_ │ │ │ │ ├── SkelParser.cpp │ │ │ │ ├── SkelParser.hpp │ │ │ │ ├── VskParser.cpp │ │ │ │ ├── VskParser.hpp │ │ │ │ ├── XmlHelpers.cpp │ │ │ │ ├── XmlHelpers.hpp │ │ │ │ ├── mjcf │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── MjcfParser.cpp │ │ │ │ ├── MjcfParser.hpp │ │ │ │ └── detail │ │ │ │ │ ├── Asset.cpp │ │ │ │ │ ├── Asset.hpp │ │ │ │ │ ├── Body.cpp │ │ │ │ │ ├── Body.hpp │ │ │ │ │ ├── BodyAttributes.cpp │ │ │ │ │ ├── BodyAttributes.hpp │ │ │ │ │ ├── Compiler.cpp │ │ │ │ │ ├── Compiler.hpp │ │ │ │ │ ├── Default.cpp │ │ │ │ │ ├── Default.hpp │ │ │ │ │ ├── Equality.cpp │ │ │ │ │ ├── Equality.hpp │ │ │ │ │ ├── Error.cpp │ │ │ │ │ ├── Error.hpp │ │ │ │ │ ├── Geom.cpp │ │ │ │ │ ├── Geom.hpp │ │ │ │ │ ├── GeomAttributes.cpp │ │ │ │ │ ├── GeomAttributes.hpp │ │ │ │ │ ├── Inertial.cpp │ │ │ │ │ ├── Inertial.hpp │ │ │ │ │ ├── Joint.cpp │ │ │ │ │ ├── Joint.hpp │ │ │ │ │ ├── JointAttributes.cpp │ │ │ │ │ ├── JointAttributes.hpp │ │ │ │ │ ├── Mesh.cpp │ │ │ │ │ ├── Mesh.hpp │ │ │ │ │ ├── MeshAttributes.cpp │ │ │ │ │ ├── MeshAttributes.hpp │ │ │ │ │ ├── MujocoModel.cpp │ │ │ │ │ ├── MujocoModel.hpp │ │ │ │ │ ├── Option.cpp │ │ │ │ │ ├── Option.hpp │ │ │ │ │ ├── Site.cpp │ │ │ │ │ ├── Site.hpp │ │ │ │ │ ├── Size.cpp │ │ │ │ │ ├── Size.hpp │ │ │ │ │ ├── Types.hpp │ │ │ │ │ ├── Utils.cpp │ │ │ │ │ ├── Utils.hpp │ │ │ │ │ ├── Weld.cpp │ │ │ │ │ ├── Weld.hpp │ │ │ │ │ ├── WeldAttributes.cpp │ │ │ │ │ ├── WeldAttributes.hpp │ │ │ │ │ ├── Worldbody.cpp │ │ │ │ │ └── Worldbody.hpp │ │ │ │ ├── sdf │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── SdfParser.cpp │ │ │ │ └── SdfParser.hpp │ │ │ │ └── urdf │ │ │ │ ├── BackwardCompatibility.hpp.in │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── DartLoader.cpp │ │ │ │ ├── DartLoader.hpp │ │ │ │ ├── URDFTypes.hpp │ │ │ │ ├── urdf.hpp.in │ │ │ │ ├── urdf_world_parser.cpp │ │ │ │ └── urdf_world_parser.hpp │ │ ├── data │ │ │ ├── c3d │ │ │ │ ├── nick_freeform_001.c3d │ │ │ │ └── squat.c3d │ │ │ ├── dof │ │ │ │ ├── RHand.dof │ │ │ │ ├── fixedHand.dof │ │ │ │ ├── init_Tpose.dof │ │ │ │ ├── same.dof │ │ │ │ ├── simMotion.dof │ │ │ │ └── simMotion1.dof │ │ │ ├── etc │ │ │ │ └── fort.4 │ │ │ ├── humanJointLimits │ │ │ │ └── neuralnets │ │ │ │ │ ├── net-larm │ │ │ │ │ └── net-lleg │ │ │ ├── mjcf │ │ │ │ ├── openai │ │ │ │ │ ├── LICENSE.md │ │ │ │ │ ├── ant.xml │ │ │ │ │ ├── half_cheetah.xml │ │ │ │ │ ├── hopper.xml │ │ │ │ │ ├── humanoid.xml │ │ │ │ │ ├── humanoidstandup.xml │ │ │ │ │ ├── inverted_double_pendulum.xml │ │ │ │ │ ├── inverted_pendulum.xml │ │ │ │ │ ├── point.xml │ │ │ │ │ ├── pusher.xml │ │ │ │ │ ├── reacher.xml │ │ │ │ │ ├── robotics │ │ │ │ │ │ ├── fetch │ │ │ │ │ │ │ ├── pick_and_place.xml │ │ │ │ │ │ │ ├── push.xml │ │ │ │ │ │ │ ├── reach.xml │ │ │ │ │ │ │ ├── robot.xml │ │ │ │ │ │ │ ├── shared.xml │ │ │ │ │ │ │ └── slide.xml │ │ │ │ │ │ ├── stls │ │ │ │ │ │ │ ├── .get │ │ │ │ │ │ │ └── fetch │ │ │ │ │ │ │ │ ├── base_link_collision.stl │ │ │ │ │ │ │ │ ├── bellows_link_collision.stl │ │ │ │ │ │ │ │ ├── elbow_flex_link_collision.stl │ │ │ │ │ │ │ │ ├── estop_link.stl │ │ │ │ │ │ │ │ ├── forearm_roll_link_collision.stl │ │ │ │ │ │ │ │ ├── gripper_link.stl │ │ │ │ │ │ │ │ ├── head_pan_link_collision.stl │ │ │ │ │ │ │ │ ├── head_tilt_link_collision.stl │ │ │ │ │ │ │ │ ├── l_wheel_link_collision.stl │ │ │ │ │ │ │ │ ├── laser_link.stl │ │ │ │ │ │ │ │ ├── r_wheel_link_collision.stl │ │ │ │ │ │ │ │ ├── shoulder_lift_link_collision.stl │ │ │ │ │ │ │ │ ├── shoulder_pan_link_collision.stl │ │ │ │ │ │ │ │ ├── torso_fixed_link.stl │ │ │ │ │ │ │ │ ├── torso_lift_link_collision.stl │ │ │ │ │ │ │ │ ├── upperarm_roll_link_collision.stl │ │ │ │ │ │ │ │ ├── wrist_flex_link_collision.stl │ │ │ │ │ │ │ │ └── wrist_roll_link_collision.stl │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ ├── block.png │ │ │ │ │ │ │ └── block_hidden.png │ │ │ │ │ ├── striker.xml │ │ │ │ │ ├── swimmer.xml │ │ │ │ │ ├── thrower.xml │ │ │ │ │ └── walker2d.xml │ │ │ │ └── test │ │ │ │ │ ├── default.xml │ │ │ │ │ ├── include_default.xml │ │ │ │ │ └── include_main.xml │ │ │ ├── other │ │ │ │ ├── torus1.path │ │ │ │ ├── torus1.tris │ │ │ │ ├── torus2.path │ │ │ │ └── torus2.tris │ │ │ ├── sdf │ │ │ │ ├── atlas │ │ │ │ │ ├── atlas_v3.urdf │ │ │ │ │ ├── atlas_v3_no_head.sdf │ │ │ │ │ ├── atlas_v3_no_head.urdf │ │ │ │ │ ├── atlas_v3_no_head_soft_feet.sdf │ │ │ │ │ ├── ground.urdf │ │ │ │ │ ├── head.dae │ │ │ │ │ ├── head.stl │ │ │ │ │ ├── head_camera.dae │ │ │ │ │ ├── head_camera.stl │ │ │ │ │ ├── l_clav.dae │ │ │ │ │ ├── l_clav.stl │ │ │ │ │ ├── l_farm.dae │ │ │ │ │ ├── l_farm.stl │ │ │ │ │ ├── l_foot.dae │ │ │ │ │ ├── l_foot.stl │ │ │ │ │ ├── l_hand.dae │ │ │ │ │ ├── l_hand.stl │ │ │ │ │ ├── l_larm.dae │ │ │ │ │ ├── l_larm.stl │ │ │ │ │ ├── l_lglut.dae │ │ │ │ │ ├── l_lglut.stl │ │ │ │ │ ├── l_lleg.dae │ │ │ │ │ ├── l_lleg.stl │ │ │ │ │ ├── l_scap.dae │ │ │ │ │ ├── l_scap.stl │ │ │ │ │ ├── l_talus.dae │ │ │ │ │ ├── l_talus.stl │ │ │ │ │ ├── l_uarm.dae │ │ │ │ │ ├── l_uarm.stl │ │ │ │ │ ├── l_uglut.dae │ │ │ │ │ ├── l_uglut.stl │ │ │ │ │ ├── l_uleg.dae │ │ │ │ │ ├── l_uleg.stl │ │ │ │ │ ├── ltorso.dae │ │ │ │ │ ├── ltorso.stl │ │ │ │ │ ├── mtorso.dae │ │ │ │ │ ├── mtorso.stl │ │ │ │ │ ├── pelvis.dae │ │ │ │ │ ├── pelvis.stl │ │ │ │ │ ├── r_clav.dae │ │ │ │ │ ├── r_clav.stl │ │ │ │ │ ├── r_farm.dae │ │ │ │ │ ├── r_farm.stl │ │ │ │ │ ├── r_foot.dae │ │ │ │ │ ├── r_foot.stl │ │ │ │ │ ├── r_hand.dae │ │ │ │ │ ├── r_hand.stl │ │ │ │ │ ├── r_larm.dae │ │ │ │ │ ├── r_larm.stl │ │ │ │ │ ├── r_lglut.dae │ │ │ │ │ ├── r_lglut.stl │ │ │ │ │ ├── r_lleg.dae │ │ │ │ │ ├── r_lleg.stl │ │ │ │ │ ├── r_scap.dae │ │ │ │ │ ├── r_scap.stl │ │ │ │ │ ├── r_talus.dae │ │ │ │ │ ├── r_talus.stl │ │ │ │ │ ├── r_uarm.dae │ │ │ │ │ ├── r_uarm.stl │ │ │ │ │ ├── r_uglut.dae │ │ │ │ │ ├── r_uglut.stl │ │ │ │ │ ├── r_uleg.dae │ │ │ │ │ ├── r_uleg.stl │ │ │ │ │ ├── utorso.dae │ │ │ │ │ ├── utorso.stl │ │ │ │ │ ├── utorso_mod.dae │ │ │ │ │ ├── utorso_mod.stl │ │ │ │ │ ├── utorso_pack.dae │ │ │ │ │ └── utorso_pack.stl │ │ │ │ ├── benchmark.world │ │ │ │ ├── double_pendulum.world │ │ │ │ ├── double_pendulum_with_base.world │ │ │ │ ├── empty.world │ │ │ │ ├── ground.world │ │ │ │ ├── materials │ │ │ │ │ └── textures │ │ │ │ │ │ ├── atlas_cage_and_camera_diffuse_flat.jpg │ │ │ │ │ │ ├── drc_extremities_diffuse.jpg │ │ │ │ │ │ ├── drc_labels_1.jpg │ │ │ │ │ │ ├── drc_torso_head_diffuse.jpg │ │ │ │ │ │ ├── extremities_diffuse_unplugged.jpg │ │ │ │ │ │ ├── right_leg_diffuse_unplugged.jpg │ │ │ │ │ │ └── torso_diffuse_unplugged.jpg │ │ │ │ ├── quad.sdf │ │ │ │ └── test │ │ │ │ │ ├── force_torque_test.world │ │ │ │ │ ├── force_torque_test2.world │ │ │ │ │ ├── single_bodynode_skeleton.world │ │ │ │ │ ├── test_issue1583.model │ │ │ │ │ ├── test_issue1596.model │ │ │ │ │ └── test_skeleton_joint.world │ │ │ ├── skel │ │ │ │ ├── biped.skel │ │ │ │ ├── bullet_collision.skel │ │ │ │ ├── chain.skel │ │ │ │ ├── cube.skel │ │ │ │ ├── cubes.skel │ │ │ │ ├── empty.skel │ │ │ │ ├── freeChain.skel │ │ │ │ ├── fullbody1.skel │ │ │ │ ├── ground.skel │ │ │ │ ├── joint_limit.skel │ │ │ │ ├── kima │ │ │ │ │ ├── abdomen.dae │ │ │ │ │ ├── head.dae │ │ │ │ │ ├── kima_human_edited.skel │ │ │ │ │ ├── kima_human_left_arm.skel │ │ │ │ │ ├── kima_human_left_leg.skel │ │ │ │ │ ├── l-clavicle.dae │ │ │ │ │ ├── l-foot.dae │ │ │ │ │ ├── pelvis.dae │ │ │ │ │ ├── r-clavicle.dae │ │ │ │ │ └── thorax.dae │ │ │ │ ├── mesh_collision.skel │ │ │ │ ├── shapes.skel │ │ │ │ ├── skateboard.skel │ │ │ │ ├── softBodies.skel │ │ │ │ ├── soft_cubes.skel │ │ │ │ ├── soft_open_chain.skel │ │ │ │ ├── sphere.skel │ │ │ │ ├── spheres.skel │ │ │ │ ├── test │ │ │ │ │ ├── SimplePendulum.skel │ │ │ │ │ ├── ball_joints.skel │ │ │ │ │ ├── box_stacking.skel │ │ │ │ │ ├── boxes.skel │ │ │ │ │ ├── chainwhipa.skel │ │ │ │ │ ├── collision_of_prescribed_joints_test.skel │ │ │ │ │ ├── dof_attribute_test.skel │ │ │ │ │ ├── double_pendulum.skel │ │ │ │ │ ├── double_pendulum_ball_joint.skel │ │ │ │ │ ├── double_pendulum_euler_joint.skel │ │ │ │ │ ├── double_pendulum_with_base.skel │ │ │ │ │ ├── drop.skel │ │ │ │ │ ├── drop_BENCHMARK.skel │ │ │ │ │ ├── drop_unrotated_box.skel │ │ │ │ │ ├── empty.skel │ │ │ │ │ ├── file_info_world_test.skel │ │ │ │ │ ├── free_joints.skel │ │ │ │ │ ├── gazebo │ │ │ │ │ │ ├── drop_test.skel │ │ │ │ │ │ ├── force_torque_test.skel │ │ │ │ │ │ └── force_torque_test2.skel │ │ │ │ │ ├── hybrid_dynamics_test.skel │ │ │ │ │ ├── joint_actuator_type_test.skel │ │ │ │ │ ├── joint_dynamics_elements_test.skel │ │ │ │ │ ├── joint_friction_test.skel │ │ │ │ │ ├── joint_limit_test.skel │ │ │ │ │ ├── planar_joint.skel │ │ │ │ │ ├── serial_chain_BENCHMARK.skel │ │ │ │ │ ├── serial_chain_ball_joint.skel │ │ │ │ │ ├── serial_chain_ball_joint_20.skel │ │ │ │ │ ├── serial_chain_ball_joint_40.skel │ │ │ │ │ ├── serial_chain_eulerxyz_joint.skel │ │ │ │ │ ├── serial_chain_revolute_joint.skel │ │ │ │ │ ├── simple_tree_structure.skel │ │ │ │ │ ├── simple_tree_structure_ball_joint.skel │ │ │ │ │ ├── simple_tree_structure_euler_joint.skel │ │ │ │ │ ├── single_pendulum.skel │ │ │ │ │ ├── single_pendulum_ball_joint.skel │ │ │ │ │ ├── single_pendulum_euler_joint.skel │ │ │ │ │ ├── spheres.skel │ │ │ │ │ ├── test_adaptive_deformable.skel │ │ │ │ │ ├── test_articulated_bodies.skel │ │ │ │ │ ├── test_articulated_bodies_10bodies.skel │ │ │ │ │ ├── test_double_pendulum.skel │ │ │ │ │ ├── test_drop_box.skel │ │ │ │ │ ├── test_drop_box_offset.skel │ │ │ │ │ ├── test_drop_low_stiffness.skel │ │ │ │ │ ├── test_drop_sphere.skel │ │ │ │ │ ├── test_shapes.skel │ │ │ │ │ ├── test_single_body.skel │ │ │ │ │ ├── test_single_pendulum.skel │ │ │ │ │ ├── translational_joints.skel │ │ │ │ │ ├── tree_structure.skel │ │ │ │ │ ├── tree_structure_ball_joint.skel │ │ │ │ │ └── tree_structure_euler_joint.skel │ │ │ │ ├── two_cubes.skel │ │ │ │ └── vehicle.skel │ │ │ ├── skel_old │ │ │ │ ├── Chain.skel │ │ │ │ ├── YunfeiSKEL003.skel │ │ │ │ ├── YutingEuler.skel │ │ │ │ ├── chainwhipa.skel │ │ │ │ ├── collisiontest.skel │ │ │ │ ├── cube.skel │ │ │ │ ├── cube1.skel │ │ │ │ ├── cube2.skel │ │ │ │ ├── fixedHand.skel │ │ │ │ ├── fullbody.skel │ │ │ │ ├── fullbody1.skel │ │ │ │ ├── ground.skel │ │ │ │ ├── ground1.skel │ │ │ │ ├── jellyfishMan.skel │ │ │ │ ├── manipulator.skel │ │ │ │ ├── mobilManipulator.skel │ │ │ │ ├── nunchuck.skel │ │ │ │ ├── nunchuck1.skel │ │ │ │ ├── simpleHand.skel │ │ │ │ ├── sphere.skel │ │ │ │ ├── sphere1.skel │ │ │ │ └── sphere2.skel │ │ │ ├── test │ │ │ │ └── hello_world.txt │ │ │ ├── urdf │ │ │ │ ├── KR5 │ │ │ │ │ ├── KR5 sixx R650.urdf │ │ │ │ │ ├── ground.urdf │ │ │ │ │ └── meshes │ │ │ │ │ │ ├── base_link.STL │ │ │ │ │ │ ├── bicep.STL │ │ │ │ │ │ ├── elbow.STL │ │ │ │ │ │ ├── forearm.STL │ │ │ │ │ │ ├── palm.STL │ │ │ │ │ │ ├── shoulder.STL │ │ │ │ │ │ └── wrist.STL │ │ │ │ ├── drchubo │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── drchubo.urdf │ │ │ │ │ ├── meshes │ │ │ │ │ │ ├── convhull_LAP_merged.stl │ │ │ │ │ │ ├── convhull_LAR_merged.stl │ │ │ │ │ │ ├── convhull_LEP_merged.stl │ │ │ │ │ │ ├── convhull_LF1.stl │ │ │ │ │ │ ├── convhull_LF2.stl │ │ │ │ │ │ ├── convhull_LF3.stl │ │ │ │ │ │ ├── convhull_LHP_merged.stl │ │ │ │ │ │ ├── convhull_LHR_merged.stl │ │ │ │ │ │ ├── convhull_LHY_merged.stl │ │ │ │ │ │ ├── convhull_LKP_merged.stl │ │ │ │ │ │ ├── convhull_LSP_merged.stl │ │ │ │ │ │ ├── convhull_LSR_merged.stl │ │ │ │ │ │ ├── convhull_LSY_merged.stl │ │ │ │ │ │ ├── convhull_LWP_merged.stl │ │ │ │ │ │ ├── convhull_LWR_merged.stl │ │ │ │ │ │ ├── convhull_LWY_merged.stl │ │ │ │ │ │ ├── convhull_NK1_merged.stl │ │ │ │ │ │ ├── convhull_NK2.stl │ │ │ │ │ │ ├── convhull_NKY_merged.stl │ │ │ │ │ │ ├── convhull_RAP_merged.stl │ │ │ │ │ │ ├── convhull_RAR_merged.stl │ │ │ │ │ │ ├── convhull_REP_merged.stl │ │ │ │ │ │ ├── convhull_RF1.stl │ │ │ │ │ │ ├── convhull_RF2.stl │ │ │ │ │ │ ├── convhull_RF3.stl │ │ │ │ │ │ ├── convhull_RHP_merged.stl │ │ │ │ │ │ ├── convhull_RHR_merged.stl │ │ │ │ │ │ ├── convhull_RHY_merged.stl │ │ │ │ │ │ ├── convhull_RKP_merged.stl │ │ │ │ │ │ ├── convhull_RSP_merged.stl │ │ │ │ │ │ ├── convhull_RSR_merged.stl │ │ │ │ │ │ ├── convhull_RSY_merged.stl │ │ │ │ │ │ ├── convhull_RWP_merged.stl │ │ │ │ │ │ ├── convhull_RWR_merged.stl │ │ │ │ │ │ ├── convhull_RWY_merged.stl │ │ │ │ │ │ ├── convhull_TSY_merged.stl │ │ │ │ │ │ └── convhull_Torso_merged.stl │ │ │ │ │ └── package.xml │ │ │ │ ├── test │ │ │ │ │ ├── invalid.urdf │ │ │ │ │ ├── invalid_mesh.stl │ │ │ │ │ ├── invalid_mesh.urdf │ │ │ │ │ ├── issue838.urdf │ │ │ │ │ ├── joint_properties.urdf │ │ │ │ │ ├── missing_mesh.urdf │ │ │ │ │ ├── missing_package.urdf │ │ │ │ │ ├── primitive_geometry.urdf │ │ │ │ │ └── testWorld.urdf │ │ │ │ └── wam │ │ │ │ │ ├── meshes │ │ │ │ │ ├── images │ │ │ │ │ │ ├── base_gray_128x.jpg │ │ │ │ │ │ ├── forearm_256x.jpg │ │ │ │ │ │ ├── lpu_128x.jpg │ │ │ │ │ │ ├── shoulder_256x.jpg │ │ │ │ │ │ ├── upperarm_128x.jpg │ │ │ │ │ │ └── wrist_yaw_128x.jpg │ │ │ │ │ └── wam │ │ │ │ │ │ ├── wam1.STL │ │ │ │ │ │ ├── wam1.dae │ │ │ │ │ │ ├── wam1_collision.STL │ │ │ │ │ │ ├── wam2.STL │ │ │ │ │ │ ├── wam2.dae │ │ │ │ │ │ ├── wam2_collision.STL │ │ │ │ │ │ ├── wam3.STL │ │ │ │ │ │ ├── wam3.dae │ │ │ │ │ │ ├── wam3_collision.STL │ │ │ │ │ │ ├── wam4.STL │ │ │ │ │ │ ├── wam4.dae │ │ │ │ │ │ ├── wam4_collision.STL │ │ │ │ │ │ ├── wam5.STL │ │ │ │ │ │ ├── wam5.dae │ │ │ │ │ │ ├── wam5_collision.STL │ │ │ │ │ │ ├── wam6.STL │ │ │ │ │ │ ├── wam6.dae │ │ │ │ │ │ ├── wam6_collision.STL │ │ │ │ │ │ ├── wam7.STL │ │ │ │ │ │ ├── wam7.dae │ │ │ │ │ │ ├── wam7_collision.STL │ │ │ │ │ │ ├── wam_base.STL │ │ │ │ │ │ ├── wam_base.dae │ │ │ │ │ │ └── wam_base_collision.STL │ │ │ │ │ └── wam.urdf │ │ │ └── vsk │ │ │ │ ├── Nick01.vsk │ │ │ │ ├── SehoonVSK3.vsk │ │ │ │ ├── Yuting.vsk │ │ │ │ └── test │ │ │ │ └── empty.vsk │ │ ├── docs │ │ │ ├── dart_logo_377x107.jpg │ │ │ ├── dynamics.pdf │ │ │ ├── lcp.pdf │ │ │ └── readthedocs │ │ │ │ ├── index.md │ │ │ │ ├── logo.png │ │ │ │ └── tutorials │ │ │ │ ├── biped.md │ │ │ │ ├── biped │ │ │ │ └── IKObjective.png │ │ │ │ ├── collisions.md │ │ │ │ ├── dominoes.md │ │ │ │ ├── introduction.md │ │ │ │ └── multi-pendulum.md │ │ ├── doxygen │ │ │ ├── DART logo.png │ │ │ ├── Doxyfile.in │ │ │ └── mainpage.dox │ │ ├── examples │ │ │ ├── CMakeLists.txt │ │ │ ├── README.md │ │ │ ├── atlas_puppet │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README.md │ │ │ │ └── main.cpp │ │ │ ├── atlas_simbicon │ │ │ │ ├── AtlasSimbiconEventHandler.cpp │ │ │ │ ├── AtlasSimbiconEventHandler.hpp │ │ │ │ ├── AtlasSimbiconWidget.cpp │ │ │ │ ├── AtlasSimbiconWidget.hpp │ │ │ │ ├── AtlasSimbiconWorldNode.cpp │ │ │ │ ├── AtlasSimbiconWorldNode.hpp │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── Controller.cpp │ │ │ │ ├── Controller.hpp │ │ │ │ ├── README.md │ │ │ │ ├── State.cpp │ │ │ │ ├── State.hpp │ │ │ │ ├── StateMachine.cpp │ │ │ │ ├── StateMachine.hpp │ │ │ │ ├── TerminalCondition.cpp │ │ │ │ ├── TerminalCondition.hpp │ │ │ │ └── main.cpp │ │ │ ├── biped_stand │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README.md │ │ │ │ └── main.cpp │ │ │ ├── box_stacking │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README.md │ │ │ │ └── main.cpp │ │ │ ├── deprecated_examples │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── glut_add_delete_skels │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── Main.cpp │ │ │ │ │ ├── MyWindow.cpp │ │ │ │ │ ├── MyWindow.hpp │ │ │ │ │ └── README.md │ │ │ │ ├── glut_atlas_simbicon │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── Controller.cpp │ │ │ │ │ ├── Controller.hpp │ │ │ │ │ ├── Humanoid.cpp │ │ │ │ │ ├── Humanoid.hpp │ │ │ │ │ ├── Main.cpp │ │ │ │ │ ├── MyWindow.cpp │ │ │ │ │ ├── MyWindow.hpp │ │ │ │ │ ├── README.md │ │ │ │ │ ├── State.cpp │ │ │ │ │ ├── State.hpp │ │ │ │ │ ├── StateMachine.cpp │ │ │ │ │ ├── StateMachine.hpp │ │ │ │ │ ├── TerminalCondition.cpp │ │ │ │ │ └── TerminalCondition.hpp │ │ │ │ ├── glut_biped_stand │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── Controller.cpp │ │ │ │ │ ├── Controller.hpp │ │ │ │ │ ├── Main.cpp │ │ │ │ │ ├── MyWindow.cpp │ │ │ │ │ ├── MyWindow.hpp │ │ │ │ │ └── README.md │ │ │ │ ├── glut_hardcoded_design │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── Main.cpp │ │ │ │ │ ├── MyWindow.cpp │ │ │ │ │ ├── MyWindow.hpp │ │ │ │ │ └── README.md │ │ │ │ ├── glut_human_joint_limits │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── HumanArmJointLimitConstraint.cpp │ │ │ │ │ ├── HumanArmJointLimitConstraint.hpp │ │ │ │ │ ├── HumanLegJointLimitConstraint.cpp │ │ │ │ │ ├── HumanLegJointLimitConstraint.hpp │ │ │ │ │ ├── README.md │ │ │ │ │ └── humanJointLimits.cpp │ │ │ │ ├── glut_hybrid_dynamics │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── Main.cpp │ │ │ │ │ ├── MyWindow.cpp │ │ │ │ │ ├── MyWindow.hpp │ │ │ │ │ └── README.md │ │ │ │ ├── glut_joint_constraints │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── Controller.cpp │ │ │ │ │ ├── Controller.hpp │ │ │ │ │ ├── Main.cpp │ │ │ │ │ ├── MyWindow.cpp │ │ │ │ │ ├── MyWindow.hpp │ │ │ │ │ └── README.md │ │ │ │ ├── glut_mixed_chain │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── Main.cpp │ │ │ │ │ ├── MyWindow.cpp │ │ │ │ │ ├── MyWindow.hpp │ │ │ │ │ └── README.md │ │ │ │ ├── glut_operational_space_control │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── Controller.cpp │ │ │ │ │ ├── Controller.hpp │ │ │ │ │ ├── Main.cpp │ │ │ │ │ ├── MyWindow.cpp │ │ │ │ │ ├── MyWindow.hpp │ │ │ │ │ └── README.md │ │ │ │ ├── glut_rigid_chain │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── Main.cpp │ │ │ │ │ ├── MyWindow.cpp │ │ │ │ │ ├── MyWindow.hpp │ │ │ │ │ └── README.md │ │ │ │ ├── glut_rigid_cubes │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── MyWindow.cpp │ │ │ │ │ ├── MyWindow.hpp │ │ │ │ │ ├── README.md │ │ │ │ │ └── main.cpp │ │ │ │ ├── glut_rigid_loop │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── Main.cpp │ │ │ │ │ ├── MyWindow.cpp │ │ │ │ │ ├── MyWindow.hpp │ │ │ │ │ └── README.md │ │ │ │ ├── glut_rigid_shapes │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── Main.cpp │ │ │ │ │ ├── MyWindow.cpp │ │ │ │ │ ├── MyWindow.hpp │ │ │ │ │ └── README.md │ │ │ │ ├── glut_simple_frames │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── Main.cpp │ │ │ │ │ └── README.md │ │ │ │ ├── glut_soft_bodies │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── Main.cpp │ │ │ │ │ ├── MyWindow.cpp │ │ │ │ │ ├── MyWindow.hpp │ │ │ │ │ └── README.md │ │ │ │ └── glut_vehicle │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── Main.cpp │ │ │ │ │ ├── MyWindow.cpp │ │ │ │ │ ├── MyWindow.hpp │ │ │ │ │ └── README.md │ │ │ ├── drag_and_drop │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README.md │ │ │ │ └── main.cpp │ │ │ ├── empty │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README.md │ │ │ │ └── main.cpp │ │ │ ├── fetch │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README.md │ │ │ │ └── main.cpp │ │ │ ├── heightmap │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README.md │ │ │ │ └── main.cpp │ │ │ ├── hello_world │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README.md │ │ │ │ └── main.cpp │ │ │ ├── hubo_puppet │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README.md │ │ │ │ └── main.cpp │ │ │ ├── imgui │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README.md │ │ │ │ └── main.cpp │ │ │ ├── operational_space_control │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README.md │ │ │ │ └── main.cpp │ │ │ ├── point_cloud │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README.md │ │ │ │ └── main.cpp │ │ │ ├── rigid_shapes │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README.md │ │ │ │ └── main.cpp │ │ │ ├── soft_bodies │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README.md │ │ │ │ └── main.cpp │ │ │ ├── speed_test │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README.md │ │ │ │ └── main.cpp │ │ │ ├── tinkertoy │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README.md │ │ │ │ ├── TinkertoyWidget.cpp │ │ │ │ ├── TinkertoyWidget.hpp │ │ │ │ ├── TinkertoyWorldNode.cpp │ │ │ │ ├── TinkertoyWorldNode.hpp │ │ │ │ └── main.cpp │ │ │ └── wam_ikfast │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── Helpers.cpp │ │ │ │ ├── Helpers.hpp │ │ │ │ ├── InputHandler.cpp │ │ │ │ ├── InputHandler.hpp │ │ │ │ ├── README.md │ │ │ │ ├── WamWorld.cpp │ │ │ │ ├── WamWorld.hpp │ │ │ │ ├── ikfast │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── ikfast71.Transform6D.4_6_9_10_11_12_f8.cpp │ │ │ │ └── osgWamIkFast.cpp │ │ ├── extras │ │ │ ├── CMakeLists.txt │ │ │ ├── README.md │ │ │ └── dartc │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README.md │ │ │ │ ├── include │ │ │ │ └── dartc │ │ │ │ │ ├── common.h │ │ │ │ │ ├── simulation.h │ │ │ │ │ └── skeleton.h │ │ │ │ ├── src │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── SkeletonManager.cpp │ │ │ │ ├── SkeletonManager.hpp │ │ │ │ ├── common.cpp │ │ │ │ ├── simulation.cpp │ │ │ │ └── skeleton.cpp │ │ │ │ └── tests │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── test_dartc_simulation.cpp │ │ │ │ └── test_dartc_skeleton.cpp │ │ ├── mkdocs.yml │ │ ├── package.xml │ │ ├── paper │ │ │ ├── paper.bib │ │ │ └── paper.md │ │ ├── python │ │ │ ├── CMakeLists.txt │ │ │ ├── dartpy │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── collision │ │ │ │ │ ├── BulletCollisionDetector.cpp │ │ │ │ │ ├── BulletCollisionGroup.cpp │ │ │ │ │ ├── CollisionDetector.cpp │ │ │ │ │ ├── CollisionFilter.cpp │ │ │ │ │ ├── CollisionGroup.cpp │ │ │ │ │ ├── CollisionObject.cpp │ │ │ │ │ ├── CollisionOption.cpp │ │ │ │ │ ├── CollisionResult.cpp │ │ │ │ │ ├── Contact.cpp │ │ │ │ │ ├── DARTCollisionDetector.cpp │ │ │ │ │ ├── DARTCollisionGroup.cpp │ │ │ │ │ ├── DistanceOption.cpp │ │ │ │ │ ├── DistanceResult.cpp │ │ │ │ │ ├── FCLCollisionDetector.cpp │ │ │ │ │ ├── FCLCollisionGroup.cpp │ │ │ │ │ ├── OdeCollisionDetector.cpp │ │ │ │ │ ├── OdeCollisionGroup.cpp │ │ │ │ │ ├── RaycastOption.cpp │ │ │ │ │ ├── RaycastResult.cpp │ │ │ │ │ └── module.cpp │ │ │ │ ├── common │ │ │ │ │ ├── Composite.cpp │ │ │ │ │ ├── Observer.cpp │ │ │ │ │ ├── Resource.cpp │ │ │ │ │ ├── ResourceRetriever.cpp │ │ │ │ │ ├── Subject.cpp │ │ │ │ │ ├── Uri.cpp │ │ │ │ │ └── module.cpp │ │ │ │ ├── constraint │ │ │ │ │ ├── BoxedLcpConstraintSolver.cpp │ │ │ │ │ ├── BoxedLcpSolver.cpp │ │ │ │ │ ├── ConstraintBase.cpp │ │ │ │ │ ├── ConstraintSolver.cpp │ │ │ │ │ ├── DantzigBoxedLcpSolver.cpp │ │ │ │ │ ├── DynamicJointConstraint.cpp │ │ │ │ │ ├── JointConstraint.cpp │ │ │ │ │ ├── JointCoulombFrictionConstraint.cpp │ │ │ │ │ ├── PgsBoxedLcpSolver.cpp │ │ │ │ │ └── module.cpp │ │ │ │ ├── dartpy.cpp │ │ │ │ ├── dynamics │ │ │ │ │ ├── BallJoint.cpp │ │ │ │ │ ├── BodyNode.cpp │ │ │ │ │ ├── Chain.cpp │ │ │ │ │ ├── DegreeOfFreedom.cpp │ │ │ │ │ ├── Entity.cpp │ │ │ │ │ ├── EulerJoint.cpp │ │ │ │ │ ├── Frame.cpp │ │ │ │ │ ├── FreeJoint.cpp │ │ │ │ │ ├── GenericJoint.cpp │ │ │ │ │ ├── Inertia.cpp │ │ │ │ │ ├── InverseKinematics.cpp │ │ │ │ │ ├── JacobianNode.cpp │ │ │ │ │ ├── Joint.cpp │ │ │ │ │ ├── Joint.hpp │ │ │ │ │ ├── Linkage.cpp │ │ │ │ │ ├── MetaSkeleton.cpp │ │ │ │ │ ├── Node.cpp │ │ │ │ │ ├── PlanarJoint.cpp │ │ │ │ │ ├── PrismaticJoint.cpp │ │ │ │ │ ├── ReferentialSkeleton.cpp │ │ │ │ │ ├── RevoluteJoint.cpp │ │ │ │ │ ├── ScrewJoint.cpp │ │ │ │ │ ├── Shape.cpp │ │ │ │ │ ├── ShapeFrame.cpp │ │ │ │ │ ├── ShapeNode.cpp │ │ │ │ │ ├── SimpleFrame.cpp │ │ │ │ │ ├── Skeleton.cpp │ │ │ │ │ ├── TranslationalJoint.cpp │ │ │ │ │ ├── TranslationalJoint2D.cpp │ │ │ │ │ ├── UniversalJoint.cpp │ │ │ │ │ ├── WeldJoint.cpp │ │ │ │ │ ├── ZeroDofJoint.cpp │ │ │ │ │ ├── module.cpp │ │ │ │ │ └── pointers.hpp │ │ │ │ ├── eigen_geometry_pybind.cpp │ │ │ │ ├── eigen_geometry_pybind.h │ │ │ │ ├── eigen_pybind.h │ │ │ │ ├── gui │ │ │ │ │ ├── module.cpp │ │ │ │ │ └── osg │ │ │ │ │ │ ├── DragAndDrop.cpp │ │ │ │ │ │ ├── GUIEventHandler.cpp │ │ │ │ │ │ ├── GridVisual.cpp │ │ │ │ │ │ ├── ImGuiHandler.cpp │ │ │ │ │ │ ├── ImGuiViewer.cpp │ │ │ │ │ │ ├── ImGuiWidget.cpp │ │ │ │ │ │ ├── InteractiveFrame.cpp │ │ │ │ │ │ ├── RealTimeWorldNode.cpp │ │ │ │ │ │ ├── ShadowTechnique.cpp │ │ │ │ │ │ ├── Viewer.cpp │ │ │ │ │ │ ├── ViewerAttachment.cpp │ │ │ │ │ │ ├── WorldNode.cpp │ │ │ │ │ │ └── module.cpp │ │ │ │ ├── math │ │ │ │ │ ├── Geometry.cpp │ │ │ │ │ ├── Random.cpp │ │ │ │ │ └── module.cpp │ │ │ │ ├── optimizer │ │ │ │ │ ├── Function.cpp │ │ │ │ │ ├── GradientDescentSolver.cpp │ │ │ │ │ ├── NloptSolver.cpp │ │ │ │ │ ├── Problem.cpp │ │ │ │ │ ├── Solver.cpp │ │ │ │ │ └── module.cpp │ │ │ │ ├── simulation │ │ │ │ │ ├── World.cpp │ │ │ │ │ └── module.cpp │ │ │ │ ├── utils.h │ │ │ │ └── utils │ │ │ │ │ ├── DartLoader.cpp │ │ │ │ │ ├── MjcfParser.cpp │ │ │ │ │ ├── ResourceRetriever.cpp │ │ │ │ │ ├── SdfParser.cpp │ │ │ │ │ ├── SkelParser.cpp │ │ │ │ │ └── module.cpp │ │ │ ├── examples │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── biped_stand │ │ │ │ │ └── main.py │ │ │ │ ├── contacts_pointcloud │ │ │ │ │ └── main.py │ │ │ │ ├── drag_and_drop │ │ │ │ │ └── main.py │ │ │ │ ├── hello_world │ │ │ │ │ └── main.py │ │ │ │ ├── hello_world_gui │ │ │ │ │ └── main.py │ │ │ │ ├── operational_space_control │ │ │ │ │ └── main.py │ │ │ │ ├── rigid_chain │ │ │ │ │ └── main.py │ │ │ │ ├── rigid_cubes │ │ │ │ │ └── main.py │ │ │ │ └── rigid_loop │ │ │ │ │ └── main.py │ │ │ ├── tests │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── __init__.py │ │ │ │ ├── integration │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── test_joint_force_torque.py │ │ │ │ ├── unit │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── collision │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ └── test_collision.py │ │ │ │ │ ├── common │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ └── test_uri.py │ │ │ │ │ ├── constraint │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ └── test_constraint.py │ │ │ │ │ ├── dynamics │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── test_aspect.py │ │ │ │ │ │ ├── test_body_node.py │ │ │ │ │ │ ├── test_inertia.py │ │ │ │ │ │ ├── test_inverse_kinematics.py │ │ │ │ │ │ ├── test_joint.py │ │ │ │ │ │ ├── test_meta_skeleton.py │ │ │ │ │ │ ├── test_simple_frame.py │ │ │ │ │ │ └── test_skeleton.py │ │ │ │ │ ├── math │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ └── test_random.py │ │ │ │ │ ├── optimizer │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ └── test_optimizer.py │ │ │ │ │ ├── simulation │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ └── test_world.py │ │ │ │ │ └── utils │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── test_dart_loader.py │ │ │ │ │ │ ├── test_mjcf_parser.py │ │ │ │ │ │ ├── test_sdf_parser.py │ │ │ │ │ │ └── test_skel_parser.py │ │ │ │ └── util.py │ │ │ └── tutorials │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── chain │ │ │ │ ├── main.py │ │ │ │ └── main_finished.py │ │ ├── setup.py │ │ ├── tools │ │ │ ├── .gitignore │ │ │ ├── abi_check.sh │ │ │ ├── case_sensitive_filesystem │ │ │ ├── check_format.sh │ │ │ ├── code_check.sh │ │ │ ├── cpplint.py │ │ │ └── run │ │ ├── tutorials │ │ │ ├── CMakeLists.txt │ │ │ ├── README.md │ │ │ ├── tutorial_biped │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README │ │ │ │ └── main.cpp │ │ │ ├── tutorial_biped_finished │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README │ │ │ │ └── main.cpp │ │ │ ├── tutorial_collisions │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README │ │ │ │ └── main.cpp │ │ │ ├── tutorial_collisions_finished │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README │ │ │ │ └── main.cpp │ │ │ ├── tutorial_dominoes │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README │ │ │ │ └── main.cpp │ │ │ ├── tutorial_dominoes_finished │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README │ │ │ │ └── main.cpp │ │ │ ├── tutorial_multi_pendulum │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README │ │ │ │ └── main.cpp │ │ │ └── tutorial_multi_pendulum_finished │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README │ │ │ │ └── main.cpp │ │ └── unittests │ │ │ ├── CMakeLists.txt │ │ │ ├── GTestUtils.hpp │ │ │ ├── TestHelpers.hpp │ │ │ ├── comprehensive │ │ │ ├── CMakeLists.txt │ │ │ ├── test_Building.cpp │ │ │ ├── test_Collision.cpp │ │ │ ├── test_Common.cpp │ │ │ ├── test_Concurrency.cpp │ │ │ ├── test_Constraint.cpp │ │ │ ├── test_Distance.cpp │ │ │ ├── test_Dynamics.cpp │ │ │ ├── test_ForceDependentSlip.cpp │ │ │ ├── test_ForwardKinematics.cpp │ │ │ ├── test_Frames.cpp │ │ │ ├── test_Friction.cpp │ │ │ ├── test_InverseKinematics.cpp │ │ │ ├── test_JointForceTorque.cpp │ │ │ ├── test_Joints.cpp │ │ │ ├── test_MetaSkeleton.cpp │ │ │ ├── test_MultiObjectiveOptimization.cpp │ │ │ ├── test_NameManagement.cpp │ │ │ ├── test_Raycast.cpp │ │ │ ├── test_Skeleton.cpp │ │ │ ├── test_SoftDynamics.cpp │ │ │ └── test_World.cpp │ │ │ ├── gtest │ │ │ ├── cmake │ │ │ │ ├── Config.cmake.in │ │ │ │ ├── gtest.pc.in │ │ │ │ ├── gtest_main.pc.in │ │ │ │ └── internal_utils.cmake │ │ │ ├── include │ │ │ │ └── gtest │ │ │ │ │ ├── gtest-death-test.h │ │ │ │ │ ├── gtest-message.h │ │ │ │ │ ├── gtest-param-test.h │ │ │ │ │ ├── gtest-param-test.h.pump │ │ │ │ │ ├── gtest-printers.h │ │ │ │ │ ├── gtest-spi.h │ │ │ │ │ ├── gtest-test-part.h │ │ │ │ │ ├── gtest-typed-test.h │ │ │ │ │ ├── gtest.h │ │ │ │ │ ├── gtest_pred_impl.h │ │ │ │ │ ├── gtest_prod.h │ │ │ │ │ └── internal │ │ │ │ │ ├── custom │ │ │ │ │ ├── README.md │ │ │ │ │ ├── gtest-port.h │ │ │ │ │ ├── gtest-printers.h │ │ │ │ │ └── gtest.h │ │ │ │ │ ├── gtest-death-test-internal.h │ │ │ │ │ ├── gtest-filepath.h │ │ │ │ │ ├── gtest-internal.h │ │ │ │ │ ├── gtest-linked_ptr.h │ │ │ │ │ ├── gtest-param-util-generated.h │ │ │ │ │ ├── gtest-param-util-generated.h.pump │ │ │ │ │ ├── gtest-param-util.h │ │ │ │ │ ├── gtest-port-arch.h │ │ │ │ │ ├── gtest-port.h │ │ │ │ │ ├── gtest-string.h │ │ │ │ │ ├── gtest-tuple.h │ │ │ │ │ ├── gtest-tuple.h.pump │ │ │ │ │ ├── gtest-type-util.h │ │ │ │ │ └── gtest-type-util.h.pump │ │ │ └── src │ │ │ │ ├── gtest-all.cc │ │ │ │ ├── gtest-death-test.cc │ │ │ │ ├── gtest-filepath.cc │ │ │ │ ├── gtest-internal-inl.h │ │ │ │ ├── gtest-port.cc │ │ │ │ ├── gtest-printers.cc │ │ │ │ ├── gtest-test-part.cc │ │ │ │ ├── gtest-typed-test.cc │ │ │ │ ├── gtest.cc │ │ │ │ └── gtest_main.cc │ │ │ ├── regression │ │ │ ├── CMakeLists.txt │ │ │ ├── test_Issue000Template.cpp │ │ │ ├── test_Issue1184.cpp │ │ │ ├── test_Issue1231.cpp │ │ │ ├── test_Issue1234.cpp │ │ │ ├── test_Issue1243.cpp │ │ │ ├── test_Issue1445.cpp │ │ │ ├── test_Issue1583.cpp │ │ │ ├── test_Issue1596.cpp │ │ │ ├── test_Issue838.cpp │ │ │ ├── test_Issue892.cpp │ │ │ ├── test_Issue895.cpp │ │ │ └── test_Issue986.cpp │ │ │ ├── testKinematics.cpp_ │ │ │ ├── testLemke.cpp │ │ │ └── unit │ │ │ ├── CMakeLists.txt │ │ │ ├── GeneratedWamIkFast.cpp │ │ │ ├── SharedLibraryWamIkFast.cpp │ │ │ ├── SharedLibraryWamIkFast.hpp │ │ │ ├── test_Aspect.cpp │ │ │ ├── test_CollisionGroups.cpp │ │ │ ├── test_CompositeResourceRetriever.cpp │ │ │ ├── test_ContactConstraint.cpp │ │ │ ├── test_DartLoader.cpp │ │ │ ├── test_DartResourceRetriever.cpp │ │ │ ├── test_Factory.cpp │ │ │ ├── test_FileInfoWorld.cpp │ │ │ ├── test_GenericJoints.cpp │ │ │ ├── test_Geometry.cpp │ │ │ ├── test_Icosphere.cpp │ │ │ ├── test_IkFast.cpp │ │ │ ├── test_Inertia.cpp │ │ │ ├── test_Lemke.cpp │ │ │ ├── test_LocalResourceRetriever.cpp │ │ │ ├── test_Math.cpp │ │ │ ├── test_MjcfParser.cpp │ │ │ ├── test_NearestNeighbor.cpp │ │ │ ├── test_Optimizer.cpp │ │ │ ├── test_PackageResourceRetriever.cpp │ │ │ ├── test_Random.cpp │ │ │ ├── test_ScrewJoint.cpp │ │ │ ├── test_SdfParser.cpp │ │ │ ├── test_Signal.cpp │ │ │ ├── test_SkelParser.cpp │ │ │ ├── test_Subscriptions.cpp │ │ │ ├── test_TriMesh.cpp │ │ │ ├── test_Uri.cpp │ │ │ └── test_VskParser.cpp │ ├── eigen3 │ │ ├── Eigen │ │ │ ├── Cholesky │ │ │ ├── CholmodSupport │ │ │ ├── Core │ │ │ ├── Dense │ │ │ ├── Eigen │ │ │ ├── Eigenvalues │ │ │ ├── Geometry │ │ │ ├── Householder │ │ │ ├── IterativeLinearSolvers │ │ │ ├── Jacobi │ │ │ ├── LU │ │ │ ├── MetisSupport │ │ │ ├── OrderingMethods │ │ │ ├── PaStiXSupport │ │ │ ├── PardisoSupport │ │ │ ├── QR │ │ │ ├── QtAlignedMalloc │ │ │ ├── SPQRSupport │ │ │ ├── SVD │ │ │ ├── Sparse │ │ │ ├── SparseCholesky │ │ │ ├── SparseCore │ │ │ ├── SparseLU │ │ │ ├── SparseQR │ │ │ ├── StdDeque │ │ │ ├── StdList │ │ │ ├── StdVector │ │ │ ├── SuperLUSupport │ │ │ ├── UmfPackSupport │ │ │ └── src │ │ │ │ ├── Cholesky │ │ │ │ ├── LDLT.h │ │ │ │ ├── LLT.h │ │ │ │ └── LLT_LAPACKE.h │ │ │ │ ├── CholmodSupport │ │ │ │ └── CholmodSupport.h │ │ │ │ ├── Core │ │ │ │ ├── Array.h │ │ │ │ ├── ArrayBase.h │ │ │ │ ├── ArrayWrapper.h │ │ │ │ ├── Assign.h │ │ │ │ ├── AssignEvaluator.h │ │ │ │ ├── Assign_MKL.h │ │ │ │ ├── BandMatrix.h │ │ │ │ ├── Block.h │ │ │ │ ├── BooleanRedux.h │ │ │ │ ├── CommaInitializer.h │ │ │ │ ├── ConditionEstimator.h │ │ │ │ ├── CoreEvaluators.h │ │ │ │ ├── CoreIterators.h │ │ │ │ ├── CwiseBinaryOp.h │ │ │ │ ├── CwiseNullaryOp.h │ │ │ │ ├── CwiseTernaryOp.h │ │ │ │ ├── CwiseUnaryOp.h │ │ │ │ ├── CwiseUnaryView.h │ │ │ │ ├── DenseBase.h │ │ │ │ ├── DenseCoeffsBase.h │ │ │ │ ├── DenseStorage.h │ │ │ │ ├── Diagonal.h │ │ │ │ ├── DiagonalMatrix.h │ │ │ │ ├── DiagonalProduct.h │ │ │ │ ├── Dot.h │ │ │ │ ├── EigenBase.h │ │ │ │ ├── ForceAlignedAccess.h │ │ │ │ ├── Fuzzy.h │ │ │ │ ├── GeneralProduct.h │ │ │ │ ├── GenericPacketMath.h │ │ │ │ ├── GlobalFunctions.h │ │ │ │ ├── IO.h │ │ │ │ ├── Inverse.h │ │ │ │ ├── Map.h │ │ │ │ ├── MapBase.h │ │ │ │ ├── MathFunctions.h │ │ │ │ ├── MathFunctionsImpl.h │ │ │ │ ├── Matrix.h │ │ │ │ ├── MatrixBase.h │ │ │ │ ├── NestByValue.h │ │ │ │ ├── NoAlias.h │ │ │ │ ├── NumTraits.h │ │ │ │ ├── PermutationMatrix.h │ │ │ │ ├── PlainObjectBase.h │ │ │ │ ├── Product.h │ │ │ │ ├── ProductEvaluators.h │ │ │ │ ├── Random.h │ │ │ │ ├── Redux.h │ │ │ │ ├── Ref.h │ │ │ │ ├── Replicate.h │ │ │ │ ├── ReturnByValue.h │ │ │ │ ├── Reverse.h │ │ │ │ ├── Select.h │ │ │ │ ├── SelfAdjointView.h │ │ │ │ ├── SelfCwiseBinaryOp.h │ │ │ │ ├── Solve.h │ │ │ │ ├── SolveTriangular.h │ │ │ │ ├── SolverBase.h │ │ │ │ ├── StableNorm.h │ │ │ │ ├── Stride.h │ │ │ │ ├── Swap.h │ │ │ │ ├── Transpose.h │ │ │ │ ├── Transpositions.h │ │ │ │ ├── TriangularMatrix.h │ │ │ │ ├── VectorBlock.h │ │ │ │ ├── VectorwiseOp.h │ │ │ │ ├── Visitor.h │ │ │ │ ├── arch │ │ │ │ │ ├── AVX │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ │ └── TypeCasting.h │ │ │ │ │ ├── AVX512 │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ └── PacketMath.h │ │ │ │ │ ├── AltiVec │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ └── PacketMath.h │ │ │ │ │ ├── CUDA │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ ├── Half.h │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ │ ├── PacketMathHalf.h │ │ │ │ │ │ └── TypeCasting.h │ │ │ │ │ ├── Default │ │ │ │ │ │ ├── ConjHelper.h │ │ │ │ │ │ └── Settings.h │ │ │ │ │ ├── NEON │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ └── PacketMath.h │ │ │ │ │ ├── SSE │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ │ └── TypeCasting.h │ │ │ │ │ └── ZVector │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ └── PacketMath.h │ │ │ │ ├── functors │ │ │ │ │ ├── AssignmentFunctors.h │ │ │ │ │ ├── BinaryFunctors.h │ │ │ │ │ ├── NullaryFunctors.h │ │ │ │ │ ├── StlFunctors.h │ │ │ │ │ ├── TernaryFunctors.h │ │ │ │ │ └── UnaryFunctors.h │ │ │ │ ├── products │ │ │ │ │ ├── GeneralBlockPanelKernel.h │ │ │ │ │ ├── GeneralMatrixMatrix.h │ │ │ │ │ ├── GeneralMatrixMatrixTriangular.h │ │ │ │ │ ├── GeneralMatrixMatrixTriangular_BLAS.h │ │ │ │ │ ├── GeneralMatrixMatrix_BLAS.h │ │ │ │ │ ├── GeneralMatrixVector.h │ │ │ │ │ ├── GeneralMatrixVector_BLAS.h │ │ │ │ │ ├── Parallelizer.h │ │ │ │ │ ├── SelfadjointMatrixMatrix.h │ │ │ │ │ ├── SelfadjointMatrixMatrix_BLAS.h │ │ │ │ │ ├── SelfadjointMatrixVector.h │ │ │ │ │ ├── SelfadjointMatrixVector_BLAS.h │ │ │ │ │ ├── SelfadjointProduct.h │ │ │ │ │ ├── SelfadjointRank2Update.h │ │ │ │ │ ├── TriangularMatrixMatrix.h │ │ │ │ │ ├── TriangularMatrixMatrix_BLAS.h │ │ │ │ │ ├── TriangularMatrixVector.h │ │ │ │ │ ├── TriangularMatrixVector_BLAS.h │ │ │ │ │ ├── TriangularSolverMatrix.h │ │ │ │ │ ├── TriangularSolverMatrix_BLAS.h │ │ │ │ │ └── TriangularSolverVector.h │ │ │ │ └── util │ │ │ │ │ ├── BlasUtil.h │ │ │ │ │ ├── Constants.h │ │ │ │ │ ├── DisableStupidWarnings.h │ │ │ │ │ ├── ForwardDeclarations.h │ │ │ │ │ ├── MKL_support.h │ │ │ │ │ ├── Macros.h │ │ │ │ │ ├── Memory.h │ │ │ │ │ ├── Meta.h │ │ │ │ │ ├── NonMPL2.h │ │ │ │ │ ├── ReenableStupidWarnings.h │ │ │ │ │ ├── StaticAssert.h │ │ │ │ │ └── XprHelper.h │ │ │ │ ├── Eigenvalues │ │ │ │ ├── ComplexEigenSolver.h │ │ │ │ ├── ComplexSchur.h │ │ │ │ ├── ComplexSchur_LAPACKE.h │ │ │ │ ├── EigenSolver.h │ │ │ │ ├── GeneralizedEigenSolver.h │ │ │ │ ├── GeneralizedSelfAdjointEigenSolver.h │ │ │ │ ├── HessenbergDecomposition.h │ │ │ │ ├── MatrixBaseEigenvalues.h │ │ │ │ ├── RealQZ.h │ │ │ │ ├── RealSchur.h │ │ │ │ ├── RealSchur_LAPACKE.h │ │ │ │ ├── SelfAdjointEigenSolver.h │ │ │ │ ├── SelfAdjointEigenSolver_LAPACKE.h │ │ │ │ └── Tridiagonalization.h │ │ │ │ ├── Geometry │ │ │ │ ├── AlignedBox.h │ │ │ │ ├── AngleAxis.h │ │ │ │ ├── EulerAngles.h │ │ │ │ ├── Homogeneous.h │ │ │ │ ├── Hyperplane.h │ │ │ │ ├── OrthoMethods.h │ │ │ │ ├── ParametrizedLine.h │ │ │ │ ├── Quaternion.h │ │ │ │ ├── Rotation2D.h │ │ │ │ ├── RotationBase.h │ │ │ │ ├── Scaling.h │ │ │ │ ├── Transform.h │ │ │ │ ├── Translation.h │ │ │ │ ├── Umeyama.h │ │ │ │ └── arch │ │ │ │ │ └── Geometry_SSE.h │ │ │ │ ├── Householder │ │ │ │ ├── BlockHouseholder.h │ │ │ │ ├── Householder.h │ │ │ │ └── HouseholderSequence.h │ │ │ │ ├── IterativeLinearSolvers │ │ │ │ ├── BasicPreconditioners.h │ │ │ │ ├── BiCGSTAB.h │ │ │ │ ├── ConjugateGradient.h │ │ │ │ ├── IncompleteCholesky.h │ │ │ │ ├── IncompleteLUT.h │ │ │ │ ├── IterativeSolverBase.h │ │ │ │ ├── LeastSquareConjugateGradient.h │ │ │ │ └── SolveWithGuess.h │ │ │ │ ├── Jacobi │ │ │ │ └── Jacobi.h │ │ │ │ ├── LU │ │ │ │ ├── Determinant.h │ │ │ │ ├── FullPivLU.h │ │ │ │ ├── InverseImpl.h │ │ │ │ ├── PartialPivLU.h │ │ │ │ ├── PartialPivLU_LAPACKE.h │ │ │ │ └── arch │ │ │ │ │ └── Inverse_SSE.h │ │ │ │ ├── MetisSupport │ │ │ │ └── MetisSupport.h │ │ │ │ ├── OrderingMethods │ │ │ │ ├── Amd.h │ │ │ │ ├── Eigen_Colamd.h │ │ │ │ └── Ordering.h │ │ │ │ ├── PaStiXSupport │ │ │ │ └── PaStiXSupport.h │ │ │ │ ├── PardisoSupport │ │ │ │ └── PardisoSupport.h │ │ │ │ ├── QR │ │ │ │ ├── ColPivHouseholderQR.h │ │ │ │ ├── ColPivHouseholderQR_LAPACKE.h │ │ │ │ ├── CompleteOrthogonalDecomposition.h │ │ │ │ ├── FullPivHouseholderQR.h │ │ │ │ ├── HouseholderQR.h │ │ │ │ └── HouseholderQR_LAPACKE.h │ │ │ │ ├── SPQRSupport │ │ │ │ └── SuiteSparseQRSupport.h │ │ │ │ ├── SVD │ │ │ │ ├── BDCSVD.h │ │ │ │ ├── JacobiSVD.h │ │ │ │ ├── JacobiSVD_LAPACKE.h │ │ │ │ ├── SVDBase.h │ │ │ │ └── UpperBidiagonalization.h │ │ │ │ ├── SparseCholesky │ │ │ │ ├── SimplicialCholesky.h │ │ │ │ └── SimplicialCholesky_impl.h │ │ │ │ ├── SparseCore │ │ │ │ ├── AmbiVector.h │ │ │ │ ├── CompressedStorage.h │ │ │ │ ├── ConservativeSparseSparseProduct.h │ │ │ │ ├── MappedSparseMatrix.h │ │ │ │ ├── SparseAssign.h │ │ │ │ ├── SparseBlock.h │ │ │ │ ├── SparseColEtree.h │ │ │ │ ├── SparseCompressedBase.h │ │ │ │ ├── SparseCwiseBinaryOp.h │ │ │ │ ├── SparseCwiseUnaryOp.h │ │ │ │ ├── SparseDenseProduct.h │ │ │ │ ├── SparseDiagonalProduct.h │ │ │ │ ├── SparseDot.h │ │ │ │ ├── SparseFuzzy.h │ │ │ │ ├── SparseMap.h │ │ │ │ ├── SparseMatrix.h │ │ │ │ ├── SparseMatrixBase.h │ │ │ │ ├── SparsePermutation.h │ │ │ │ ├── SparseProduct.h │ │ │ │ ├── SparseRedux.h │ │ │ │ ├── SparseRef.h │ │ │ │ ├── SparseSelfAdjointView.h │ │ │ │ ├── SparseSolverBase.h │ │ │ │ ├── SparseSparseProductWithPruning.h │ │ │ │ ├── SparseTranspose.h │ │ │ │ ├── SparseTriangularView.h │ │ │ │ ├── SparseUtil.h │ │ │ │ ├── SparseVector.h │ │ │ │ ├── SparseView.h │ │ │ │ └── TriangularSolver.h │ │ │ │ ├── SparseLU │ │ │ │ ├── SparseLU.h │ │ │ │ ├── SparseLUImpl.h │ │ │ │ ├── SparseLU_Memory.h │ │ │ │ ├── SparseLU_Structs.h │ │ │ │ ├── SparseLU_SupernodalMatrix.h │ │ │ │ ├── SparseLU_Utils.h │ │ │ │ ├── SparseLU_column_bmod.h │ │ │ │ ├── SparseLU_column_dfs.h │ │ │ │ ├── SparseLU_copy_to_ucol.h │ │ │ │ ├── SparseLU_gemm_kernel.h │ │ │ │ ├── SparseLU_heap_relax_snode.h │ │ │ │ ├── SparseLU_kernel_bmod.h │ │ │ │ ├── SparseLU_panel_bmod.h │ │ │ │ ├── SparseLU_panel_dfs.h │ │ │ │ ├── SparseLU_pivotL.h │ │ │ │ ├── SparseLU_pruneL.h │ │ │ │ └── SparseLU_relax_snode.h │ │ │ │ ├── SparseQR │ │ │ │ └── SparseQR.h │ │ │ │ ├── StlSupport │ │ │ │ ├── StdDeque.h │ │ │ │ ├── StdList.h │ │ │ │ ├── StdVector.h │ │ │ │ └── details.h │ │ │ │ ├── SuperLUSupport │ │ │ │ └── SuperLUSupport.h │ │ │ │ ├── UmfPackSupport │ │ │ │ └── UmfPackSupport.h │ │ │ │ ├── misc │ │ │ │ ├── Image.h │ │ │ │ ├── Kernel.h │ │ │ │ ├── RealSvd2x2.h │ │ │ │ ├── blas.h │ │ │ │ ├── lapack.h │ │ │ │ ├── lapacke.h │ │ │ │ └── lapacke_mangling.h │ │ │ │ └── plugins │ │ │ │ ├── ArrayCwiseBinaryOps.h │ │ │ │ ├── ArrayCwiseUnaryOps.h │ │ │ │ ├── BlockMethods.h │ │ │ │ ├── CommonCwiseBinaryOps.h │ │ │ │ ├── CommonCwiseUnaryOps.h │ │ │ │ ├── MatrixCwiseBinaryOps.h │ │ │ │ └── MatrixCwiseUnaryOps.h │ │ ├── signature_of_eigen3_matrix_library │ │ └── unsupported │ │ │ └── Eigen │ │ │ ├── AdolcForward │ │ │ ├── AlignedVector3 │ │ │ ├── ArpackSupport │ │ │ ├── AutoDiff │ │ │ ├── BVH │ │ │ ├── CXX11 │ │ │ ├── Tensor │ │ │ ├── TensorSymmetry │ │ │ ├── ThreadPool │ │ │ └── src │ │ │ │ ├── Tensor │ │ │ │ ├── Tensor.h │ │ │ │ ├── TensorArgMax.h │ │ │ │ ├── TensorAssign.h │ │ │ │ ├── TensorBase.h │ │ │ │ ├── TensorBroadcasting.h │ │ │ │ ├── TensorChipping.h │ │ │ │ ├── TensorConcatenation.h │ │ │ │ ├── TensorContraction.h │ │ │ │ ├── TensorContractionBlocking.h │ │ │ │ ├── TensorContractionCuda.h │ │ │ │ ├── TensorContractionMapper.h │ │ │ │ ├── TensorContractionThreadPool.h │ │ │ │ ├── TensorConversion.h │ │ │ │ ├── TensorConvolution.h │ │ │ │ ├── TensorCostModel.h │ │ │ │ ├── TensorCustomOp.h │ │ │ │ ├── TensorDevice.h │ │ │ │ ├── TensorDeviceCuda.h │ │ │ │ ├── TensorDeviceDefault.h │ │ │ │ ├── TensorDeviceSycl.h │ │ │ │ ├── TensorDeviceThreadPool.h │ │ │ │ ├── TensorDimensionList.h │ │ │ │ ├── TensorDimensions.h │ │ │ │ ├── TensorEvalTo.h │ │ │ │ ├── TensorEvaluator.h │ │ │ │ ├── TensorExecutor.h │ │ │ │ ├── TensorExpr.h │ │ │ │ ├── TensorFFT.h │ │ │ │ ├── TensorFixedSize.h │ │ │ │ ├── TensorForcedEval.h │ │ │ │ ├── TensorForwardDeclarations.h │ │ │ │ ├── TensorFunctors.h │ │ │ │ ├── TensorGenerator.h │ │ │ │ ├── TensorGlobalFunctions.h │ │ │ │ ├── TensorIO.h │ │ │ │ ├── TensorImagePatch.h │ │ │ │ ├── TensorIndexList.h │ │ │ │ ├── TensorInflation.h │ │ │ │ ├── TensorInitializer.h │ │ │ │ ├── TensorIntDiv.h │ │ │ │ ├── TensorLayoutSwap.h │ │ │ │ ├── TensorMacros.h │ │ │ │ ├── TensorMap.h │ │ │ │ ├── TensorMeta.h │ │ │ │ ├── TensorMorphing.h │ │ │ │ ├── TensorPadding.h │ │ │ │ ├── TensorPatch.h │ │ │ │ ├── TensorRandom.h │ │ │ │ ├── TensorReduction.h │ │ │ │ ├── TensorReductionCuda.h │ │ │ │ ├── TensorReductionSycl.h │ │ │ │ ├── TensorRef.h │ │ │ │ ├── TensorReverse.h │ │ │ │ ├── TensorScan.h │ │ │ │ ├── TensorShuffling.h │ │ │ │ ├── TensorStorage.h │ │ │ │ ├── TensorStriding.h │ │ │ │ ├── TensorSycl.h │ │ │ │ ├── TensorSyclConvertToDeviceExpression.h │ │ │ │ ├── TensorSyclExprConstructor.h │ │ │ │ ├── TensorSyclExtractAccessor.h │ │ │ │ ├── TensorSyclExtractFunctors.h │ │ │ │ ├── TensorSyclLeafCount.h │ │ │ │ ├── TensorSyclPlaceHolderExpr.h │ │ │ │ ├── TensorSyclRun.h │ │ │ │ ├── TensorSyclTuple.h │ │ │ │ ├── TensorTraits.h │ │ │ │ ├── TensorUInt128.h │ │ │ │ └── TensorVolumePatch.h │ │ │ │ ├── TensorSymmetry │ │ │ │ ├── DynamicSymmetry.h │ │ │ │ ├── StaticSymmetry.h │ │ │ │ ├── Symmetry.h │ │ │ │ └── util │ │ │ │ │ └── TemplateGroupTheory.h │ │ │ │ ├── ThreadPool │ │ │ │ ├── EventCount.h │ │ │ │ ├── NonBlockingThreadPool.h │ │ │ │ ├── RunQueue.h │ │ │ │ ├── SimpleThreadPool.h │ │ │ │ ├── ThreadEnvironment.h │ │ │ │ ├── ThreadLocal.h │ │ │ │ ├── ThreadPoolInterface.h │ │ │ │ └── ThreadYield.h │ │ │ │ └── util │ │ │ │ ├── CXX11Meta.h │ │ │ │ ├── CXX11Workarounds.h │ │ │ │ ├── EmulateArray.h │ │ │ │ ├── EmulateCXX11Meta.h │ │ │ │ └── MaxSizeVector.h │ │ │ ├── EulerAngles │ │ │ ├── FFT │ │ │ ├── IterativeSolvers │ │ │ ├── KroneckerProduct │ │ │ ├── LevenbergMarquardt │ │ │ ├── MPRealSupport │ │ │ ├── MatrixFunctions │ │ │ ├── MoreVectorization │ │ │ ├── NonLinearOptimization │ │ │ ├── NumericalDiff │ │ │ ├── OpenGLSupport │ │ │ ├── Polynomials │ │ │ ├── Skyline │ │ │ ├── SparseExtra │ │ │ ├── SpecialFunctions │ │ │ ├── Splines │ │ │ └── src │ │ │ ├── AutoDiff │ │ │ ├── AutoDiffJacobian.h │ │ │ ├── AutoDiffScalar.h │ │ │ └── AutoDiffVector.h │ │ │ ├── BVH │ │ │ ├── BVAlgorithms.h │ │ │ └── KdBVH.h │ │ │ ├── Eigenvalues │ │ │ └── ArpackSelfAdjointEigenSolver.h │ │ │ ├── EulerAngles │ │ │ ├── EulerAngles.h │ │ │ └── EulerSystem.h │ │ │ ├── FFT │ │ │ ├── ei_fftw_impl.h │ │ │ └── ei_kissfft_impl.h │ │ │ ├── IterativeSolvers │ │ │ ├── ConstrainedConjGrad.h │ │ │ ├── DGMRES.h │ │ │ ├── GMRES.h │ │ │ ├── IncompleteLU.h │ │ │ ├── IterationController.h │ │ │ ├── MINRES.h │ │ │ └── Scaling.h │ │ │ ├── KroneckerProduct │ │ │ └── KroneckerTensorProduct.h │ │ │ ├── LevenbergMarquardt │ │ │ ├── LMcovar.h │ │ │ ├── LMonestep.h │ │ │ ├── LMpar.h │ │ │ ├── LMqrsolv.h │ │ │ └── LevenbergMarquardt.h │ │ │ ├── MatrixFunctions │ │ │ ├── MatrixExponential.h │ │ │ ├── MatrixFunction.h │ │ │ ├── MatrixLogarithm.h │ │ │ ├── MatrixPower.h │ │ │ ├── MatrixSquareRoot.h │ │ │ └── StemFunction.h │ │ │ ├── MoreVectorization │ │ │ └── MathFunctions.h │ │ │ ├── NonLinearOptimization │ │ │ ├── HybridNonLinearSolver.h │ │ │ ├── LevenbergMarquardt.h │ │ │ ├── chkder.h │ │ │ ├── covar.h │ │ │ ├── dogleg.h │ │ │ ├── fdjac1.h │ │ │ ├── lmpar.h │ │ │ ├── qrsolv.h │ │ │ ├── r1mpyq.h │ │ │ ├── r1updt.h │ │ │ └── rwupdt.h │ │ │ ├── NumericalDiff │ │ │ └── NumericalDiff.h │ │ │ ├── Polynomials │ │ │ ├── Companion.h │ │ │ ├── PolynomialSolver.h │ │ │ └── PolynomialUtils.h │ │ │ ├── Skyline │ │ │ ├── SkylineInplaceLU.h │ │ │ ├── SkylineMatrix.h │ │ │ ├── SkylineMatrixBase.h │ │ │ ├── SkylineProduct.h │ │ │ ├── SkylineStorage.h │ │ │ └── SkylineUtil.h │ │ │ ├── SparseExtra │ │ │ ├── BlockOfDynamicSparseMatrix.h │ │ │ ├── BlockSparseMatrix.h │ │ │ ├── DynamicSparseMatrix.h │ │ │ ├── MarketIO.h │ │ │ ├── MatrixMarketIterator.h │ │ │ └── RandomSetter.h │ │ │ ├── SpecialFunctions │ │ │ ├── SpecialFunctionsArrayAPI.h │ │ │ ├── SpecialFunctionsFunctors.h │ │ │ ├── SpecialFunctionsHalf.h │ │ │ ├── SpecialFunctionsImpl.h │ │ │ ├── SpecialFunctionsPacketMath.h │ │ │ └── arch │ │ │ │ └── CUDA │ │ │ │ └── CudaSpecialFunctions.h │ │ │ └── Splines │ │ │ ├── Spline.h │ │ │ ├── SplineFitting.h │ │ │ └── SplineFwd.h │ └── modus │ │ ├── CMakeLists.txt │ │ ├── apps │ │ ├── CMakeLists.txt │ │ └── hesse_diagram.py │ │ ├── bench │ │ ├── CMakeLists.txt │ │ ├── bench_arrangements.cpp │ │ ├── bench_subspace.cpp │ │ └── profile_arrangements.cpp │ │ ├── cmake │ │ ├── FindGperftools.cmake │ │ └── FindQhull.cmake │ │ ├── data │ │ └── test │ │ │ ├── box-1.npz │ │ │ ├── box-2.npz │ │ │ ├── box-3.npz │ │ │ ├── box-4.npz │ │ │ ├── box-5.npz │ │ │ ├── cs_modes │ │ │ ├── box-1.npz │ │ │ ├── box-2.npz │ │ │ ├── box-3.npz │ │ │ ├── box-4.npz │ │ │ ├── box-5.npz │ │ │ └── box-box-1.npz │ │ │ ├── gen_test_data.py │ │ │ ├── modus.test_logging.xianyi-XPS-13-9350.xianyi.log.INFO.20210205-122151.16349 │ │ │ ├── modus.test_logging.xianyi-XPS-13-9350.xianyi.log.INFO.20210205-163624.26963 │ │ │ └── ss_modes │ │ │ ├── box-1.npz │ │ │ ├── box-2.npz │ │ │ ├── box-3.npz │ │ │ ├── box-4.npz │ │ │ └── box-5.npz │ │ ├── include │ │ └── modus │ │ │ ├── collision │ │ │ ├── collision.hpp │ │ │ └── contact.hpp │ │ │ ├── common │ │ │ ├── assert.hpp │ │ │ ├── backward.hpp │ │ │ ├── convex_hull.hpp │ │ │ ├── eigen.hpp │ │ │ ├── linear_algebra-impl.hpp │ │ │ ├── linear_algebra.hpp │ │ │ ├── logging.hpp │ │ │ ├── memory.hpp │ │ │ └── serialization.hpp │ │ │ ├── dynamics │ │ │ ├── actuator_dynamics.hpp │ │ │ ├── coefficient_of_friction.hpp │ │ │ ├── contact_dynamics.hpp │ │ │ ├── continuous_dynamics.hpp │ │ │ ├── dynamics.hpp │ │ │ ├── gravito_intertial_dynamics.hpp │ │ │ └── mass_matrix.hpp │ │ │ ├── examples │ │ │ ├── basic_collision.hpp │ │ │ ├── box.hpp │ │ │ ├── plane.hpp │ │ │ ├── se3_state.hpp │ │ │ └── sphere.hpp │ │ │ ├── geometry │ │ │ ├── bounds.hpp │ │ │ ├── box.hpp │ │ │ ├── cylinder.hpp │ │ │ ├── distance.hpp │ │ │ ├── edge.hpp │ │ │ ├── face.hpp │ │ │ ├── geometry.hpp │ │ │ ├── halfedge.hpp │ │ │ ├── halfedgemesh.hpp │ │ │ ├── icosphere.hpp │ │ │ ├── plane.hpp │ │ │ ├── ray.hpp │ │ │ └── vertex.hpp │ │ │ ├── graphics │ │ │ ├── glad.hpp │ │ │ ├── khrplatform.hpp │ │ │ └── opengl.hpp │ │ │ ├── integration │ │ │ ├── forward_euler.hpp │ │ │ └── integration.hpp │ │ │ ├── kinematics │ │ │ ├── contact_constraint.hpp │ │ │ ├── contact_kinematics.hpp │ │ │ ├── jacobian.hpp │ │ │ ├── jacobian_body.hpp │ │ │ ├── jacobian_floating.hpp │ │ │ ├── jacobian_geometric.hpp │ │ │ ├── jacobian_spatial.hpp │ │ │ └── kinematics.hpp │ │ │ ├── modes │ │ │ ├── constraints.hpp │ │ │ ├── enumerate.hpp │ │ │ ├── geometry │ │ │ │ ├── arrangements.hpp │ │ │ │ ├── convex_hull.hpp │ │ │ │ ├── halfspace_intersection.hpp │ │ │ │ ├── hyperplane.hpp │ │ │ │ ├── incidence_graph.hpp │ │ │ │ └── interior_point.hpp │ │ │ ├── graph.hpp │ │ │ ├── graph │ │ │ │ ├── contact_mode_graph.hpp │ │ │ │ ├── csmode_graph.hpp │ │ │ │ ├── incidence_graph.hpp │ │ │ │ ├── nested_graph.hpp │ │ │ │ ├── product_graph.hpp │ │ │ │ └── ssmode_graph.hpp │ │ │ ├── modus.hpp │ │ │ ├── preprocess.hpp │ │ │ └── preprocess │ │ │ │ ├── csmode_preprocessor.hpp │ │ │ │ ├── matroid_preprocessor.hpp │ │ │ │ ├── nullspace_preprocessor.hpp │ │ │ │ └── ssmode_preprocessor.hpp │ │ │ ├── qpcc │ │ │ ├── bounds.hpp │ │ │ ├── cost.hpp │ │ │ ├── qp.hpp │ │ │ ├── qpOASES.hpp │ │ │ ├── qpcc.hpp │ │ │ ├── solver.hpp │ │ │ └── solvers │ │ │ │ ├── MICP.hpp │ │ │ │ ├── SNOPT.hpp │ │ │ │ ├── adjacent_modes.hpp │ │ │ │ └── full_modes.hpp │ │ │ └── system │ │ │ ├── aspect.hpp │ │ │ ├── body.hpp │ │ │ ├── composite.hpp │ │ │ ├── detail │ │ │ └── composite.hpp │ │ │ ├── input.hpp │ │ │ ├── link.hpp │ │ │ ├── state.hpp │ │ │ ├── system.hpp │ │ │ └── transform.hpp │ │ └── src │ │ ├── modus_common │ │ ├── CMakeLists.txt │ │ ├── assert.cpp │ │ ├── backward.cpp │ │ ├── convex_hull.cpp │ │ ├── linear_algebra.cpp │ │ ├── logging.cpp │ │ └── serialization.cpp │ │ ├── modus_geometry │ │ ├── CMakeLists.txt │ │ ├── bounds.cpp │ │ ├── box.cpp │ │ ├── distance.cpp │ │ ├── edge.cpp │ │ ├── face.cpp │ │ ├── glad.cpp │ │ ├── halfedge.cpp │ │ ├── halfedgemesh.cpp │ │ ├── opengl.cpp │ │ ├── plane.cpp │ │ ├── rectangle.cpp │ │ ├── transforms.cpp │ │ └── vertex.cpp │ │ ├── modus_kinematics │ │ ├── CMakeLists.txt │ │ ├── contact_constraint.cpp │ │ ├── contact_kinematics.cpp │ │ ├── jacobian_body.cpp │ │ ├── jacobian_floating.cpp │ │ ├── jacobian_geometric.cpp │ │ ├── jacobian_spatial.cpp │ │ └── kinematics.cpp │ │ ├── modus_modes │ │ ├── CMakeLists.txt │ │ ├── constraints.cpp │ │ ├── enumerate_modes.cpp │ │ ├── geometry │ │ │ ├── arrangements.cpp │ │ │ ├── convex_hull.cpp │ │ │ ├── halfspace_intersection.cpp │ │ │ ├── incidence_graph.cpp │ │ │ └── interior_point.cpp │ │ ├── preprocess.cpp │ │ └── preprocess │ │ │ └── matroid_preprocessor.cpp │ │ └── modus_system │ │ ├── CMakeLists.txt │ │ ├── body.cpp │ │ ├── link.cpp │ │ ├── system.cpp │ │ └── transform.cpp ├── force_check.cpp ├── force_check.h ├── manipulators │ ├── DartDDHand.cpp │ ├── DartDDHand.h │ ├── DartDDHandFreeY.cpp │ ├── DartDDHandFreeY.h │ ├── DartDDHandScalable.cpp │ ├── DartDDHandScalable.h │ ├── DartDeltaManipulator.cpp │ ├── DartDeltaManipulator.h │ ├── DartKR5.cpp │ ├── DartKR5.h │ ├── DartManipulatorTemplate.h │ ├── DartParallelJawGripper.cpp │ ├── DartParallelJawGripper.h │ ├── DartPointManipulator.cpp │ ├── DartPointManipulator.h │ ├── DartURDFManipulatorTemplate.h │ ├── DartWholeHand.cpp │ ├── DartWholeHand.h │ ├── ManipulatorTemplate.h │ ├── ddhand │ │ ├── handik.h │ │ ├── two_link_kinematics.cpp │ │ └── two_link_kinematics.h │ └── wholehand │ │ ├── exp_map.cpp │ │ ├── exp_map.h │ │ ├── optimizer.cpp │ │ ├── optimizer.h │ │ ├── sdf.cpp │ │ └── sdf.h ├── mechanics.cpp ├── mechanics.h ├── mode_utils.cpp ├── mode_utils.h ├── utilities │ ├── combinatorics.cpp │ ├── combinatorics.h │ ├── eiquadprog.hpp │ ├── io.cpp │ ├── io.h │ ├── miscellaneous.cpp │ ├── miscellaneous.h │ ├── parser.hpp │ ├── sample.cpp │ ├── sample.h │ ├── utilities.cpp │ └── utilities.h └── worlds │ ├── DartWorld.cpp │ ├── DartWorld.h │ └── WorldTemplate.h ├── search ├── CMakeLists.txt ├── base.h ├── level1.h ├── level1mcts.h ├── level2.h ├── level2baseline.h ├── level2fp.h └── level2mcts.h └── tasks ├── CMakeLists.txt ├── ddhand_setup.h ├── integration_utils.h ├── rewards.h ├── rrt.h ├── setup.cpp ├── setup.h ├── task.cpp ├── task.h └── visualization.h /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/XianyiCheng/HiDex/HEAD/.gitignore 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