CMakeLists.txt
LICENSE
MANIFEST.in
README.md
requirements.txt
setup.py
examples/billiard_opt_example_gui.cpp
examples/cartpole_eval.cpp
examples/ceres_estimation_real.cpp
examples/cgal_sdf_to_mesh_ellipsoid.cpp
examples/environment_eval.cpp
examples/inclined_plane_gui.cpp
examples/laikago_eval.cpp
examples/laikago_footstep_ik.cpp
examples/laikago_opengl_example.cpp
examples/meshcat_zmq_example.cpp
examples/opengl_imgui_test.cpp
examples/opengl_test.cpp
examples/opengl_urdf_visualizer.h
examples/pendulum_example.cpp
examples/pendulum_example_gui.cpp
examples/pendulum_sys_id.cpp
examples/pybullet_visual_instance_generator.h
examples/sdf_to_mesh_example.cpp
examples/soft_contact_example.cpp
examples/spherical_joint_test.cpp
examples/tiny_urdf_parser_example.cpp
examples/tiny_urdf_parser_meshcat_example.cpp
examples/tiny_urdf_parser_opengl_example.cpp
examples/tiny_visual_instance_generator.h
examples/ars/ars_config.h
examples/ars/ars_learner.h
examples/ars/ars_run_policy.cpp
examples/ars/ars_train_policy.cpp
examples/ars/ars_train_policy_cuda.cpp
examples/ars/ars_train_policy_omp.cpp
examples/ars/ars_vectorized_environment.h
examples/ars/ars_vectorized_worker.h
examples/ars/cuda_codegen.cpp
examples/ars/eval_laikago_env.cpp
examples/ars/running_stat.h
examples/ars/shared_noise_table.h
examples/environments/ant_environment.h
examples/environments/ant_environment2.h
examples/environments/ant_org_xyz_xyzrot.h
examples/environments/cartpole_environment.h
examples/environments/cartpole_environment2.h
examples/environments/cartpole_urdf.h
examples/environments/cuda_model_laikago_forward_zero.cpp
examples/environments/humanoid_environment.h
examples/environments/humanoid_xyz_spherical.h
examples/environments/laikago_environment.h
examples/environments/laikago_environment2.h
examples/environments/laikago_toes_zup_urdf.h
examples/environments/laikago_toes_zup_xyz_xyzrot.h
examples/environments/laikago_toes_zup_xyz_xyzrot_urdf.h
examples/environments/locomotion_contact_simulation.h
examples/environments/omp_model_ant_forward_zero.h
examples/environments/omp_model_humanoid_forward_zero.h
examples/environments/omp_model_laikago_forward_zero.h
examples/environments/plane_implicit_urdf.h
examples/environments/reacher.urdf.h
examples/environments/reacher_environment.h
examples/whole_body_control/laikago_tds_mpc.cpp
python/CMakeLists.txt
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python/examples/cppad_example.py
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python/examples/e_load_urdf.py
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python/examples/vec_laikago_render.py
python/examples/warp_gl_interop.py
python/examples/z_dual_numbers.py
python/examples/voxels/geom_utils.py
python/examples/voxels/ldi.py
python/examples/voxels/ldi3d.py
python/examples/whole_body_control/com_velocity_estimator.py
python/examples/whole_body_control/foot_stepper.py
python/examples/whole_body_control/gait_generator.py
python/examples/whole_body_control/laikago_tds_sim_clean.py
python/examples/whole_body_control/leg_controller.py
python/examples/whole_body_control/locomotion_controller.py
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python/examples/whole_body_control/raibert_swing_leg_controller.py
python/examples/whole_body_control/static_gait_controller.py
python/examples/whole_body_control/torque_stance_leg_controller.py
python/plotting/.gitignore
python/plotting/plot_contact_trajopt_perf.py
