├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── bindings ├── CMakeLists.txt └── pypnc │ ├── CMakeLists.txt │ ├── atlas_pnc │ ├── CMakeLists.txt │ ├── atlas_interface_pybind.cpp │ └── atlas_interrupt_logic_pybind.cpp │ ├── draco_pnc │ ├── CMakeLists.txt │ ├── draco_interface_pybind.cpp │ └── draco_interrupt_logic_pybind.cpp │ └── fixed_draco_pnc │ ├── CMakeLists.txt │ ├── fixed_draco_interface_pybind.cpp │ └── fixed_draco_interrupt_logic_pybind.cpp ├── cmake ├── FindDracoPnC.cmake ├── FindEigen.cmake ├── FindFixedDracoPnC.cmake ├── FindGFlags.cmake ├── FindGurobi.cmake ├── FindMosek.cmake ├── FindProtobuf.cmake ├── FindPythonAnaconda.cmake └── FindZMQ.cmake ├── config.h.cmake ├── config ├── atlas │ ├── dart_simulation.yaml │ ├── pnc.yaml │ └── pybullet_simulation.py ├── draco │ ├── nodelet.yaml │ ├── pnc.yaml │ └── pybullet_simulation.py └── fixed_draco │ ├── nodelet.yaml │ ├── pnc.yaml │ └── pybullet_simulation.py ├── doxygen ├── Doxyfile.in └── mainpage.dox ├── messages ├── CMakeLists.txt ├── draco.proto └── fixed_draco.proto ├── plot ├── atlas │ └── plot_wbc.py ├── data_saver.py ├── data_visualizer.py ├── draco │ ├── debug.py │ ├── draco_data_manager.py │ ├── plot_estimator.py │ ├── plot_icp_error.py │ ├── plot_juggler_layout.xml │ ├── plot_wbc.py │ └── task_tracking.xml ├── fixed_draco │ ├── fixed_draco_data_manager.py │ ├── plot_debug.py │ ├── plot_estimation.py │ └── plot_wbc.py ├── helper.py └── plot_dcm_trajectory.py ├── pnc.yml ├── pnc ├── CMakeLists.txt ├── atlas_pnc │ ├── CMakeLists.txt │ ├── atlas_control_architecture.cpp │ ├── atlas_control_architecture.hpp │ ├── atlas_controller.cpp │ ├── atlas_controller.hpp │ ├── atlas_interface.cpp │ ├── atlas_interface.hpp │ ├── atlas_interrupt_logic.cpp │ ├── atlas_interrupt_logic.hpp │ ├── atlas_state_estimator.cpp │ ├── atlas_state_estimator.hpp │ ├── atlas_state_machine │ │ ├── contact_transition_end.cpp │ │ ├── contact_transition_end.hpp │ │ ├── contact_transition_start.cpp │ │ ├── contact_transition_start.hpp │ │ ├── double_support_balance.cpp │ │ ├── double_support_balance.hpp │ │ ├── double_support_stand.cpp │ │ ├── double_support_stand.hpp │ │ ├── single_support_swing.cpp │ │ └── single_support_swing.hpp │ ├── atlas_state_provider.cpp │ ├── atlas_state_provider.hpp │ ├── atlas_tci_container.cpp │ └── atlas_tci_container.hpp ├── control_architecture.hpp ├── draco_pnc │ ├── CMakeLists.txt │ ├── draco_control_architecture.cpp │ ├── draco_control_architecture.hpp │ ├── draco_controller.cpp │ ├── draco_controller.hpp │ ├── draco_data_manager.cpp │ ├── draco_data_manager.hpp │ ├── draco_interface.cpp │ ├── draco_interface.hpp │ ├── draco_interrupt_logic.cpp │ ├── draco_interrupt_logic.hpp │ ├── draco_rolling_joint_constraint.cpp │ ├── draco_rolling_joint_constraint.hpp │ ├── draco_state_estimator.cpp │ ├── draco_state_estimator.hpp │ ├── draco_state_machine │ │ ├── contact_transition_end.cpp │ │ ├── contact_transition_end.hpp │ │ ├── contact_transition_start.cpp │ │ ├── contact_transition_start.hpp │ │ ├── double_support_balance.cpp │ │ ├── double_support_balance.hpp │ │ ├── double_support_interpolation.cpp │ │ ├── double_support_interpolation.hpp │ │ ├── double_support_move.cpp │ │ ├── double_support_move.hpp │ │ ├── double_support_stand.cpp │ │ ├── double_support_stand.hpp │ │ ├── double_support_swaying.cpp │ │ ├── double_support_swaying.hpp │ │ ├── foot_landing.cpp │ │ ├── foot_landing.hpp │ │ ├── foot_lifting.cpp │ │ ├── foot_lifting.hpp │ │ ├── foot_swing.cpp │ │ ├── foot_swing.hpp │ │ ├── hand_reaching.cpp │ │ ├── hand_reaching.hpp │ │ ├── hand_returning.cpp │ │ ├── hand_returning.hpp │ │ ├── initialize.cpp │ │ ├── initialize.hpp │ │ ├── single_support_landing.cpp │ │ ├── single_support_landing.hpp │ │ ├── single_support_lifting.cpp │ │ ├── single_support_lifting.hpp │ │ ├── single_support_swing.cpp │ │ └── single_support_swing.hpp │ ├── draco_state_provider.cpp │ ├── draco_state_provider.hpp │ ├── draco_task │ │ ├── draco_angular_momentum_task.cpp │ │ ├── draco_angular_momentum_task.hpp │ │ ├── draco_com_task.cpp │ │ └── draco_com_task.hpp │ ├── draco_tci_container.cpp │ └── draco_tci_container.hpp ├── filters │ ├── CMakeLists.txt │ ├── digital_filters.cpp │ └── digital_filters.hpp ├── fixed_draco_pnc │ ├── CMakeLists.txt │ ├── fixed_draco_control_architecture.cpp │ ├── fixed_draco_control_architecture.hpp │ ├── fixed_draco_controller.cpp │ ├── fixed_draco_controller.hpp │ ├── fixed_draco_data_manager.cpp │ ├── fixed_draco_data_manager.hpp │ ├── fixed_draco_interface.cpp │ ├── fixed_draco_interface.hpp │ ├── fixed_draco_interrupt_logic.cpp │ ├── fixed_draco_interrupt_logic.hpp │ ├── fixed_draco_rolling_joint_constraint.cpp │ ├── fixed_draco_rolling_joint_constraint.hpp │ ├── fixed_draco_state_estimator.cpp │ ├── fixed_draco_state_estimator.hpp │ ├── fixed_draco_state_machine │ │ ├── end_effector_hold.cpp │ │ ├── end_effector_hold.hpp │ │ ├── end_effector_swaying.cpp │ │ ├── end_effector_swaying.hpp │ │ ├── initialize.cpp │ │ └── initialize.hpp │ ├── fixed_draco_state_provider.cpp │ ├── fixed_draco_state_provider.hpp │ ├── fixed_draco_tci_container.cpp │ └── fixed_draco_tci_container.hpp ├── interface.hpp ├── interrupt_logic.hpp ├── planners │ ├── CMakeLists.txt │ └── locomotion │ │ ├── CMakeLists.txt │ │ ├── contact_sequence_generator │ │ ├── footstep_sequence_generator.cpp │ │ └── footstep_sequence_generator.hpp │ │ └── dcm_planner │ │ ├── CMakeLists.txt │ │ ├── dcm_planner.cpp │ │ ├── dcm_planner.hpp │ │ ├── footstep.cpp │ │ └── footstep.hpp ├── robot_system │ ├── CMakeLists.txt │ ├── centroid_model.hpp │ ├── dart_robot_system.cpp │ ├── dart_robot_system.hpp │ └── robot_system.hpp ├── state_machine.hpp └── whole_body_controllers │ ├── CMakeLists.txt │ ├── basic_contacts.cpp │ ├── basic_contacts.hpp │ ├── basic_tasks.cpp │ ├── basic_tasks.hpp │ ├── contact.hpp │ ├── ihwbc │ ├── ihwbc.cpp │ ├── ihwbc.hpp │ ├── joint_integrator.cpp │ └── joint_integrator.hpp │ ├── internal_constraint.hpp │ ├── kin_wbc │ ├── kin_wbc.cpp │ └── kin_wbc.hpp │ ├── managers │ ├── contact_detection_manager.cpp │ ├── contact_detection_manager.hpp │ ├── dcm_trajectory_manager.cpp │ ├── dcm_trajectory_manager.hpp │ ├── end_effector_trajectory_manager.cpp │ ├── end_effector_trajectory_manager.hpp │ ├── floating_base_trajectory_manager.cpp │ ├── floating_base_trajectory_manager.hpp │ ├── foot_trajectory_manager.cpp │ ├── foot_trajectory_manager.hpp │ ├── reaction_force_manager.cpp │ ├── reaction_force_manager.hpp │ ├── task_hierarchy_manager.cpp │ ├── task_hierarchy_manager.hpp │ ├── upper_body_trajectory_manager.cpp │ └── upper_body_trajectory_manager.hpp │ ├── task.hpp │ └── tci_container.hpp ├── robot_model ├── atlas │ ├── atlas.urdf │ ├── atlas_rel_path.urdf │ ├── materials │ │ └── textures │ │ │ ├── drc_extremities_diffuse.png │ │ │ ├── extremities_diffuse_unplugged.png │ │ │ ├── right_leg_diffuse_unplugged.png │ │ │ └── torso_diffuse_unplugged.png │ ├── meshes_unplugged │ │ ├── convert.bat │ │ ├── l_foot.dae │ │ ├── l_foot.mtl │ │ ├── l_foot.obj │ │ ├── l_lglut.dae │ │ ├── l_lglut.mtl │ │ ├── l_lglut.obj │ │ ├── l_lleg.dae │ │ ├── l_lleg.mtl │ │ ├── l_lleg.obj │ │ ├── l_talus.dae │ │ ├── l_talus.mtl │ │ ├── l_talus.obj │ │ ├── l_uglut.dae │ │ ├── l_uglut.mtl │ │ ├── l_uglut.obj │ │ ├── l_uleg.dae │ │ ├── l_uleg.mtl │ │ ├── l_uleg.obj │ │ ├── ltorso.dae │ │ ├── ltorso.mtl │ │ ├── ltorso.obj │ │ ├── mtorso.dae │ │ ├── mtorso.mtl │ │ ├── mtorso.obj │ │ ├── pelvis.dae │ │ ├── pelvis.mtl │ │ ├── pelvis.obj │ │ ├── r_clav.dae │ │ ├── r_clav.mtl │ │ ├── r_clav.obj │ │ ├── r_foot.dae │ │ ├── r_foot.mtl │ │ ├── r_foot.obj │ │ ├── r_lglut.dae │ │ ├── r_lglut.mtl │ │ ├── r_lglut.obj │ │ ├── r_lleg.dae │ │ ├── r_lleg.mtl │ │ ├── r_lleg.obj │ │ ├── r_scap.dae │ │ ├── r_scap.mtl │ │ ├── r_scap.obj │ │ ├── r_talus.dae │ │ ├── r_talus.mtl │ │ ├── r_talus.obj │ │ ├── r_uarm.dae │ │ ├── r_uarm.mtl │ │ ├── r_uarm.obj │ │ ├── r_uglut.dae │ │ ├── r_uglut.mtl │ │ ├── r_uglut.obj │ │ ├── r_uleg.dae │ │ ├── r_uleg.mtl │ │ ├── r_uleg.obj │ │ ├── utorso.dae │ │ ├── utorso.mtl │ │ └── utorso.obj │ ├── meshes_v3 │ │ ├── convert.bat │ │ ├── r_farm.dae │ │ ├── r_farm.mtl │ │ ├── r_farm.obj │ │ ├── r_hand.dae │ │ ├── r_hand.mtl │ │ ├── r_hand.obj │ │ ├── r_larm.dae │ │ ├── r_larm.mtl │ │ └── r_larm.obj │ └── multisense_sl_description │ │ ├── materials │ │ └── textures │ │ │ └── drc_torso_head_diffuse.png │ │ └── meshes │ │ ├── convert.bat │ │ ├── head.dae │ │ ├── head.mtl │ │ ├── head.obj │ │ ├── head_camera.dae │ │ ├── head_camera.mtl │ │ └── head_camera.obj ├── draco │ ├── draco.urdf │ ├── draco_lb.urdf │ ├── draco_lb_rel_path.urdf │ ├── draco_one_leg.urdf │ ├── draco_rel_path.urdf │ ├── draco_ub_rel_path.urdf │ └── meshes │ │ ├── l_ankle_fe_link.stl │ │ ├── l_ankle_ie_link.stl │ │ ├── l_ankle_ie_link_big_foot.stl │ │ ├── l_elbow_fe_link.stl │ │ ├── l_hip_aa_link.stl │ │ ├── l_hip_fe_link.stl │ │ ├── l_hip_ie_link.stl │ │ ├── l_knee_adj_link.stl │ │ ├── l_knee_fe_ld.stl │ │ ├── l_knee_fe_lp.stl │ │ ├── l_sake_gripper_link.stl │ │ ├── l_shoulder_aa_link.stl │ │ ├── l_shoulder_fe_link.stl │ │ ├── l_shoulder_ie_link.stl │ │ ├── l_wrist_ps_link.stl │ │ ├── neck_pitch_link.mtl │ │ ├── neck_pitch_link.obj │ │ ├── neck_pitch_link.stl │ │ ├── r_ankle_fe_link.stl │ │ ├── r_ankle_ie_link.stl │ │ ├── r_ankle_ie_link_big_foot.stl │ │ ├── r_elbow_fe_link.stl │ │ ├── r_hip_aa_link.stl │ │ ├── r_hip_fe_link.stl │ │ ├── r_hip_ie_link.stl │ │ ├── r_knee_adj_link.stl │ │ ├── r_knee_fe_ld.stl │ │ ├── r_knee_fe_lp.stl │ │ ├── r_sake_gripper_link.stl │ │ ├── r_shoulder_aa_link.stl │ │ ├── r_shoulder_fe_link.stl │ │ ├── r_shoulder_ie_link.stl │ │ ├── r_wrist_ps_link.stl │ │ ├── torso_link.mtl │ │ ├── torso_link.obj │ │ └── torso_link.stl ├── draco3 │ ├── draco3_gripper_mesh_updated.urdf │ └── meshes │ │ ├── ezgripper_gen2 │ │ ├── SAKE_Finger_L1_Gen2.stl │ │ ├── SAKE_Finger_L2_Gen2.stl │ │ └── SAKE_Palm_Dual_Gen2.stl │ │ ├── l_ankle_fe_link.stl │ │ ├── l_ankle_ie_link.stl │ │ ├── l_ankle_ie_link_big_foot.stl │ │ ├── l_elbow_fe_link.stl │ │ ├── l_hip_aa_link.stl │ │ ├── l_hip_fe_link.stl │ │ ├── l_hip_fe_link3.mtl │ │ ├── l_hip_fe_link3.obj │ │ ├── l_hip_ie_link.stl │ │ ├── l_knee_adj_link.stl │ │ ├── l_knee_fe_ld.stl │ │ ├── l_knee_fe_ld3.mtl │ │ ├── l_knee_fe_ld3.obj │ │ ├── l_knee_fe_lp.stl │ │ ├── l_sake_gripper_link.stl │ │ ├── l_sake_gripper_mount.stl │ │ ├── l_shoulder_aa_link.stl │ │ ├── l_shoulder_fe_link.stl │ │ ├── l_shoulder_ie_link.stl │ │ ├── l_shoulder_ie_link3.mtl │ │ ├── l_shoulder_ie_link3.obj │ │ ├── l_wrist_ps_link.stl │ │ ├── neck_pitch_link.stl │ │ ├── neck_pitch_link3.mtl │ │ ├── neck_pitch_link3.obj │ │ ├── pixil-frame-1.png │ │ ├── r_ankle_fe_link.stl │ │ ├── r_ankle_ie_link.stl │ │ ├── r_ankle_ie_link_big_foot.stl │ │ ├── r_elbow_fe_link.stl │ │ ├── r_hip_aa_link.stl │ │ ├── r_hip_fe_link.stl │ │ ├── r_hip_fe_link3.mtl │ │ ├── r_hip_fe_link3.obj │ │ ├── r_hip_ie_link.stl │ │ ├── r_knee_adj_link.stl │ │ ├── r_knee_fe_ld.stl │ │ ├── r_knee_fe_ld3.mtl │ │ ├── r_knee_fe_ld3.obj │ │ ├── r_knee_fe_lp.stl │ │ ├── r_sake_gripper_link.stl │ │ ├── r_sake_gripper_mount.stl │ │ ├── r_shoulder_aa_link.stl │ │ ├── r_shoulder_fe_link.stl │ │ ├── r_shoulder_ie_link.stl │ │ ├── r_shoulder_ie_link3.mtl │ │ ├── r_shoulder_ie_link3.obj │ │ ├── r_wrist_ps_link.stl │ │ ├── torso_link.stl │ │ ├── torso_link3.mtl │ │ └── torso_link3.obj ├── ground │ ├── block.urdf │ ├── boston_box.mtl │ ├── boston_box.obj │ ├── boston_box.png │ ├── boston_box.urdf │ ├── boston_box_top.png │ ├── checker_blue.png │ ├── checker_huge.gif │ ├── chimney.urdf │ ├── ground_terrain.urdf │ ├── lr_chimney.urdf │ ├── marble_cube.mtl │ ├── marble_cube.obj │ ├── marble_cube.urdf │ ├── plane.mtl │ ├── plane.obj │ ├── plane.urdf │ ├── slope.urdf │ ├── sphere.urdf │ ├── stair.urdf │ ├── tile_marble_diamond.dae │ └── tile_marble_diamond.png ├── laikago │ ├── chassis.mtl │ ├── chassis.obj │ ├── chassis.stl │ ├── chassis_mod.mtl │ ├── chassis_mod.obj │ ├── chassis_vhacd.obj │ ├── chassis_vhacd_mod.obj │ ├── hip_motor.mtl │ ├── hip_motor.obj │ ├── hip_motor.stl │ ├── hip_motor_mirror.mtl │ ├── hip_motor_mirror.obj │ ├── hip_motor_mirror.stl │ ├── laikago.urdf │ ├── laikago_tex.jpg │ ├── laikago_toes.urdf │ ├── license.txt │ ├── lower_leg3.mtl │ ├── lower_leg3.obj │ ├── lower_leg_3.stl │ ├── upper_leg.stl │ ├── upper_leg_left.mtl │ ├── upper_leg_left.obj │ ├── upper_leg_left2.mtl │ ├── upper_leg_left2.obj │ ├── upper_leg_left_vhacd.obj │ ├── upper_leg_mirror.mtl │ ├── upper_leg_mirror.obj │ ├── upper_leg_mirror.stl │ ├── upper_leg_mirror2.mtl │ ├── upper_leg_mirror2.obj │ ├── upper_leg_right.mtl │ ├── upper_leg_right.obj │ └── upper_leg_right_vhacd.obj ├── manipulator │ ├── rolling_joint.urdf │ ├── three_link_manipulator.urdf │ └── two_link_manipulator.urdf ├── nao │ ├── meshes │ │ └── nao │ │ │ ├── HeadPitch.mtl │ │ │ ├── HeadPitch.obj │ │ │ ├── HeadPitch_0.10.stl │ │ │ ├── HeadYaw.mtl │ │ │ ├── HeadYaw.obj │ │ │ ├── HeadYaw_0.10.stl │ │ │ ├── LAnklePitch.mtl │ │ │ ├── LAnklePitch.obj │ │ │ ├── LAnklePitch_0.10.stl │ │ │ ├── LAnkleRoll.mtl │ │ │ ├── LAnkleRoll.obj │ │ │ ├── LAnkleRoll_0.10.stl │ │ │ ├── LElbowRoll.mtl │ │ │ ├── LElbowRoll.obj │ │ │ ├── LElbowRoll_0.10.stl │ │ │ ├── LFinger11.mtl │ │ │ ├── LFinger11.obj │ │ │ ├── LFinger11_0.10.stl │ │ │ ├── LFinger12.mtl │ │ │ ├── LFinger12.obj │ │ │ ├── LFinger12_0.10.stl │ │ │ ├── LFinger13.mtl │ │ │ ├── LFinger13.obj │ │ │ ├── LFinger13_0.10.stl │ │ │ ├── LFinger21.mtl │ │ │ ├── LFinger21.obj │ │ │ ├── LFinger21_0.10.stl │ │ │ ├── LFinger22.mtl │ │ │ ├── LFinger22.obj │ │ │ ├── LFinger22_0.10.stl │ │ │ ├── LFinger23.mtl │ │ │ ├── LFinger23.obj │ │ │ ├── LFinger23_0.10.stl │ │ │ ├── LHipPitch.mtl │ │ │ ├── LHipPitch.obj │ │ │ ├── LHipPitch_0.10.stl │ │ │ ├── LHipRoll.mtl │ │ │ ├── LHipRoll.obj │ │ │ ├── LHipRoll_0.10.stl │ │ │ ├── LHipYawPitch.mtl │ │ │ ├── LHipYawPitch.obj │ │ │ ├── LHipYawPitch_0.10.stl │ │ │ ├── LKneePitch.mtl │ │ │ ├── LKneePitch.obj │ │ │ ├── LKneePitch_0.10.stl │ │ │ ├── LShoulderPitch.mtl │ │ │ ├── LShoulderPitch.obj │ │ │ ├── LShoulderPitch_0.10.stl │ │ │ ├── LShoulderRoll.mtl │ │ │ ├── LShoulderRoll.obj │ │ │ ├── LShoulderRoll_0.10.stl │ │ │ ├── LThumb1.mtl │ │ │ ├── LThumb1.obj │ │ │ ├── LThumb1_0.10.stl │ │ │ ├── LThumb2.mtl │ │ │ ├── LThumb2.obj │ │ │ ├── LThumb2_0.10.stl │ │ │ ├── LWristYaw.mtl │ │ │ ├── LWristYaw.obj │ │ │ ├── LWristYaw_0.10.stl │ │ │ ├── RAnklePitch.mtl │ │ │ ├── RAnklePitch.obj │ │ │ ├── RAnklePitch_0.10.stl │ │ │ ├── RAnkleRoll.mtl │ │ │ ├── RAnkleRoll.obj │ │ │ ├── RAnkleRoll_0.10.stl │ │ │ ├── RElbowRoll.mtl │ │ │ ├── RElbowRoll.obj │ │ │ ├── RElbowRoll_0.10.stl │ │ │ ├── RFinger11.mtl │ │ │ ├── RFinger11.obj │ │ │ ├── RFinger11_0.10.stl │ │ │ ├── RFinger12.mtl │ │ │ ├── RFinger12.obj │ │ │ ├── RFinger12_0.10.stl │ │ │ ├── RFinger13.mtl │ │ │ ├── RFinger13.obj │ │ │ ├── RFinger13_0.10.stl │ │ │ ├── RFinger21.mtl │ │ │ ├── RFinger21.obj │ │ │ ├── RFinger21_0.10.stl │ │ │ ├── RFinger22.mtl │ │ │ ├── RFinger22.obj │ │ │ ├── RFinger22_0.10.stl │ │ │ ├── RFinger23.mtl │ │ │ ├── RFinger23.obj │ │ │ ├── RFinger23_0.10.stl │ │ │ ├── RHipPitch.mtl │ │ │ ├── RHipPitch.obj │ │ │ ├── RHipPitch_0.10.stl │ │ │ ├── RHipRoll.mtl │ │ │ ├── RHipRoll.obj │ │ │ ├── RHipRoll_0.10.stl │ │ │ ├── RHipYawPitch.mtl │ │ │ ├── RHipYawPitch.obj │ │ │ ├── RHipYawPitch_0.10.stl │ │ │ ├── RKneePitch.mtl │ │ │ ├── RKneePitch.obj │ │ │ ├── RKneePitch_0.10.stl │ │ │ ├── RShoulderPitch.mtl │ │ │ ├── RShoulderPitch.obj │ │ │ ├── RShoulderPitch_0.10.stl │ │ │ ├── RShoulderRoll.mtl │ │ │ ├── RShoulderRoll.obj │ │ │ ├── RShoulderRoll_0.10.stl │ │ │ ├── RThumb1.mtl │ │ │ ├── RThumb1.obj │ │ │ ├── RThumb1_0.10.stl │ │ │ ├── RThumb2.mtl │ │ │ ├── RThumb2.obj │ │ │ ├── RThumb2_0.10.stl │ │ │ ├── RWristYaw.mtl │ │ │ ├── RWristYaw.obj │ │ │ ├── RWristYaw_0.10.stl │ │ │ ├── Torso.mtl │ │ │ ├── Torso.obj │ │ │ ├── Torso_0.10.stl │ │ │ ├── textureNAO.png │ │ │ ├── textureNAO_blue.png │ │ │ ├── textureNAO_gray.png │ │ │ └── textureNAO_red.png │ └── nao.urdf └── valkyrie │ ├── meshes │ ├── arms │ │ ├── aj1_left.obj │ │ ├── aj1_right.obj │ │ ├── aj2Texture.png │ │ ├── aj2_left.obj │ │ ├── aj2_left_texture.obj │ │ ├── aj2_left_texture.obj.mtl │ │ ├── aj2_right.obj │ │ ├── aj2_right_texture.obj │ │ ├── aj2_right_texture.obj.mtl │ │ ├── aj3Texture.png │ │ ├── aj3_left.obj │ │ ├── aj3_left_texture.obj │ │ ├── aj3_left_texture.obj.mtl │ │ ├── aj3_right.obj │ │ ├── aj3_right_texture.obj │ │ ├── aj3_right_texture.obj.mtl │ │ ├── left_elbow_mass_sim.obj │ │ └── right_elbow_mass_sim.obj │ ├── head │ │ ├── HeadTextureMultisense.png │ │ ├── head_multisense.obj │ │ ├── head_multisense_visor_textured.obj │ │ ├── head_multisense_visor_textured.obj.mtl │ │ ├── neckj1.obj │ │ └── neckj2.obj │ ├── legs │ │ ├── copperTexture.png │ │ ├── foot.obj │ │ ├── footTexture.png │ │ ├── foot_texture.obj │ │ ├── foot_texture.obj.mtl │ │ ├── lj1_left.obj │ │ ├── lj1_right.obj │ │ ├── lj2Texture.png │ │ ├── lj2_left.obj │ │ ├── lj2_left_texture.obj │ │ ├── lj2_left_texture.obj.mtl │ │ ├── lj2_right.obj │ │ ├── lj2_right_texture.obj │ │ ├── lj2_right_texture.obj.mtl │ │ ├── lj3Texture.png │ │ ├── lj3_left.obj │ │ ├── lj3_left_texture.obj │ │ ├── lj3_left_texture.obj.mtl │ │ ├── lj3_right.obj │ │ ├── lj3_right_texture.obj │ │ ├── lj3_right_texture.obj.mtl │ │ ├── lj4Texture.png │ │ ├── lj4_left.obj │ │ ├── lj4_left_texture.obj │ │ ├── lj4_left_texture.obj.mtl │ │ ├── lj4_right.obj │ │ ├── lj4_right_texture.obj │ │ ├── lj4_right_texture.obj.mtl │ │ ├── lj5.obj │ │ ├── lj5_texture.obj │ │ └── lj5_texture.obj.mtl │ ├── multisense │ │ └── head_camera.obj │ ├── pelvis │ │ ├── pelvis.obj │ │ ├── pelvis.obj.mtl │ │ └── pelvistexture.png │ └── torso │ │ ├── TrunkTexture.png │ │ ├── torso.obj │ │ ├── torso2.obj.mtl │ │ ├── torso_textured.obj │ │ ├── torsopitch.obj │ │ └── torsoyaw.obj │ └── valkyrie.urdf ├── scripts └── install │ ├── install_cmake.sh │ ├── install_dart.sh │ ├── install_doxygen.sh │ ├── install_plotjuggler.sh │ ├── install_protobuf.sh │ └── install_zmq.sh ├── simulator ├── CMakeLists.txt ├── dart │ ├── CMakeLists.txt │ └── atlas │ │ ├── CMakeLists.txt │ │ ├── atlas_world_node.cpp │ │ ├── atlas_world_node.hpp │ │ └── main.cpp └── pybullet │ ├── atlas_main.py │ ├── draco_main.py │ └── fixed_draco_main.py ├── test ├── CMakeLists.txt ├── draco_interface_test.cpp ├── draco_meshcat_test.py ├── ezgripperGUI.py └── qp_test.cpp ├── third_party ├── CMakeLists.txt ├── dubins │ ├── CMakeLists.txt │ ├── dubins.cpp │ └── dubins.hpp ├── goldfarb │ ├── Array.cc │ ├── Array.hh │ ├── CMakeLists.txt │ ├── QuadProg++.cc │ └── QuadProg++.hh ├── kalman_filters │ ├── CMakeLists.txt │ ├── ExtendedKalmanFilter.hpp │ ├── KalmanFilterBase.hpp │ ├── LinearizedMeasurementModel.hpp │ ├── LinearizedSystemModel.hpp │ ├── Matrix.hpp │ ├── MeasurementModel.hpp │ ├── SquareRootBase.hpp │ ├── SquareRootExtendedKalmanFilter.hpp │ ├── SquareRootFilterBase.hpp │ ├── SquareRootUnscentedKalmanFilter.hpp │ ├── StandardBase.hpp │ ├── StandardFilterBase.hpp │ ├── SystemModel.hpp │ ├── Types.hpp │ ├── UnscentedKalmanFilter.hpp │ └── UnscentedKalmanFilterBase.hpp └── yaml │ ├── CMakeLists.txt │ ├── include │ └── yaml │ │ ├── anchor.h │ │ ├── binary.h │ │ ├── contrib │ │ ├── anchordict.h │ │ └── graphbuilder.h │ │ ├── dll.h │ │ ├── emitfromevents.h │ │ ├── emitter.h │ │ ├── emitterdef.h │ │ ├── emittermanip.h │ │ ├── emitterstyle.h │ │ ├── eventhandler.h │ │ ├── exceptions.h │ │ ├── mark.h │ │ ├── node │ │ ├── convert.h │ │ ├── detail │ │ │ ├── bool_type.h │ │ │ ├── impl.h │ │ │ ├── iterator.h │ │ │ ├── iterator_fwd.h │ │ │ ├── memory.h │ │ │ ├── node.h │ │ │ ├── node_data.h │ │ │ ├── node_iterator.h │ │ │ └── node_ref.h │ │ ├── emit.h │ │ ├── impl.h │ │ ├── iterator.h │ │ ├── node.h │ │ ├── parse.h │ │ ├── ptr.h │ │ └── type.h │ │ ├── noncopyable.h │ │ ├── null.h │ │ ├── ostream_wrapper.h │ │ ├── parser.h │ │ ├── stlemitter.h │ │ ├── traits.h │ │ ├── yaml.h │ │ └── yaml_eigen.h │ └── src │ ├── binary.cpp │ ├── collectionstack.h │ ├── contrib │ ├── graphbuilder.cpp │ ├── graphbuilderadapter.cpp │ └── graphbuilderadapter.h │ ├── convert.cpp │ ├── directives.cpp │ ├── directives.h │ ├── emit.cpp │ ├── emitfromevents.cpp │ ├── emitter.cpp │ ├── emitterstate.cpp │ ├── emitterstate.h │ ├── emitterutils.cpp │ ├── emitterutils.h │ ├── exceptions.cpp │ ├── exp.cpp │ ├── exp.h │ ├── indentation.h │ ├── memory.cpp │ ├── node.cpp │ ├── node_data.cpp │ ├── nodebuilder.cpp │ ├── nodebuilder.h │ ├── nodeevents.cpp │ ├── nodeevents.h │ ├── null.cpp │ ├── ostream_wrapper.cpp │ ├── parse.cpp │ ├── parser.cpp │ ├── ptr_vector.h │ ├── regex_yaml.cpp │ ├── regex_yaml.h │ ├── regeximpl.h │ ├── scanner.cpp │ ├── scanner.h │ ├── scanscalar.cpp │ ├── scanscalar.h │ ├── scantag.cpp │ ├── scantag.h │ ├── scantoken.cpp │ ├── setting.h │ ├── simplekey.cpp │ ├── singledocparser.cpp │ ├── singledocparser.h │ ├── stream.cpp │ 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