├── .gitignore ├── .gitmodules ├── .travis.yml ├── LICENSE ├── Makefile ├── README.rst ├── config ├── aerial_example │ └── aerial_sensors_example.cfg ├── atlas │ ├── common_components.cfg │ ├── control.cfg │ ├── core_config.cfg │ ├── multisense_02.cfg │ ├── robot.cfg │ ├── robot.pmd │ ├── robot_from_logfile.cfg │ ├── robot_gpf.cfg │ ├── state_estimation.cfg │ ├── state_estimation_from_logfile.cfg │ └── state_estimation_gpf.cfg ├── config_old │ ├── config_components │ │ ├── common_components.cfg │ │ ├── control_sim.cfg │ │ ├── multisense_02.cfg │ │ ├── multisense_sim_ihmc.cfg │ │ ├── multisense_traclabs.cfg │ │ ├── robot_main.cfg │ │ ├── robot_main_ihmc.cfg │ │ ├── state_estimation_ihmc_sim.cfg │ │ ├── state_estimation_mit.cfg │ │ ├── state_estimation_no_laser.cfg │ │ └── state_estimation_no_laser_traclabs.cfg │ ├── drc_robot_02_mit.cfg │ ├── drc_robot_02_mit_no_laser.cfg │ ├── drc_robot_traclabs.cfg │ ├── ihmc.pmd │ ├── simul_robot_ihmc.cfg │ ├── thor_mang.cfg │ ├── thor_mang.pmd │ ├── thor_mang_components │ │ ├── common_components.cfg │ │ ├── launch_designer.sh │ │ ├── multisense_02.cfg │ │ ├── robot_main.cfg │ │ ├── state_estimation_no_laser.cfg │ │ └── thor_mang_notes.txt │ └── traclabs.pmd ├── hyq │ ├── robot.cfg │ └── robot.pmd ├── kinect_imu │ ├── robot.cfg │ └── robot.pmd ├── signal_scope │ ├── hyq_state.py │ ├── knees.py │ └── rates.cfg └── val │ ├── core_config.cfg │ ├── multisense_C_xx.cfg │ ├── multisense_D_50.cfg │ ├── robot.cfg │ ├── robot.pmd │ ├── robot_C.cfg │ └── state_estimation.cfg ├── externals ├── Makefile └── tobuild.txt ├── models ├── atlas_v5 │ ├── meshes │ │ ├── l_clav.obj │ │ ├── l_farm.obj │ │ ├── l_foot.obj │ │ ├── l_hand.obj │ │ ├── l_larm.obj │ │ ├── l_lglut.obj │ │ ├── l_lleg.obj │ │ ├── l_scap.obj │ │ ├── l_talus.obj │ │ ├── l_uarm.obj │ │ ├── l_uglut.obj │ │ ├── l_uleg.obj │ │ ├── ltorso.obj │ │ ├── mtorso.obj │ │ ├── pelvis.obj │ │ ├── r_clav.obj │ │ ├── r_farm.obj │ │ ├── r_foot.obj │ │ ├── r_hand.obj │ │ ├── r_larm.obj │ │ ├── r_lglut.obj │ │ ├── r_lleg.obj │ │ ├── r_scap.obj │ │ ├── r_talus.obj │ │ ├── r_uarm.obj │ │ ├── r_uglut.obj │ │ ├── r_uleg.obj │ │ └── utorso.obj │ └── model_LR_RR.urdf ├── common_components │ ├── multisense_sl │ │ ├── materials │ │ │ ├── CMakeLists.txt │ │ │ └── textures │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── atlas_DRC_1.png │ │ │ │ ├── atlas_DRC_carbon_fiber.png │ │ │ │ ├── atlas_DRC_dark_1.png │ │ │ │ ├── drc_extremities_diffuse.jpg │ │ │ │ ├── drc_labels_1.jpg │ │ │ │ └── drc_torso_head_diffuse.jpg │ │ └── meshes │ │ │ ├── head.obj │ │ │ └── head_camera.obj │ └── robotiq_hand_description │ │ └── meshes │ │ └── s-model_articulated │ │ ├── collision │ │ ├── link_0.obj │ │ ├── link_0_chull.obj │ │ ├── link_1.obj │ │ ├── link_1_chull.obj │ │ ├── link_2.obj │ │ ├── link_2_chull.obj │ │ ├── link_3.obj │ │ ├── link_3_chull.obj │ │ ├── palm.obj │ │ └── palm_chull.obj │ │ └── visual │ │ ├── link_0.obj │ │ ├── link_1.obj │ │ ├── link_2.obj │ │ ├── link_3.obj │ │ └── palm.obj ├── mit_gazebo_models │ ├── atlas_v3 │ ├── atlas_v5 │ ├── multisense_sl │ └── robotiq_hand_description ├── multisense_sl ├── robotiq_hand_description └── val_description │ ├── model │ └── meshes │ │ ├── arms │ │ ├── aj1_left.obj │ │ ├── aj1_right.obj │ │ ├── aj2_left.obj │ │ ├── aj2_right.obj │ │ ├── aj3_left.obj │ │ ├── aj3_right.obj │ │ ├── aj4_left.obj │ │ ├── aj4_right.obj │ │ ├── aj5_left.obj │ │ ├── aj5_right.obj │ │ ├── aj6_left.obj │ │ ├── aj6_right.obj │ │ ├── palm_left.obj │ │ └── palm_right.obj │ │ ├── fingers │ │ ├── indexj1_left.obj │ │ ├── indexj1_right.obj │ │ ├── indexj2_left.obj │ │ ├── indexj2_right.obj │ │ ├── indexj3_left.obj │ │ ├── indexj3_right.obj │ │ ├── middlej1_left.obj │ │ ├── middlej1_right.obj │ │ ├── middlej2_left.obj │ │ ├── middlej2_right.obj │ │ ├── middlej3_left.obj │ │ ├── middlej3_right.obj │ │ ├── pinkyj1_left.obj │ │ ├── pinkyj1_right.obj │ │ ├── pinkyj2_left.obj │ │ ├── pinkyj2_right.obj │ │ ├── pinkyj3_left.obj │ │ ├── pinkyj3_right.obj │ │ ├── thumbj1_left.obj │ │ ├── thumbj1_right.obj │ │ ├── thumbj2_left.obj │ │ ├── thumbj2_right.obj │ │ ├── thumbj3_left.obj │ │ ├── thumbj3_right.obj │ │ ├── thumbj4_left.obj │ │ └── thumbj4_right.obj │ │ ├── head │ │ ├── head_multisense.obj │ │ ├── head_multisense_no_visor.obj │ │ ├── multisense_hokuyo.obj │ │ ├── neckj1.obj │ │ └── neckj2.obj │ │ ├── legs │ │ ├── foot.obj │ │ ├── lj1_left.obj │ │ ├── lj1_right.obj │ │ ├── lj2_left.obj │ │ ├── lj2_right.obj │ │ ├── lj3_left.obj │ │ ├── lj3_right.obj │ │ ├── lj4_left.obj │ │ ├── lj4_right.obj │ │ └── lj5.obj │ │ ├── multisense │ │ └── head_camera.obj │ │ ├── pelvis │ │ └── pelvis.obj │ │ └── torso │ │ ├── torso.obj │ │ ├── torso.stl │ │ ├── torsopitch.obj │ │ └── torsoyaw.obj │ └── urdf │ └── valkyrie_sim.urdf ├── optional ├── Makefile └── tobuild.txt ├── pronto-lcm-ros-translators ├── .catkin_workspace ├── .gitignore └── src │ ├── CMakeLists.txt │ ├── atlas_hardware_interface │ ├── CMakeLists.txt │ ├── msg │ │ ├── AtlasActuatorState.msg │ │ ├── AtlasBehaviorFeedback.msg │ │ ├── AtlasBehaviorFootData.msg │ │ ├── AtlasBehaviorManipulateFeedback.msg │ │ ├── AtlasBehaviorManipulateParams.msg │ │ ├── AtlasBehaviorPelvisServoParams.msg │ │ ├── AtlasBehaviorStandFeedback.msg │ │ ├── AtlasBehaviorStandParams.msg │ │ ├── AtlasBehaviorStepAction.msg │ │ ├── AtlasBehaviorStepData.msg │ │ ├── AtlasBehaviorStepFeedback.msg │ │ ├── AtlasBehaviorStepFlags.msg │ │ ├── AtlasBehaviorStepParams.msg │ │ ├── AtlasBehaviorStepSpec.msg │ │ ├── AtlasBehaviorWalkAction.msg │ │ ├── AtlasBehaviorWalkFeedback.msg │ │ ├── AtlasBehaviorWalkFlags.msg │ │ ├── AtlasBehaviorWalkParams.msg │ │ ├── AtlasBehaviorWalkSpec.msg │ │ ├── AtlasControlDataFromRobot.msg │ │ ├── AtlasControlDataToRobot.msg │ │ ├── AtlasDiffFilt2.msg │ │ ├── AtlasDiffFilt3.msg │ │ ├── AtlasExtendedJointControlParams.msg │ │ ├── AtlasExtendedJointFeedback.msg │ │ ├── AtlasFootSensor.msg │ │ ├── AtlasHandMass.msg │ │ ├── AtlasHardwareCommand.msg │ │ ├── AtlasHardwareError.msg │ │ ├── AtlasHydraulicPressureSetting.msg │ │ ├── AtlasJointCommand.msg │ │ ├── AtlasJointControlParams.msg │ │ ├── AtlasJointId.msg │ │ ├── AtlasJointState.msg │ │ ├── AtlasJointStates.msg │ │ ├── AtlasModeState.msg │ │ ├── AtlasOdometry.msg │ │ ├── AtlasPositionData.msg │ │ ├── AtlasPrefilter.msg │ │ ├── AtlasPressureState.msg │ │ ├── AtlasRawIMUData.msg │ │ ├── AtlasRobotBehavior.msg │ │ ├── AtlasRobotRunState.msg │ │ ├── AtlasRobotStatus.msg │ │ └── AtlasWrenches.msg │ └── package.xml │ ├── ihmc_msgs │ ├── CMakeLists.txt │ ├── msg │ │ ├── ArmJointTrajectoryPacketMessage.msg │ │ ├── AtlasDesiredPumpPSIPacketMessage.msg │ │ ├── AtlasElectricMotorEnablePacketMessage.msg │ │ ├── AtlasWristSensorCalibrationRequestPacketMessage.msg │ │ ├── BatchRawImuData.msg │ │ ├── ChestOrientationPacketMessage.msg │ │ ├── ComHeightPacketMessage.msg │ │ ├── FootPosePacketMessage.msg │ │ ├── FootstepDataListMessage.msg │ │ ├── FootstepDataMessage.msg │ │ ├── FootstepStatusMessage.msg │ │ ├── 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