├── .bazelrc ├── .bazelversion ├── .clang-format ├── .github ├── ISSUE_TEMPLATE │ ├── bug_report.md │ └── feature_request.md └── workflows │ ├── changelog.yml │ ├── ci.yml │ └── docs.yml ├── .gitignore ├── .gitmodules ├── BUILD ├── CHANGELOG.md ├── CPPLINT.cfg ├── LICENSE ├── README.md ├── WORKSPACE ├── docs ├── Doxyfile ├── Makefile ├── doxygen-awesome.css ├── figures │ ├── action-observation-loop-full.svg │ └── state-machine.dot └── images │ └── .gitignore ├── pyproject.toml ├── tools ├── bazelisk ├── lint │ ├── BUILD │ ├── clang_format_lint.py │ ├── cpplint.bzl │ ├── lint.bzl │ └── python_lint.bzl ├── mypy │ ├── BUILD │ ├── mypy.ini │ └── version.txt ├── shm │ ├── BUILD │ └── clean.cpp ├── spine_cli │ ├── BUILD │ └── spine_cli.py └── workspace │ ├── BUILD │ ├── bullet │ ├── BUILD │ ├── package.BUILD │ └── repository.bzl │ ├── default.bzl │ ├── generate_file.bzl │ ├── github_archive.bzl │ ├── mpacklog │ ├── BUILD │ └── repository.bzl │ ├── palimpsest │ ├── BUILD │ └── repository.bzl │ ├── pi3hat │ ├── BUILD │ └── repository.bzl │ ├── pycodestyle │ ├── BUILD │ ├── package.BUILD │ └── repository.bzl │ └── upkie_description │ ├── BUILD │ └── repository.bzl └── vulp ├── BUILD ├── __init__.py ├── actuation ├── BUILD ├── BulletContactData.h ├── BulletImuData.h ├── BulletInterface.cpp ├── BulletInterface.h ├── BulletJointProperties.h ├── ImuData.h ├── Interface.cpp ├── Interface.h ├── MockInterface.cpp ├── MockInterface.h ├── Pi3HatInterface.cpp ├── Pi3HatInterface.h ├── ServoLayout.h ├── bullet │ └── plane │ │ ├── BUILD │ │ ├── LICENSE.md │ │ ├── checker_blue.png │ │ ├── plane.mtl │ │ ├── plane.obj │ │ └── plane.urdf ├── bullet_utils.h ├── default_action.h ├── moteus │ ├── BUILD │ ├── Data.h │ ├── Mode.h │ ├── Output.h │ ├── PositionCommand.h │ ├── PositionResolution.h │ ├── QueryCommand.h │ ├── QueryResult.h │ ├── Resolution.h │ ├── ServoCommand.h │ ├── ServoReply.h │ ├── Span.h │ └── protocol.h ├── resolution.h └── tests │ ├── BUILD │ ├── BulletInterfaceTest.cpp │ ├── InterfaceTest.cpp │ ├── MockInterfaceTest.cpp │ ├── Pi3HatInterfaceTest.cpp │ ├── bullet_utils_test.cpp │ └── coffee_machine_layout.h ├── control ├── BUILD └── Controller.h ├── exceptions ├── BUILD ├── FilterError.h ├── ObserverError.h ├── TypeError.h ├── VulpError.h └── tests │ ├── BUILD │ └── observer_error_test.cpp ├── observation ├── BUILD ├── HistoryObserver.h ├── Observer.h ├── ObserverPipeline.cpp ├── ObserverPipeline.h ├── Source.h ├── observe_servos.cpp ├── observe_servos.h ├── observe_time.h ├── sources │ ├── BUILD │ ├── CpuTemperature.cpp │ ├── CpuTemperature.h │ ├── Joystick.cpp │ ├── Joystick.h │ ├── Keyboard.cpp │ ├── Keyboard.h │ └── tests │ │ ├── BUILD │ │ ├── CpuTemperatureTest.cpp │ │ ├── JoystickTest.cpp │ │ └── KeyboardTest.cpp └── tests │ ├── BUILD │ ├── HistoryObserverTest.cpp │ ├── ObserverTest.cpp │ ├── SchwiftyObserver.h │ ├── ThrowingObserver.h │ ├── observe_servos_test.cpp │ ├── observe_time_test.cpp │ └── source_test.cpp ├── spine ├── AgentInterface.cpp ├── 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