python/plotting/plot_estimated_trajectory_evolution.py
python/plotting/plot_estimation_gradient.py
python/plotting/plot_estimation_trajectory.py
python/plotting/plot_neural_contact_trajectory.py
python/plotting/plot_param_evolution.py
python/plotting/plot_schmidt_lipton_raw.py
python/plotting/plot_soft_contact.py
python/plotting/plot_tracking_perf.py
python/plotting/sys_id_basin_hopping.py
python/plotting/sys_id_param_evolution.py
python/pytinydiffsim.egg-info/PKG-INFO
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python/tds_environments/__init__.py
python/tds_environments/cartpole_tds_env.py
python/tds_environments/reacher_tds_env.py
src/base.hpp
src/contact_point.hpp
src/geometry.hpp
src/link.hpp
src/mb_constraint_solver.hpp
src/multi_body.hpp
src/rb_constraint_solver.hpp
src/rigid_body.hpp
src/sdf_utils.hpp
src/tiny_actuator.h
src/tiny_inverse_kinematics.h
src/tiny_pd_control.h
src/tiny_smooth_constraint_solver.h
src/urdf_structures.hpp
src/world.hpp
src/dynamics/forward_dynamics.hpp
src/dynamics/integrator.hpp
src/dynamics/inverse_dynamics.hpp
src/dynamics/jacobian.hpp
src/dynamics/kinematics.hpp
src/dynamics/mass_matrix.hpp
src/math/conditionals.hpp
src/math/eigen_algebra.hpp
src/math/enoki_algebra.hpp
src/math/inertia.hpp
src/math/matrix_utils.hpp
src/math/neural_network.hpp
src/math/pose.hpp
src/math/spatial_vector.hpp
src/math/transform.hpp
src/math/cppad/eigen_mat_inv.hpp
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src/urdf/pybullet_urdf_import.hpp
src/urdf/system_constructor.hpp
src/urdf/urdf_cache.hpp
src/urdf/urdf_parser.hpp
src/urdf/urdf_to_multi_body.hpp
src/utils/ceres_estimator.hpp
src/utils/ceres_estimator_old.hpp
src/utils/conversion.hpp
src/utils/cuda_codegen.hpp
src/utils/dataset.hpp
src/utils/differentiation.hpp
src/utils/experiment.hpp
src/utils/file_utils.hpp
src/utils/filesystem.hpp
src/utils/motion_import.hpp
src/utils/neural_augmentation.hpp
src/utils/optim_gd.hpp
src/utils/optimization_problem.hpp
src/utils/parameter.hpp
src/utils/pendulum.hpp
src/utils/pendulum_spherical_joints.hpp
src/utils/sdf_to_mesh_converter.hpp
src/utils/stopwatch.hpp
src/utils/cuda/cuda_codegen.hpp
src/utils/cuda/cuda_function.hpp
src/utils/cuda/cuda_language.hpp
src/utils/cuda/cuda_library.hpp
src/utils/cuda/cuda_library_processor.hpp
src/utils/cuda/cuda_model.hpp
src/utils/cuda/cuda_variable_name_gen.hpp
src/utils/sdf_to_mesh/marching_cubes.hpp
src/utils/sdf_to_mesh/mc_table.hpp
src/visualizer/meshcat/meshcat_cube_data.h
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src/visualizer/meshcat/meshcat_zmq.h
src/visualizer/opengl/CMakeLists.txt
src/visualizer/opengl/tiny_camera.cpp
src/visualizer/opengl/tiny_camera.h
src/visualizer/opengl/tiny_common_callbacks.h
src/visualizer/opengl/tiny_common_graphics_app_interface.h
src/visualizer/opengl/tiny_egl_opengl_window.cpp
src/visualizer/opengl/tiny_egl_opengl_window.h
src/visualizer/opengl/tiny_font_stash.cpp
src/visualizer/opengl/tiny_font_stash.h
src/visualizer/opengl/tiny_fonts.cpp
src/visualizer/opengl/tiny_fonts.h
src/visualizer/opengl/tiny_gl_instance_graphics_shape.h
src/visualizer/opengl/tiny_gl_instance_renderer_internal_data.h
src/visualizer/opengl/tiny_gl_instancing_renderer.cpp
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src/visualizer/opengl/tiny_gl_primitive_renderer.cpp
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src/visualizer/opengl/tiny_gl_render_to_texture.cpp
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