├── .gitignore ├── .pre-commit-config.yaml ├── .pylintrc ├── LICENSE ├── README.md ├── example_checkpoint ├── config.yaml ├── lin_policy_plus_150.npz └── log.txt ├── pytype.cfg ├── requirements.txt ├── setup.py ├── src ├── __init__.py ├── agents │ ├── __init__.py │ └── cmaes │ │ ├── configs │ │ └── gait_change_deluxe.py │ │ ├── eval_cmaes.py │ │ ├── filter.py │ │ ├── logz.py │ │ ├── policies.py │ │ ├── rollout_server.py │ │ └── train_cmaes.py ├── convex_mpc_controller │ ├── __init__.py │ ├── com_velocity_estimator.py │ ├── convex_mpc_controller_example.py │ ├── gait_configs │ │ ├── crawl.py │ │ ├── flytrot.py │ │ └── trot.py │ ├── gait_generator.py │ ├── locomotion_controller.py │ ├── mpc_osqp.cc │ ├── offset_gait_generator.py │ ├── raibert_swing_leg_controller.py │ └── torque_stance_leg_controller_mpc.py ├── data │ ├── a1.urdf │ ├── checker_blue.png │ ├── meshes │ │ ├── calf.mtl │ │ ├── calf.obj │ │ ├── hip.mtl │ │ ├── hip.obj │ │ ├── thigh.mtl │ │ ├── thigh.obj │ │ ├── thigh_mirror.mtl │ │ ├── thigh_mirror.obj │ │ ├── trunk.mtl │ │ ├── trunk.obj │ │ └── trunk_A1.png │ ├── plane.mtl │ ├── plane.obj │ ├── plane.urdf │ ├── plane100.obj │ ├── plane100.urdf │ ├── plane_implicit.urdf │ ├── plane_stadium.sdf │ ├── plane_transparent.mtl │ ├── plane_transparent.obj │ ├── plane_transparent.urdf │ └── slope.urdf ├── intermediate_envs │ ├── configs │ │ └── pronk_deluxe.py │ └── gait_change_env.py ├── robots │ ├── __init__.py │ ├── a1.py │ ├── a1_robot.py │ ├── a1_robot_exercise_example.py │ ├── a1_robot_state_estimator.py │ ├── gamepad_reader.py │ ├── kinematics.py │ ├── motors.py │ └── robot.py ├── utilities │ └── moving_window_filter.py └── worlds │ ├── abstract_world.py │ ├── plane_world.py │ ├── slope_world.py │ ├── stair_world.py │ └── uneven_world.py └── third_party ├── eigen3 ├── .DS_Store └── include │ ├── Eigen │ ├── Cholesky │ ├── CholmodSupport │ ├── Core │ ├── Dense │ ├── Eigen │ ├── Eigenvalues │ ├── Geometry │ ├── Householder │ ├── IterativeLinearSolvers │ ├── Jacobi │ ├── KLUSupport │ ├── LU │ ├── MetisSupport │ ├── OrderingMethods │ ├── PaStiXSupport │ ├── PardisoSupport │ ├── QR │ ├── QtAlignedMalloc │ ├── SPQRSupport │ ├── SVD │ ├── Sparse │ ├── SparseCholesky │ ├── SparseCore │ ├── SparseLU │ ├── SparseQR │ ├── StdDeque │ ├── StdList │ ├── StdVector │ ├── SuperLUSupport │ ├── UmfPackSupport │ └── src │ │ ├── Cholesky │ │ ├── LDLT.h │ │ ├── LLT.h │ │ └── LLT_LAPACKE.h │ │ ├── CholmodSupport │ │ └── CholmodSupport.h │ │ ├── Core │ │ ├── ArithmeticSequence.h │ │ ├── Array.h │ │ ├── ArrayBase.h │ │ ├── ArrayWrapper.h │ │ ├── Assign.h │ │ ├── AssignEvaluator.h │ │ ├── Assign_MKL.h │ │ ├── BandMatrix.h │ │ ├── Block.h │ │ ├── BooleanRedux.h │ │ ├── CommaInitializer.h │ │ ├── ConditionEstimator.h │ │ ├── CoreEvaluators.h │ │ ├── CoreIterators.h │ │ ├── CwiseBinaryOp.h │ │ ├── CwiseNullaryOp.h │ │ ├── CwiseTernaryOp.h │ │ ├── CwiseUnaryOp.h │ │ ├── CwiseUnaryView.h │ │ ├── DenseBase.h │ │ ├── DenseCoeffsBase.h │ │ ├── DenseStorage.h │ │ ├── Diagonal.h │ │ ├── DiagonalMatrix.h │ │ ├── DiagonalProduct.h │ │ ├── Dot.h │ │ ├── EigenBase.h │ │ ├── ForceAlignedAccess.h │ │ ├── Fuzzy.h │ │ ├── GeneralProduct.h │ │ ├── GenericPacketMath.h │ │ ├── GlobalFunctions.h │ │ ├── IO.h │ │ ├── IndexedView.h │ │ ├── Inverse.h │ │ ├── Map.h │ │ ├── MapBase.h │ │ ├── MathFunctions.h │ │ ├── MathFunctionsImpl.h │ │ ├── Matrix.h │ │ ├── MatrixBase.h │ │ ├── NestByValue.h │ │ ├── NoAlias.h │ │ ├── NumTraits.h │ │ ├── PartialReduxEvaluator.h │ │ ├── PermutationMatrix.h │ │ ├── PlainObjectBase.h │ │ ├── Product.h │ │ ├── ProductEvaluators.h │ │ ├── Random.h │ │ ├── Redux.h │ │ ├── Ref.h │ │ ├── Replicate.h │ │ ├── Reshaped.h │ │ ├── ReturnByValue.h │ │ ├── Reverse.h │ │ ├── Select.h │ │ ├── SelfAdjointView.h │ │ ├── SelfCwiseBinaryOp.h │ │ ├── Solve.h │ │ ├── SolveTriangular.h │ │ ├── SolverBase.h │ │ ├── StableNorm.h │ │ ├── StlIterators.h │ │ ├── Stride.h │ │ ├── Swap.h │ │ ├── Transpose.h │ │ ├── Transpositions.h │ │ ├── TriangularMatrix.h │ │ ├── VectorBlock.h │ │ ├── VectorwiseOp.h │ │ ├── Visitor.h │ │ ├── arch │ │ │ ├── AVX │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ ├── PacketMath.h │ │ │ │ └── TypeCasting.h │ │ │ ├── AVX512 │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ ├── PacketMath.h │ │ │ │ └── TypeCasting.h │ │ │ ├── AltiVec │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ ├── MatrixProduct.h │ │ │ │ └── PacketMath.h │ │ │ ├── CUDA │ │ │ │ └── Complex.h │ │ │ ├── Default │ │ │ │ ├── BFloat16.h │ │ │ │ ├── ConjHelper.h │ │ │ │ ├── GenericPacketMathFunctions.h │ │ │ │ ├── GenericPacketMathFunctionsFwd.h │ │ │ │ ├── Half.h │ │ │ │ ├── Settings.h │ │ │ │ └── TypeCasting.h │ │ │ ├── GPU │ │ │ │ ├── MathFunctions.h │ │ │ │ ├── PacketMath.h │ │ │ │ └── TypeCasting.h │ │ │ ├── HIP │ │ │ │ └── hcc │ │ │ │ │ └── math_constants.h │ │ │ ├── MSA │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ └── PacketMath.h │ │ │ ├── NEON │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ ├── PacketMath.h │ │ │ │ └── TypeCasting.h │ │ │ ├── SSE │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ ├── PacketMath.h │ │ │ │ └── TypeCasting.h │ │ │ ├── SYCL │ │ │ │ ├── InteropHeaders.h │ │ │ │ ├── MathFunctions.h │ │ │ │ ├── PacketMath.h │ │ │ │ ├── SyclMemoryModel.h │ │ │ │ └── TypeCasting.h │ │ │ └── ZVector │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ └── PacketMath.h │ │ ├── functors │ │ │ ├── AssignmentFunctors.h │ │ │ ├── BinaryFunctors.h │ │ │ ├── NullaryFunctors.h │ │ │ ├── StlFunctors.h │ │ │ ├── TernaryFunctors.h │ │ │ └── UnaryFunctors.h │ │ ├── products │ │ │ ├── GeneralBlockPanelKernel.h │ │ │ ├── GeneralMatrixMatrix.h │ │ │ ├── GeneralMatrixMatrixTriangular.h │ │ │ ├── GeneralMatrixMatrixTriangular_BLAS.h │ │ │ ├── GeneralMatrixMatrix_BLAS.h │ │ │ ├── GeneralMatrixVector.h │ │ │ ├── GeneralMatrixVector_BLAS.h │ │ │ ├── Parallelizer.h │ │ │ ├── SelfadjointMatrixMatrix.h │ │ │ ├── SelfadjointMatrixMatrix_BLAS.h │ │ │ ├── SelfadjointMatrixVector.h │ │ │ ├── SelfadjointMatrixVector_BLAS.h │ │ │ ├── SelfadjointProduct.h │ │ │ ├── SelfadjointRank2Update.h │ │ │ ├── TriangularMatrixMatrix.h │ │ │ ├── TriangularMatrixMatrix_BLAS.h │ │ │ ├── TriangularMatrixVector.h │ │ │ ├── TriangularMatrixVector_BLAS.h │ │ │ ├── TriangularSolverMatrix.h │ │ │ ├── TriangularSolverMatrix_BLAS.h │ │ │ └── TriangularSolverVector.h │ │ └── util │ │ │ ├── BlasUtil.h │ │ │ ├── ConfigureVectorization.h │ │ │ ├── Constants.h │ │ │ ├── DisableStupidWarnings.h │ │ │ ├── ForwardDeclarations.h │ │ │ ├── IndexedViewHelper.h │ │ │ ├── IntegralConstant.h │ │ │ ├── MKL_support.h │ │ │ ├── Macros.h │ │ │ ├── Memory.h │ │ │ ├── Meta.h │ │ │ ├── NonMPL2.h │ │ │ ├── ReenableStupidWarnings.h │ │ │ ├── ReshapedHelper.h │ │ │ ├── StaticAssert.h │ │ │ ├── SymbolicIndex.h │ │ │ └── XprHelper.h │ │ ├── Eigenvalues │ │ ├── ComplexEigenSolver.h │ │ ├── ComplexSchur.h │ │ ├── ComplexSchur_LAPACKE.h │ │ ├── EigenSolver.h │ │ ├── GeneralizedEigenSolver.h │ │ ├── GeneralizedSelfAdjointEigenSolver.h │ │ ├── HessenbergDecomposition.h │ │ ├── MatrixBaseEigenvalues.h │ │ ├── RealQZ.h │ │ ├── RealSchur.h │ │ ├── RealSchur_LAPACKE.h │ │ ├── SelfAdjointEigenSolver.h │ │ ├── SelfAdjointEigenSolver_LAPACKE.h │ │ └── Tridiagonalization.h │ │ ├── Geometry │ │ ├── AlignedBox.h │ │ ├── AngleAxis.h │ │ ├── EulerAngles.h │ │ ├── Homogeneous.h │ │ ├── Hyperplane.h │ │ ├── OrthoMethods.h │ │ ├── ParametrizedLine.h │ │ ├── Quaternion.h │ │ ├── Rotation2D.h │ │ ├── RotationBase.h │ │ ├── Scaling.h │ │ ├── Transform.h │ │ ├── Translation.h │ │ ├── Umeyama.h │ │ └── arch │ │ │ └── Geometry_SSE.h │ │ ├── Householder │ │ ├── BlockHouseholder.h │ │ ├── Householder.h │ │ └── HouseholderSequence.h │ │ ├── IterativeLinearSolvers │ │ ├── BasicPreconditioners.h │ │ ├── BiCGSTAB.h │ │ ├── ConjugateGradient.h │ │ ├── IncompleteCholesky.h │ │ ├── IncompleteLUT.h │ │ ├── IterativeSolverBase.h │ │ ├── LeastSquareConjugateGradient.h │ │ └── SolveWithGuess.h │ │ ├── Jacobi │ │ └── Jacobi.h │ │ ├── KLUSupport │ │ └── KLUSupport.h │ │ ├── LU │ │ ├── Determinant.h │ │ ├── FullPivLU.h │ │ ├── InverseImpl.h │ │ ├── PartialPivLU.h │ │ ├── PartialPivLU_LAPACKE.h │ │ └── arch │ │ │ └── Inverse_SSE.h │ │ ├── MetisSupport │ │ └── MetisSupport.h │ │ ├── OrderingMethods │ │ ├── Amd.h │ │ ├── Eigen_Colamd.h │ │ └── Ordering.h │ │ ├── PaStiXSupport │ │ └── PaStiXSupport.h │ │ ├── PardisoSupport │ │ └── PardisoSupport.h │ │ ├── QR │ │ ├── ColPivHouseholderQR.h │ │ ├── ColPivHouseholderQR_LAPACKE.h │ │ ├── CompleteOrthogonalDecomposition.h │ │ ├── FullPivHouseholderQR.h │ │ ├── HouseholderQR.h │ │ └── HouseholderQR_LAPACKE.h │ │ ├── SPQRSupport │ │ └── SuiteSparseQRSupport.h │ │ ├── SVD │ │ ├── BDCSVD.h │ │ ├── JacobiSVD.h │ │ ├── JacobiSVD_LAPACKE.h │ │ ├── SVDBase.h │ │ └── UpperBidiagonalization.h │ │ ├── SparseCholesky │ │ ├── SimplicialCholesky.h │ │ └── SimplicialCholesky_impl.h │ │ ├── SparseCore │ │ ├── AmbiVector.h │ │ ├── CompressedStorage.h │ │ ├── ConservativeSparseSparseProduct.h │ │ ├── MappedSparseMatrix.h │ │ ├── SparseAssign.h │ │ ├── SparseBlock.h │ │ ├── SparseColEtree.h │ │ ├── SparseCompressedBase.h │ │ ├── SparseCwiseBinaryOp.h │ │ ├── SparseCwiseUnaryOp.h │ │ ├── SparseDenseProduct.h │ │ ├── SparseDiagonalProduct.h │ │ ├── SparseDot.h │ │ ├── SparseFuzzy.h │ │ ├── SparseMap.h │ │ ├── SparseMatrix.h │ │ ├── SparseMatrixBase.h │ │ ├── SparsePermutation.h │ │ ├── SparseProduct.h │ │ ├── SparseRedux.h │ │ ├── SparseRef.h │ │ ├── SparseSelfAdjointView.h │ │ ├── SparseSolverBase.h │ │ ├── SparseSparseProductWithPruning.h │ │ ├── SparseTranspose.h │ │ ├── SparseTriangularView.h │ │ ├── SparseUtil.h │ │ ├── SparseVector.h │ │ ├── SparseView.h │ │ └── TriangularSolver.h │ │ ├── SparseLU │ │ ├── SparseLU.h │ │ ├── SparseLUImpl.h │ │ ├── SparseLU_Memory.h │ │ ├── SparseLU_Structs.h │ │ ├── SparseLU_SupernodalMatrix.h │ │ ├── SparseLU_Utils.h │ │ ├── SparseLU_column_bmod.h │ │ ├── SparseLU_column_dfs.h │ │ ├── SparseLU_copy_to_ucol.h │ │ ├── SparseLU_gemm_kernel.h │ │ ├── SparseLU_heap_relax_snode.h │ │ ├── SparseLU_kernel_bmod.h │ │ ├── SparseLU_panel_bmod.h │ │ ├── SparseLU_panel_dfs.h │ │ ├── SparseLU_pivotL.h │ │ ├── SparseLU_pruneL.h │ │ └── SparseLU_relax_snode.h │ │ ├── SparseQR │ │ └── SparseQR.h │ │ ├── StlSupport │ │ ├── StdDeque.h │ │ ├── StdList.h │ │ ├── StdVector.h │ │ └── details.h │ │ ├── SuperLUSupport │ │ └── SuperLUSupport.h │ │ ├── UmfPackSupport │ │ └── UmfPackSupport.h │ │ ├── misc │ │ ├── Image.h │ │ ├── Kernel.h │ │ ├── RealSvd2x2.h │ │ ├── blas.h │ │ ├── lapack.h │ │ ├── lapacke.h │ │ └── lapacke_mangling.h │ │ └── plugins │ │ ├── ArrayCwiseBinaryOps.h │ │ ├── ArrayCwiseUnaryOps.h │ │ ├── BlockMethods.h │ │ ├── CommonCwiseBinaryOps.h │ │ ├── CommonCwiseUnaryOps.h │ │ ├── IndexedViewMethods.h │ │ ├── MatrixCwiseBinaryOps.h │ │ ├── MatrixCwiseUnaryOps.h │ │ └── ReshapedMethods.h │ └── unsupported │ ├── CMakeLists.txt │ ├── Eigen │ ├── AdolcForward │ ├── AlignedVector3 │ ├── ArpackSupport │ ├── AutoDiff │ ├── BVH │ ├── CMakeLists.txt │ ├── CXX11 │ │ ├── CMakeLists.txt │ │ ├── Tensor │ │ ├── TensorSymmetry │ │ ├── ThreadPool │ │ └── src │ │ │ ├── Tensor │ │ │ ├── README.md │ │ │ ├── Tensor.h │ │ │ ├── TensorArgMax.h │ │ │ ├── TensorAssign.h │ │ │ ├── TensorBase.h │ │ │ ├── TensorBlock.h │ │ │ ├── TensorBroadcasting.h │ │ │ ├── TensorChipping.h │ │ │ ├── TensorConcatenation.h │ │ │ ├── TensorContraction.h │ │ │ ├── TensorContractionBlocking.h │ │ │ ├── TensorContractionCuda.h │ │ │ ├── TensorContractionGpu.h │ │ │ ├── TensorContractionMapper.h │ │ │ ├── TensorContractionSycl.h │ │ │ ├── TensorContractionThreadPool.h │ │ │ ├── TensorConversion.h │ │ │ ├── TensorConvolution.h │ │ │ ├── TensorConvolutionSycl.h │ │ │ ├── TensorCostModel.h │ │ │ ├── TensorCustomOp.h │ │ │ ├── TensorDevice.h │ │ │ ├── TensorDeviceCuda.h │ │ │ ├── TensorDeviceDefault.h │ │ │ ├── TensorDeviceGpu.h │ │ │ ├── TensorDeviceSycl.h │ │ │ ├── TensorDeviceThreadPool.h │ │ │ ├── TensorDimensionList.h │ │ │ ├── TensorDimensions.h │ │ │ ├── TensorEvalTo.h │ │ │ ├── TensorEvaluator.h │ │ │ ├── TensorExecutor.h │ │ │ ├── TensorExpr.h │ │ │ ├── TensorFFT.h │ │ │ ├── TensorFixedSize.h │ │ │ ├── TensorForcedEval.h │ │ │ ├── TensorForwardDeclarations.h │ │ │ ├── TensorFunctors.h │ │ │ ├── TensorGenerator.h │ │ │ ├── TensorGlobalFunctions.h │ │ │ ├── TensorGpuHipCudaDefines.h │ │ │ ├── TensorGpuHipCudaUndefines.h │ │ │ ├── TensorIO.h │ │ │ ├── TensorImagePatch.h │ │ │ ├── TensorIndexList.h │ │ │ ├── TensorInflation.h │ │ │ ├── TensorInitializer.h │ │ │ ├── TensorIntDiv.h │ │ │ ├── TensorLayoutSwap.h │ │ │ ├── TensorMacros.h │ │ │ ├── TensorMap.h │ │ │ ├── TensorMeta.h │ │ │ ├── TensorMorphing.h │ │ │ ├── TensorPadding.h │ │ │ ├── TensorPatch.h │ │ │ ├── TensorRandom.h │ │ │ ├── TensorReduction.h │ │ │ ├── TensorReductionCuda.h │ │ │ ├── TensorReductionGpu.h │ │ │ ├── TensorReductionSycl.h │ │ │ ├── TensorRef.h │ │ │ ├── TensorReverse.h │ │ │ ├── TensorScan.h │ │ │ ├── TensorScanSycl.h │ │ │ ├── TensorShuffling.h │ │ │ ├── TensorStorage.h │ │ │ ├── TensorStriding.h │ │ │ ├── TensorTrace.h │ │ │ ├── TensorTraits.h │ │ │ ├── TensorUInt128.h │ │ │ └── TensorVolumePatch.h │ │ │ ├── TensorSymmetry │ │ │ ├── DynamicSymmetry.h │ │ │ ├── StaticSymmetry.h │ │ │ ├── Symmetry.h │ │ │ └── util │ │ │ │ └── TemplateGroupTheory.h │ │ │ ├── ThreadPool │ │ │ ├── Barrier.h │ │ │ ├── EventCount.h │ │ │ ├── NonBlockingThreadPool.h │ │ │ ├── RunQueue.h │ │ │ ├── ThreadCancel.h │ │ │ ├── ThreadEnvironment.h │ │ │ ├── ThreadLocal.h │ │ │ ├── ThreadPoolInterface.h │ │ │ └── ThreadYield.h │ │ │ └── util │ │ │ ├── CXX11Meta.h │ │ │ ├── CXX11Workarounds.h │ │ │ ├── EmulateArray.h │ │ │ └── MaxSizeVector.h │ ├── EulerAngles │ ├── FFT │ ├── IterativeSolvers │ ├── KroneckerProduct │ ├── LevenbergMarquardt │ ├── MPRealSupport │ ├── MatrixFunctions │ ├── MoreVectorization │ ├── NonLinearOptimization │ ├── NumericalDiff │ ├── OpenGLSupport │ ├── Polynomials │ ├── Skyline │ ├── SparseExtra │ ├── SpecialFunctions │ ├── Splines │ └── src │ │ ├── AutoDiff │ │ ├── AutoDiffJacobian.h │ │ ├── AutoDiffScalar.h │ │ └── AutoDiffVector.h │ │ ├── BVH │ │ ├── BVAlgorithms.h │ │ └── KdBVH.h │ │ ├── Eigenvalues │ │ └── ArpackSelfAdjointEigenSolver.h │ │ ├── EulerAngles │ │ ├── CMakeLists.txt │ │ ├── EulerAngles.h │ │ └── EulerSystem.h │ │ ├── FFT │ │ ├── ei_fftw_impl.h │ │ └── ei_kissfft_impl.h │ │ ├── IterativeSolvers │ │ ├── ConstrainedConjGrad.h │ │ ├── DGMRES.h │ │ ├── GMRES.h │ │ ├── IncompleteLU.h │ │ ├── IterationController.h │ │ ├── MINRES.h │ │ └── Scaling.h │ │ ├── KroneckerProduct │ │ └── KroneckerTensorProduct.h │ │ ├── LevenbergMarquardt │ │ ├── CopyrightMINPACK.txt │ │ ├── LMcovar.h │ │ ├── LMonestep.h │ │ ├── LMpar.h │ │ ├── LMqrsolv.h │ │ └── LevenbergMarquardt.h │ │ ├── MatrixFunctions │ │ ├── MatrixExponential.h │ │ ├── MatrixFunction.h │ │ ├── MatrixLogarithm.h │ │ ├── MatrixPower.h │ │ ├── MatrixSquareRoot.h │ │ └── StemFunction.h │ │ ├── MoreVectorization │ │ └── MathFunctions.h │ │ ├── NonLinearOptimization │ │ ├── HybridNonLinearSolver.h │ │ ├── LevenbergMarquardt.h │ │ ├── chkder.h │ │ ├── covar.h │ │ ├── dogleg.h │ │ ├── fdjac1.h │ │ ├── lmpar.h │ │ ├── qrsolv.h │ │ ├── r1mpyq.h │ │ ├── r1updt.h │ │ └── rwupdt.h │ │ ├── NumericalDiff │ │ └── NumericalDiff.h │ │ ├── Polynomials │ │ ├── Companion.h │ │ ├── PolynomialSolver.h │ │ └── PolynomialUtils.h │ │ ├── Skyline │ │ ├── SkylineInplaceLU.h │ │ ├── SkylineMatrix.h │ │ ├── SkylineMatrixBase.h │ │ ├── SkylineProduct.h │ │ ├── SkylineStorage.h │ │ └── SkylineUtil.h │ │ ├── SparseExtra │ │ ├── BlockOfDynamicSparseMatrix.h │ │ ├── BlockSparseMatrix.h │ │ ├── DynamicSparseMatrix.h │ │ ├── MarketIO.h │ │ ├── MatrixMarketIterator.h │ │ └── RandomSetter.h │ │ ├── SpecialFunctions │ │ ├── BesselFunctionsArrayAPI.h │ │ ├── BesselFunctionsBFloat16.h │ │ ├── BesselFunctionsFunctors.h │ │ ├── BesselFunctionsHalf.h │ │ ├── BesselFunctionsImpl.h │ │ ├── BesselFunctionsPacketMath.h │ │ ├── HipVectorCompatibility.h │ │ ├── SpecialFunctionsArrayAPI.h │ │ ├── SpecialFunctionsBFloat16.h │ │ ├── SpecialFunctionsFunctors.h │ │ ├── SpecialFunctionsHalf.h │ │ ├── SpecialFunctionsImpl.h │ │ ├── SpecialFunctionsPacketMath.h │ │ └── arch │ │ │ └── GPU │ │ │ └── GpuSpecialFunctions.h │ │ └── Splines │ │ ├── Spline.h │ │ ├── SplineFitting.h │ │ └── SplineFwd.h │ ├── README.txt │ ├── bench │ └── bench_svd.cpp │ ├── doc │ ├── CMakeLists.txt │ ├── Overview.dox │ ├── SYCL.dox │ ├── eigendoxy_layout.xml.in │ ├── examples │ │ ├── BVH_Example.cpp │ │ ├── CMakeLists.txt │ │ ├── EulerAngles.cpp │ │ ├── FFT.cpp │ │ ├── MatrixExponential.cpp │ │ ├── MatrixFunction.cpp │ │ ├── MatrixLogarithm.cpp │ │ ├── MatrixPower.cpp │ │ ├── MatrixPower_optimal.cpp │ │ ├── MatrixSine.cpp │ │ ├── MatrixSinh.cpp │ │ ├── MatrixSquareRoot.cpp │ │ ├── PolynomialSolver1.cpp │ │ ├── PolynomialUtils1.cpp │ │ └── SYCL │ │ │ ├── CMakeLists.txt │ │ │ └── CwiseMul.cpp │ └── snippets │ │ └── CMakeLists.txt │ └── test │ ├── BVH.cpp │ ├── CMakeLists.txt │ ├── EulerAngles.cpp │ ├── FFT.cpp │ ├── FFTW.cpp │ ├── NonLinearOptimization.cpp │ ├── NumericalDiff.cpp │ ├── alignedvector3.cpp │ ├── autodiff.cpp │ ├── autodiff_scalar.cpp │ ├── bessel_functions.cpp │ ├── cxx11_eventcount.cpp │ ├── cxx11_maxsizevector.cpp │ ├── cxx11_meta.cpp │ ├── cxx11_non_blocking_thread_pool.cpp │ ├── cxx11_runqueue.cpp │ ├── cxx11_tensor_argmax.cpp │ ├── cxx11_tensor_argmax_gpu.cu │ ├── cxx11_tensor_argmax_sycl.cpp │ ├── cxx11_tensor_assign.cpp │ ├── cxx11_tensor_block_access.cpp │ ├── cxx11_tensor_block_eval.cpp │ ├── cxx11_tensor_block_io.cpp │ ├── cxx11_tensor_broadcast_sycl.cpp │ ├── cxx11_tensor_broadcasting.cpp │ ├── cxx11_tensor_builtins_sycl.cpp │ ├── cxx11_tensor_cast_float16_gpu.cu │ ├── cxx11_tensor_casts.cpp │ ├── cxx11_tensor_chipping.cpp │ ├── cxx11_tensor_chipping_sycl.cpp │ ├── cxx11_tensor_comparisons.cpp │ ├── cxx11_tensor_complex_cwise_ops_gpu.cu │ ├── cxx11_tensor_complex_gpu.cu │ ├── cxx11_tensor_concatenation.cpp │ ├── cxx11_tensor_concatenation_sycl.cpp │ ├── cxx11_tensor_const.cpp │ ├── cxx11_tensor_contract_gpu.cu │ ├── cxx11_tensor_contract_sycl.cpp │ ├── cxx11_tensor_contraction.cpp │ ├── cxx11_tensor_convolution.cpp │ ├── cxx11_tensor_convolution_sycl.cpp │ ├── cxx11_tensor_custom_index.cpp │ ├── cxx11_tensor_custom_op.cpp │ ├── cxx11_tensor_custom_op_sycl.cpp │ ├── cxx11_tensor_device.cu │ ├── cxx11_tensor_device_sycl.cpp │ ├── cxx11_tensor_dimension.cpp │ ├── cxx11_tensor_empty.cpp │ ├── cxx11_tensor_executor.cpp │ ├── cxx11_tensor_expr.cpp │ ├── cxx11_tensor_fft.cpp │ ├── cxx11_tensor_fixed_size.cpp │ ├── cxx11_tensor_forced_eval.cpp │ ├── cxx11_tensor_forced_eval_sycl.cpp │ ├── cxx11_tensor_generator.cpp │ ├── cxx11_tensor_generator_sycl.cpp │ ├── cxx11_tensor_gpu.cu │ ├── cxx11_tensor_ifft.cpp │ ├── cxx11_tensor_image_op_sycl.cpp │ ├── cxx11_tensor_image_patch.cpp │ ├── cxx11_tensor_image_patch_sycl.cpp │ ├── cxx11_tensor_index_list.cpp │ ├── cxx11_tensor_inflation.cpp │ ├── cxx11_tensor_inflation_sycl.cpp │ ├── cxx11_tensor_intdiv.cpp │ ├── cxx11_tensor_io.cpp │ ├── cxx11_tensor_layout_swap.cpp │ ├── cxx11_tensor_layout_swap_sycl.cpp │ ├── cxx11_tensor_lvalue.cpp │ ├── cxx11_tensor_map.cpp │ ├── cxx11_tensor_math.cpp │ ├── cxx11_tensor_math_sycl.cpp │ ├── cxx11_tensor_mixed_indices.cpp │ ├── cxx11_tensor_morphing.cpp │ ├── cxx11_tensor_morphing_sycl.cpp │ ├── cxx11_tensor_move.cpp │ ├── cxx11_tensor_notification.cpp │ ├── cxx11_tensor_of_complex.cpp │ ├── cxx11_tensor_of_const_values.cpp │ ├── cxx11_tensor_of_float16_gpu.cu │ ├── cxx11_tensor_of_strings.cpp │ ├── cxx11_tensor_padding.cpp │ ├── cxx11_tensor_padding_sycl.cpp │ ├── cxx11_tensor_patch.cpp │ ├── cxx11_tensor_patch_sycl.cpp │ ├── cxx11_tensor_random.cpp │ ├── cxx11_tensor_random_gpu.cu │ ├── cxx11_tensor_random_sycl.cpp │ ├── cxx11_tensor_reduction.cpp │ ├── cxx11_tensor_reduction_gpu.cu │ ├── cxx11_tensor_reduction_sycl.cpp │ ├── cxx11_tensor_ref.cpp │ ├── cxx11_tensor_reverse.cpp │ ├── cxx11_tensor_reverse_sycl.cpp │ ├── cxx11_tensor_roundings.cpp │ ├── cxx11_tensor_scan.cpp │ ├── cxx11_tensor_scan_gpu.cu │ ├── cxx11_tensor_scan_sycl.cpp │ ├── cxx11_tensor_shuffling.cpp │ ├── cxx11_tensor_shuffling_sycl.cpp │ ├── cxx11_tensor_simple.cpp │ ├── cxx11_tensor_striding.cpp │ ├── cxx11_tensor_striding_sycl.cpp │ ├── cxx11_tensor_sugar.cpp │ ├── cxx11_tensor_sycl.cpp │ ├── cxx11_tensor_symmetry.cpp │ ├── cxx11_tensor_thread_local.cpp │ ├── cxx11_tensor_thread_pool.cpp │ ├── cxx11_tensor_trace.cpp │ ├── cxx11_tensor_uint128.cpp │ ├── cxx11_tensor_volume_patch.cpp │ ├── cxx11_tensor_volume_patch_sycl.cpp │ ├── dgmres.cpp │ ├── forward_adolc.cpp │ ├── gmres.cpp │ ├── kronecker_product.cpp │ ├── levenberg_marquardt.cpp │ ├── matrix_exponential.cpp │ ├── matrix_function.cpp │ ├── matrix_functions.h │ ├── matrix_power.cpp │ ├── matrix_square_root.cpp │ ├── minres.cpp │ ├── mpreal │ └── mpreal.h │ ├── mpreal_support.cpp │ ├── openglsupport.cpp │ ├── polynomialsolver.cpp │ ├── polynomialutils.cpp │ ├── sparse_extra.cpp │ ├── special_functions.cpp │ ├── special_packetmath.cpp │ └── splines.cpp ├── inputs.py ├── osqp ├── examples │ └── osqp_demo.c ├── include │ ├── auxil.h │ ├── constants.h │ ├── cs.h │ ├── ctrlc.h │ ├── error.h │ ├── glob_opts.h │ ├── kkt.h │ ├── lin_alg.h │ ├── lin_sys.h │ ├── linux │ │ └── osqp_configure.h │ ├── macosx │ │ └── osqp_configure.h │ ├── osqp.h │ ├── polish.h │ ├── proj.h │ ├── scaling.h │ ├── types.h │ ├── util.h │ └── windows │ │ └── osqp_configure.h ├── lin_sys │ ├── direct │ │ ├── pardiso │ │ │ ├── pardiso_interface.c │ │ │ ├── pardiso_interface.h │ │ │ ├── pardiso_loader.c │ │ │ └── pardiso_loader.h │ │ └── qdldl │ │ │ ├── amd │ │ │ ├── include │ │ │ │ ├── SuiteSparse_config.h │ │ │ │ ├── amd.h │ │ │ │ └── amd_internal.h │ │ │ └── src │ │ │ │ ├── SuiteSparse_config.c │ │ │ │ ├── amd_1.c │ │ │ │ ├── amd_2.c │ │ │ │ ├── amd_aat.c │ │ │ │ ├── amd_control.c │ │ │ │ ├── amd_defaults.c │ │ │ │ ├── amd_info.c │ │ │ │ ├── amd_order.c │ │ │ │ ├── amd_post_tree.c │ │ │ │ ├── amd_postorder.c │ │ │ │ ├── amd_preprocess.c │ │ │ │ └── amd_valid.c │ │ │ ├── qdldl_interface.c │ │ │ ├── qdldl_interface.h │ │ │ └── qdldl_sources │ │ │ ├── examples │ │ │ └── example.c │ │ │ ├── include │ │ │ ├── qdldl.h │ │ │ └── qdldl_types.h │ │ │ ├── src │ │ │ └── qdldl.c │ │ │ └── tests │ │ │ ├── minunit.h │ │ │ ├── qdldl_tester.c │ │ │ ├── test_basic.h │ │ │ ├── test_identity.h │ │ │ ├── test_osqp_kkt.h │ │ │ ├── test_rank_deficient.h │ │ │ ├── test_singleton.h │ │ │ ├── test_sym_structure.h │ │ │ ├── test_tril_structure.h │ │ │ ├── test_two_by_two.h │ │ │ └── test_zero_on_diag.h │ ├── lib_handler.c │ └── lib_handler.h ├── src │ ├── auxil.c │ ├── cs.c │ ├── ctrlc.c │ ├── error.c │ ├── kkt.c │ ├── lin_alg.c │ ├── lin_sys.c │ ├── osqp.c │ ├── polish.c │ ├── proj.c │ ├── scaling.c │ └── util.c └── tests │ ├── basic_qp │ └── test_basic_qp.h │ ├── basic_qp2 │ └── test_basic_qp2.h │ ├── custom_memory │ ├── custom_memory.c │ └── custom_memory.h │ ├── demo │ └── test_demo.h │ ├── lin_alg │ └── test_lin_alg.h │ ├── minunit.h │ ├── non_cvx │ └── test_non_cvx.h │ ├── osqp_tester.c │ ├── osqp_tester.h │ ├── primal_dual_infeasibility │ └── test_primal_dual_infeasibility.h │ ├── primal_infeasibility │ └── test_primal_infeasibility.h │ ├── solve_linsys │ └── test_solve_linsys.h │ ├── unconstrained │ └── test_unconstrained.h │ └── update_matrices │ └── test_update_matrices.h ├── qpoases ├── AUTHORS ├── AUTHORS.txt ├── CMakeLists.txt ├── INSTALL ├── INSTALL.txt ├── LICENSE ├── LICENSE.txt ├── Makefile ├── README ├── README.txt ├── VERSIONS ├── VERSIONS.txt ├── include │ ├── qpOASES.hpp │ └── qpOASES │ │ ├── Bounds.hpp │ │ ├── Bounds.ipp │ │ ├── Constants.hpp │ │ ├── ConstraintProduct.hpp │ │ ├── Constraints.hpp │ │ ├── Constraints.ipp │ │ ├── Flipper.hpp │ │ ├── Indexlist.hpp │ │ ├── Indexlist.ipp │ │ ├── LapackBlasReplacement.hpp │ │ ├── Matrices.hpp │ │ ├── MessageHandling.hpp │ │ ├── MessageHandling.ipp │ │ ├── Options.hpp │ │ ├── QProblem.hpp │ │ ├── QProblem.ipp │ │ ├── QProblemB.hpp │ │ ├── QProblemB.ipp │ │ ├── SQProblem.hpp │ │ ├── SQProblem.ipp │ │ ├── SQProblemSchur.hpp │ │ ├── SQProblemSchur.ipp │ │ ├── SparseSolver.hpp │ │ ├── SubjectTo.hpp │ │ ├── SubjectTo.ipp │ │ ├── Types.hpp │ │ ├── UnitTesting.hpp │ │ ├── Utils.hpp │ │ ├── Utils.ipp │ │ └── extras │ │ ├── OQPinterface.hpp │ │ ├── SolutionAnalysis.hpp │ │ └── SolutionAnalysis.ipp ├── make.mk ├── make_cygwin.mk ├── make_linux.mk ├── make_osx.mk ├── make_windows.mk └── src │ ├── BLASReplacement.cpp │ ├── Bounds.cpp │ ├── Constraints.cpp │ ├── Flipper.cpp │ ├── Indexlist.cpp │ ├── LAPACKReplacement.cpp │ ├── Makefile │ ├── Matrices.cpp │ ├── MessageHandling.cpp │ ├── OQPinterface.cpp │ ├── Options.cpp │ ├── QProblem.cpp │ ├── QProblemB.cpp │ ├── SQProblem.cpp │ ├── SQProblemSchur.cpp │ ├── SolutionAnalysis.cpp │ ├── SparseSolver.cpp │ ├── SubjectTo.cpp │ └── Utils.cpp └── unitree_legged_sdk ├── .gitignore ├── CMakeLists.txt ├── ChangeLog.md ├── LICENSE ├── README.md ├── examples └── example_walk.cpp ├── include └── unitree_legged_sdk │ ├── a1_const.h │ ├── aliengo_const.h │ ├── comm.h │ ├── lcm.h │ ├── lcm_server.h │ ├── loop.h │ ├── quadruped.h │ ├── safety.h │ ├── udp.h │ └── unitree_legged_sdk.h ├── lib ├── libunitree_legged_sdk_amd64.so ├── libunitree_legged_sdk_arm32.so └── libunitree_legged_sdk_arm64.so ├── pybind11 ├── .appveyor.yml ├── .clang-tidy ├── .cmake-format.yaml ├── .github │ ├── CONTRIBUTING.md │ ├── ISSUE_TEMPLATE │ │ ├── bug-report.md │ │ ├── config.yml │ │ ├── feature-request.md │ │ └── question.md │ ├── labeler.yml │ └── workflows │ │ ├── ci.yml │ │ ├── configure.yml │ │ ├── format.yml │ │ ├── labeler.yml │ │ └── pip.yml ├── .gitignore ├── .pre-commit-config.yaml ├── .readthedocs.yml ├── CMakeLists.txt ├── LICENSE ├── MANIFEST.in ├── README.rst ├── docs │ ├── Doxyfile │ ├── _static │ │ └── theme_overrides.css │ ├── advanced │ │ ├── cast │ │ │ ├── chrono.rst │ │ │ ├── custom.rst │ │ │ ├── eigen.rst │ │ │ ├── functional.rst │ │ │ ├── index.rst │ │ │ ├── overview.rst │ │ │ ├── stl.rst │ │ │ └── strings.rst │ │ ├── classes.rst │ │ ├── embedding.rst │ │ ├── exceptions.rst │ │ ├── functions.rst │ │ ├── misc.rst │ │ ├── pycpp │ │ │ ├── index.rst │ │ │ ├── numpy.rst │ │ │ ├── object.rst │ │ │ └── utilities.rst │ │ └── smart_ptrs.rst │ ├── basics.rst │ ├── benchmark.py │ ├── benchmark.rst │ ├── changelog.rst │ ├── classes.rst │ ├── cmake │ │ └── index.rst │ ├── compiling.rst │ ├── conf.py │ ├── faq.rst │ ├── index.rst │ ├── installing.rst │ ├── limitations.rst │ ├── pybind11-logo.png │ ├── pybind11_vs_boost_python1.png │ ├── pybind11_vs_boost_python1.svg │ ├── pybind11_vs_boost_python2.png │ ├── pybind11_vs_boost_python2.svg │ ├── reference.rst │ ├── release.rst │ ├── requirements.txt │ └── upgrade.rst ├── include │ └── pybind11 │ │ ├── attr.h │ │ ├── buffer_info.h │ │ ├── cast.h │ │ ├── chrono.h │ │ ├── common.h │ │ ├── complex.h │ │ ├── detail │ │ ├── class.h │ │ ├── common.h │ │ ├── descr.h │ │ ├── init.h │ │ ├── internals.h │ │ └── typeid.h │ │ ├── eigen.h │ │ ├── embed.h │ │ ├── eval.h │ │ ├── functional.h │ │ ├── iostream.h │ │ ├── numpy.h │ │ ├── operators.h │ │ ├── options.h │ │ ├── pybind11.h │ │ ├── pytypes.h │ │ ├── stl.h │ │ └── stl_bind.h ├── pybind11 │ ├── __init__.py │ ├── __main__.py │ ├── _version.py │ ├── commands.py │ └── setup_helpers.py ├── pyproject.toml ├── setup.cfg ├── setup.py ├── tests │ ├── CMakeLists.txt │ ├── conftest.py │ ├── constructor_stats.h │ ├── cross_module_gil_utils.cpp │ ├── env.py │ ├── extra_python_package │ │ ├── pytest.ini │ │ └── test_files.py │ ├── extra_setuptools │ │ ├── pytest.ini │ │ └── test_setuphelper.py │ ├── local_bindings.h │ ├── object.h │ ├── pybind11_cross_module_tests.cpp │ ├── pybind11_tests.cpp │ ├── pybind11_tests.h │ ├── pytest.ini │ ├── requirements.txt │ ├── test_async.cpp │ ├── test_async.py │ ├── test_buffers.cpp │ ├── test_buffers.py │ ├── test_builtin_casters.cpp │ ├── test_builtin_casters.py │ ├── test_call_policies.cpp │ ├── test_call_policies.py │ ├── test_callbacks.cpp │ ├── test_callbacks.py │ ├── test_chrono.cpp │ ├── test_chrono.py │ ├── test_class.cpp │ ├── test_class.py │ ├── test_cmake_build │ │ ├── CMakeLists.txt │ │ ├── embed.cpp │ │ ├── installed_embed │ │ │ └── CMakeLists.txt │ │ ├── installed_function │ │ │ └── CMakeLists.txt │ │ ├── installed_target │ │ │ └── CMakeLists.txt │ │ ├── main.cpp │ │ ├── subdirectory_embed │ │ │ └── CMakeLists.txt │ │ ├── subdirectory_function │ │ │ └── CMakeLists.txt │ │ ├── subdirectory_target │ │ │ └── CMakeLists.txt │ │ └── test.py │ ├── test_constants_and_functions.cpp │ ├── test_constants_and_functions.py │ ├── test_copy_move.cpp │ ├── test_copy_move.py │ ├── test_custom_type_casters.cpp │ ├── test_custom_type_casters.py │ ├── test_docstring_options.cpp │ ├── test_docstring_options.py │ ├── test_eigen.cpp │ ├── test_eigen.py │ ├── test_embed │ │ ├── CMakeLists.txt │ │ ├── catch.cpp │ │ ├── external_module.cpp │ │ ├── test_interpreter.cpp │ │ └── test_interpreter.py │ ├── test_enum.cpp │ ├── test_enum.py │ ├── test_eval.cpp │ ├── test_eval.py │ ├── test_eval_call.py │ ├── test_exceptions.cpp │ ├── test_exceptions.py │ ├── test_factory_constructors.cpp │ ├── test_factory_constructors.py │ ├── test_gil_scoped.cpp │ ├── test_gil_scoped.py │ ├── test_iostream.cpp │ ├── test_iostream.py │ ├── test_kwargs_and_defaults.cpp │ ├── test_kwargs_and_defaults.py │ ├── test_local_bindings.cpp │ ├── test_local_bindings.py │ ├── test_methods_and_attributes.cpp │ ├── test_methods_and_attributes.py │ ├── test_modules.cpp │ ├── test_modules.py │ ├── test_multiple_inheritance.cpp │ ├── test_multiple_inheritance.py │ ├── test_numpy_array.cpp │ ├── test_numpy_array.py │ ├── test_numpy_dtypes.cpp │ ├── test_numpy_dtypes.py │ ├── test_numpy_vectorize.cpp │ ├── test_numpy_vectorize.py │ ├── test_opaque_types.cpp │ ├── test_opaque_types.py │ ├── test_operator_overloading.cpp │ ├── test_operator_overloading.py │ ├── test_pickling.cpp │ ├── test_pickling.py │ ├── test_pytypes.cpp │ ├── test_pytypes.py │ ├── test_sequences_and_iterators.cpp │ ├── test_sequences_and_iterators.py │ ├── test_smart_ptr.cpp │ ├── test_smart_ptr.py │ ├── test_stl.cpp │ ├── test_stl.py │ ├── test_stl_binders.cpp │ ├── test_stl_binders.py │ ├── test_tagbased_polymorphic.cpp │ ├── test_tagbased_polymorphic.py │ ├── test_union.cpp │ ├── test_union.py │ ├── test_virtual_functions.cpp │ └── test_virtual_functions.py └── tools │ ├── FindCatch.cmake │ ├── FindEigen3.cmake │ ├── FindPythonLibsNew.cmake │ ├── check-style.sh │ ├── cmake_uninstall.cmake.in │ ├── libsize.py │ ├── pybind11Common.cmake │ ├── pybind11Config.cmake.in │ ├── pybind11NewTools.cmake │ ├── pybind11Tools.cmake │ ├── pyproject.toml │ ├── setup_global.py.in │ └── setup_main.py.in └── python_interface.cpp /.gitignore: -------------------------------------------------------------------------------- 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