├── .dockerignore ├── .github ├── actions │ ├── build-push │ │ └── action.yml │ ├── build-test-protocol │ │ ├── Dockerfile │ │ ├── action.yml │ │ └── entrypoint.sh │ ├── build-test-python │ │ ├── Dockerfile │ │ ├── action.yml │ │ └── entrypoint.sh │ └── build-test │ │ ├── Dockerfile │ │ ├── action.yml │ │ └── entrypoint.sh └── workflows │ ├── build-push.yml │ ├── build-test.yml │ └── generate-docs.yml ├── .gitignore ├── CHANGELOG.md ├── CONTRIBUTING.md ├── Dockerfile.base ├── Dockerfile.proto ├── LICENSE ├── README.md ├── VERSION ├── demos ├── CMakeLists.txt ├── Dockerfile ├── README.md ├── cpp_scripts │ ├── robot_kinematics_control_loop.cpp │ └── task_space_control_loop.cpp ├── fixtures │ └── panda_arm.urdf ├── python_scripts │ ├── robot_kinematics_control_loop.py │ └── task_space_control_loop.py └── run-demo.sh ├── docker └── sshd_entrypoint.sh ├── doxygen ├── .gitignore ├── README.md ├── docs │ ├── README.md │ └── index.html └── doxygen.conf ├── licenses ├── COPYING.BOOST ├── COPYING.EIGEN ├── COPYING.GTEST ├── COPYING.OSQP ├── COPYING.OSQP_EIGEN ├── COPYING.PINOCCHIO ├── COPYING.PROTOBUF ├── COPYING.PYBIND11 ├── COPYING.URDFDOM ├── NOTICE.OSQP └── README.md ├── protocol ├── Dockerfile.protocol ├── README.md ├── build-test.sh ├── clproto_cpp │ ├── CMakeLists.txt │ ├── Config.cmake.in │ ├── README.md │ ├── include │ │ ├── clproto.h │ │ └── clproto │ │ │ ├── decoders.h │ │ │ └── encoders.h │ ├── src │ │ ├── clproto.cpp │ │ ├── decoders.cpp │ │ └── encoders.cpp │ └── test │ │ ├── test_clproto.cpp │ │ └── tests │ │ ├── test_cartesian_space_proto.cpp │ │ ├── test_joint_space_proto.cpp │ │ ├── test_json.cpp │ │ ├── test_messages.cpp │ │ ├── test_packing.cpp │ │ └── test_parameter_proto.cpp ├── dev-server.sh ├── install.sh └── protobuf │ ├── Makefile │ ├── README.md │ └── proto │ └── state_representation │ ├── geometry │ ├── ellipsoid.proto │ └── shape.proto │ ├── parameters │ ├── parameter.proto │ └── parameter_value.proto │ ├── space │ ├── cartesian │ │ └── cartesian_state.proto │ ├── joint │ │ ├── jacobian.proto │ │ └── joint_state.proto │ └── spatial_state.proto │ ├── state.proto │ └── state_message.proto ├── python ├── .gitignore ├── Dockerfile.python ├── README.md ├── dev-server.sh ├── include │ ├── clproto_bindings.h │ ├── controllers_bindings.h │ ├── dynamical_systems_bindings.h │ ├── parameter_container.h │ ├── py_controller.h │ ├── py_dynamical_system.h │ ├── py_parameter_map.h │ ├── robot_model_bindings.h │ └── state_representation_bindings.h ├── pyproject.toml ├── run.sh ├── setup.py ├── source │ ├── clproto │ │ ├── bind_clproto.cpp │ │ └── clproto_bindings.cpp │ ├── common │ │ └── parameter_container.cpp │ ├── controllers │ │ ├── bind_cartesian_controllers.cpp │ │ ├── bind_computational_space.cpp │ │ ├── bind_controller_type.cpp │ │ ├── bind_joint_controllers.cpp │ │ └── controllers_bindings.cpp │ ├── dynamical_systems │ │ ├── bind_cartesian_ds.cpp │ │ ├── bind_ds_type.cpp │ │ ├── bind_joint_ds.cpp │ │ └── dynamical_systems_bindings.cpp │ ├── robot_model │ │ ├── bind_model.cpp │ │ └── robot_model_bindings.cpp │ └── state_representation │ │ ├── bind_cartesian_space.cpp │ │ ├── bind_geometry.cpp │ │ ├── bind_jacobian.cpp │ │ ├── bind_joint_space.cpp │ │ ├── bind_parameters.cpp │ │ ├── bind_state.cpp │ │ └── state_representation_bindings.cpp └── test │ ├── __init__.py │ ├── controllers │ ├── __init__.py │ ├── panda_arm.urdf │ ├── test_compliant_twist.py │ ├── test_controller.py │ ├── test_dissipative_impedance.py │ ├── test_impedance.py │ └── test_velocity_impedance.py │ ├── dynamical_systems │ ├── __init__.py │ ├── test_cartesian_point_attractor.py │ ├── test_circular.py │ ├── test_ds.py │ ├── test_joint_point_attractor.py │ └── test_ring.py │ ├── model │ ├── __init__.py │ ├── panda_arm.urdf │ ├── test_model.py │ ├── test_model_dynamics.py │ └── test_model_kinematics.py │ ├── state_representation │ ├── __init__.py │ ├── space │ │ ├── __init__.py │ │ ├── cartesian │ │ │ ├── __init__.py │ │ │ ├── test_cartesian_pose.py │ │ │ └── test_cartesian_state.py │ │ ├── joint │ │ │ ├── __init__.py │ │ │ └── test_joint_state.py │ │ ├── test_jacobian.py │ │ └── test_spatial_state.py │ ├── test_geometry.py │ ├── test_parameters.py │ └── test_state.py │ └── test_clproto.py ├── source ├── CMakeLists.txt ├── Config.cmake.in ├── Dockerfile.source ├── README.md ├── build-test.sh ├── controllers │ ├── .gitignore │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── controllers │ │ │ ├── ControllerFactory.hpp │ │ │ ├── ControllerType.hpp │ │ │ ├── IController.hpp │ │ │ ├── exceptions │ │ │ ├── InvalidControllerException.hpp │ │ │ ├── NoRobotModelException.hpp │ │ │ └── NotImplementedException.hpp │ │ │ └── impedance │ │ │ ├── CompliantTwist.hpp │ │ │ ├── Dissipative.hpp │ │ │ ├── Impedance.hpp │ │ │ └── VelocityImpedance.hpp │ ├── src │ │ ├── ControllerFactory.cpp │ │ ├── IController.cpp │ │ └── impedance │ │ │ ├── CompliantTwist.cpp │ │ │ ├── Dissipative.cpp │ │ │ ├── Impedance.cpp │ │ │ └── VelocityImpedance.cpp │ └── test │ │ ├── fixtures │ │ └── panda_arm.urdf │ │ ├── test_controllers.cpp │ │ └── tests │ │ ├── test_compliant_twist_controller.cpp │ │ ├── test_controller_factory.cpp │ │ ├── test_dissipative_impedance.cpp │ │ ├── test_impedance.cpp │ │ └── test_velocity_impedance.cpp ├── dev-server.sh ├── dynamical_systems │ ├── .gitignore │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── dynamical_systems │ │ │ ├── Circular.hpp │ │ │ ├── DefaultDynamicalSystem.hpp │ │ │ ├── DynamicalSystemFactory.hpp │ │ │ ├── DynamicalSystemType.hpp │ │ │ ├── IDynamicalSystem.hpp │ │ │ ├── PointAttractor.hpp │ │ │ ├── Ring.hpp │ │ │ └── exceptions │ │ │ ├── EmptyAttractorException.hpp │ │ │ ├── EmptyBaseFrameException.hpp │ │ │ ├── IncompatibleSizeException.hpp │ │ │ ├── InvalidDynamicalSystemException.hpp │ │ │ └── NotImplementedException.hpp │ ├── src │ │ ├── Circular.cpp │ │ ├── DynamicalSystemFactory.cpp │ │ ├── IDynamicalSystem.cpp │ │ ├── PointAttractor.cpp │ │ └── Ring.cpp │ └── test │ │ ├── test_dynamical_systems.cpp │ │ └── tests │ │ ├── test_circular.cpp │ │ ├── test_factory.cpp │ │ ├── test_point_attractor.cpp │ │ └── test_ring.cpp ├── install.sh ├── robot_model │ ├── .gitignore │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── robot_model │ │ │ ├── Model.hpp │ │ │ └── exceptions │ │ │ ├── FrameNotFoundException.hpp │ │ │ ├── InvalidJointStateSizeException.hpp │ │ │ └── InverseKinematicsNotConvergingException.hpp │ ├── src │ │ └── Model.cpp │ └── test │ │ ├── fixtures │ │ ├── generateRobotModelDynamicsTestConfigurations.m │ │ ├── generateRobotModelKinematicsTestConfigurations.m │ │ └── panda_arm.urdf │ │ ├── test_robot_model.cpp │ │ └── tests │ │ ├── test_dynamics.cpp │ │ ├── test_kinematics.cpp │ │ └── test_model.cpp └── state_representation │ ├── .gitignore │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ └── state_representation │ │ ├── MathTools.hpp │ │ ├── State.hpp │ │ ├── StateType.hpp │ │ ├── exceptions │ │ ├── EmptyStateException.hpp │ │ ├── IncompatibleReferenceFramesException.hpp │ │ ├── IncompatibleSizeException.hpp │ │ ├── IncompatibleStatesException.hpp │ │ ├── InvalidParameterCastException.hpp │ │ ├── InvalidParameterException.hpp │ │ ├── InvalidPointerException.hpp │ │ ├── JointNotFoundException.hpp │ │ ├── NoSolutionToFitException.hpp │ │ ├── NotImplementedException.hpp │ │ └── UnrecognizedParameterTypeException.hpp │ │ ├── geometry │ │ ├── Ellipsoid.hpp │ │ └── Shape.hpp │ │ ├── parameters │ │ ├── Event.hpp │ │ ├── Parameter.hpp │ │ ├── ParameterInterface.hpp │ │ ├── ParameterMap.hpp │ │ ├── ParameterType.hpp │ │ └── Predicate.hpp │ │ ├── space │ │ ├── Jacobian.hpp │ │ ├── SpatialState.hpp │ │ ├── cartesian │ │ │ ├── CartesianAcceleration.hpp │ │ │ ├── CartesianPose.hpp │ │ │ ├── CartesianState.hpp │ │ │ ├── CartesianTwist.hpp │ │ │ └── CartesianWrench.hpp │ │ ├── dual_quaternion │ │ │ ├── DualQuaternionPose.hpp │ │ │ ├── DualQuaternionState.hpp │ │ │ └── DualQuaternionTwist.hpp │ │ └── joint │ │ │ ├── JointAccelerations.hpp │ │ │ ├── JointPositions.hpp │ │ │ ├── JointState.hpp │ │ │ ├── JointTorques.hpp │ │ │ └── JointVelocities.hpp │ │ ├── trajectories │ │ └── Trajectory.hpp │ │ └── units │ │ ├── Angle.hpp │ │ ├── Distance.hpp │ │ └── Velocity.hpp │ ├── src │ ├── MathTools.cpp │ ├── State.cpp │ ├── geometry │ │ ├── Ellipsoid.cpp │ │ └── Shape.cpp │ ├── parameters │ │ ├── Event.cpp │ │ ├── Parameter.cpp │ │ ├── ParameterInterface.cpp │ │ ├── ParameterMap.cpp │ │ └── Predicate.cpp │ └── space │ │ ├── Jacobian.cpp │ │ ├── SpatialState.cpp │ │ ├── cartesian │ │ ├── CartesianAcceleration.cpp │ │ ├── CartesianPose.cpp │ │ ├── CartesianState.cpp │ │ ├── CartesianTwist.cpp │ │ └── CartesianWrench.cpp │ │ ├── dual_quaternion │ │ ├── DualQuaternionPose.cpp │ │ ├── DualQuaternionState.cpp │ │ └── DualQuaternionTwist.cpp │ │ └── joint │ │ ├── JointAccelerations.cpp │ │ ├── JointPositions.cpp │ │ ├── JointState.cpp │ │ ├── JointTorques.cpp │ │ └── JointVelocities.cpp │ └── 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