├── .ci ├── env-file ├── install.sh └── script.sh ├── .clang-format ├── .gitattributes ├── .github ├── CODEOWNERS ├── CONTRIBUTING.md ├── ISSUE_TEMPLATE │ ├── bug_report.md │ └── feature_request.md └── workflows │ ├── conda-ci.yml │ └── website.yml ├── .gitignore ├── .presentations └── WBToolbox2 │ ├── PITCHME.md │ ├── PITCHME.yaml │ └── images │ ├── actuators.png │ ├── logo.png │ ├── state.png │ └── utilities.png ├── CHANGELOG.md ├── CMakeLists.txt ├── LICENSE.LGPL2 ├── LICENSE.LGPL3 ├── README.md ├── ci_env.yml ├── deps ├── CMakeLists.txt └── thrift │ ├── CMakeLists.txt │ └── clock_rpc.thrift ├── doc ├── CMakeLists.txt ├── doxygen │ ├── CMakeLists.txt │ ├── Doxyfile.in │ ├── DoxygenLayout.xml │ ├── customdoxygen.css │ └── index.md ├── index.html └── mkdocs │ ├── CMakeLists.txt │ ├── data │ ├── Migration_from_WB-Toolbox_2.0.md │ ├── Migration_from_WBI-Toolbox_1.0.md │ ├── about.md │ ├── images │ │ ├── BlockMask.png │ │ ├── EmptySFunctionBlock.png │ │ ├── NewBlankLibrary.png │ │ ├── SFunctionBlock.png │ │ ├── TestSimulinkModel.png │ │ ├── TestSimulinkModelWithMask.png │ │ ├── tutorial1_configure_model.png │ │ ├── tutorial1_discrete_filter.jpeg │ │ ├── tutorial1_filtered_signal.jpeg │ │ ├── tutorial1_real_time_synchro.jpeg │ │ ├── tutorial1_simulink_model.jpeg │ │ ├── tutorial2_configuration.png │ │ ├── tutorial2_output.jpeg │ │ ├── tutorial2_simulink_model.jpeg │ │ ├── tutorial3_configuration.png │ │ ├── tutorial_3_simulink_model_gazebo.jpeg │ │ └── tutorial_simulink_library.png │ ├── index.md │ ├── install.md │ ├── license.md │ ├── simulink_basic.md │ ├── simulink_gazebo.md │ ├── simulink_model_blocks.md │ ├── troubleshooting.md │ └── tutorial_introduction.md │ └── mkdocs.yml ├── examples ├── Tutorial1_DiscreteFilter.mdl ├── Tutorial2_ModelBlocks.mdl └── Tutorial3_Gazebo.mdl ├── matlab ├── +WBToolbox │ ├── BlockInitialization.m │ ├── Configuration.m │ ├── ConfigurationToMask.m │ └── MaskToConfiguration.m ├── CMakeLists.txt ├── export_library.m ├── library │ ├── WBToolboxLibrary_repository.mdl │ ├── exported │ │ └── WBToolboxLibrary.slx │ └── images │ │ ├── Dynamics.png │ │ ├── forwardKinematics.png │ │ ├── jacobian.png │ │ ├── utilities.png │ │ ├── wholeBodyActuators.png │ │ ├── wholeBodyModel.png │ │ └── wholeBodyStates.png ├── setupForMatlabDebug.m.in ├── slblocks.m └── startup_wbitoolbox.m.in └── toolbox ├── CMakeLists.txt ├── base ├── CMakeLists.txt ├── include │ └── WBToolbox │ │ └── Base │ │ ├── Configuration.h │ │ ├── RobotInterface.h │ │ ├── WBBlock.h │ │ └── WholeBodySingleton.h └── src │ ├── Configuration.cpp │ ├── RobotInterface.cpp │ ├── WBBlock.cpp │ └── WholeBodySingleton.cpp └── library ├── CMakeLists.txt ├── include └── WBToolbox │ └── Block │ ├── CentroidalMomentum.h │ ├── CentroidalTotalMomentumMatrix.h │ ├── DiscreteFilter.h │ ├── DotJNu.h │ ├── ForwardKinematics.h │ ├── GetLimits.h │ ├── GetMeasurement.h │ ├── InverseDynamics.h │ ├── InverseKinematics.h │ ├── Jacobian.h │ ├── MassMatrix.h │ ├── MinimumJerkTrajectoryGenerator.h │ ├── OSQP.h │ ├── QpOases.h │ ├── RealTimeSynchronizer.h │ ├── RelativeJacobian.h │ ├── RelativeTransform.h │ ├── RemoteInverseKinematics.h │ ├── SetMotorParameters.h │ ├── SetReferences.h │ ├── SimulatorSynchronizer.h │ ├── YarpClock.h │ ├── YarpRead.h │ └── YarpWrite.h └── src ├── CentroidalMomentum.cpp ├── CentroidalTotalMomentumMatrix.cpp ├── DiscreteFilter.cpp ├── DotJNu.cpp ├── Factory.cpp ├── ForwardKinematics.cpp ├── GetLimits.cpp ├── GetMeasurement.cpp ├── InverseDynamics.cpp ├── InverseKinematics.cpp ├── Jacobian.cpp ├── MassMatrix.cpp ├── MinimumJerkTrajectoryGenerator.cpp ├── OSQP.cpp ├── QpOases.cpp ├── RealTimeSynchronizer.cpp ├── RelativeJacobian.cpp ├── RelativeTransform.cpp ├── RemoteInverseKinematics.cpp ├── SetMotorParameters.cpp ├── SetReferences.cpp ├── SimulatorSynchronizer.cpp ├── YarpClock.cpp ├── YarpRead.cpp └── YarpWrite.cpp /.ci/env-file: -------------------------------------------------------------------------------- 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