CHANGELOG.md
CITATION.cff
CMakeLists.txt
LICENSE
MANIFEST.in
README.md
_build_resources.py
pyproject.toml
setup.py
docs/README.md
docs/archaeology.md
docs/constraints.md
docs/consumer_contract.md
docs/development.md
docs/figure-refresh-2026-10-01.md
docs/status.md
docs/website.md
examples/cpp/CMakeLists.txt
examples/cpp/batched_solve.cu
examples/go2_description/README.md
examples/go2_description/go2.urdf
examples/iiwa_description/5674K57_flange_mount_ball_transfer.stl
examples/iiwa_description/assembled_ee.stl
examples/iiwa_description/case_shell.stl
examples/iiwa_description/iiwa14.urdf
examples/iiwa_description/iiwa_base.stl
examples/iiwa_description/iiwa_grid.urdf
examples/iiwa_description/iiwa_link_1.stl
examples/iiwa_description/iiwa_link_2.stl
examples/iiwa_description/iiwa_link_3.stl
examples/iiwa_description/iiwa_link_4.stl
examples/iiwa_description/iiwa_link_5.stl
examples/iiwa_description/iiwa_link_6.stl
examples/iiwa_description/iiwa_link_7.stl
examples/iiwa_description/kuka_to_sensor_mount.stl
examples/iiwa_description/sensor_to_case_mount.stl
examples/indy7_description/indy7.urdf
examples/indy7_description/meshes/collision/Indy7_0.stl
examples/indy7_description/meshes/collision/Indy7_1.stl
examples/indy7_description/meshes/collision/Indy7_2.stl
examples/indy7_description/meshes/collision/Indy7_3.stl
examples/indy7_description/meshes/collision/Indy7_4.stl
examples/indy7_description/meshes/collision/Indy7_5.stl
examples/indy7_description/meshes/collision/Indy7_6.stl
examples/indy7_description/meshes/collision/Indy7_eye_6.stl
examples/indy7_description/meshes/visual/Indy7_0.stl
examples/indy7_description/meshes/visual/Indy7_1.stl
examples/indy7_description/meshes/visual/Indy7_2.stl
examples/indy7_description/meshes/visual/Indy7_3.stl
examples/indy7_description/meshes/visual/Indy7_4.stl
examples/indy7_description/meshes/visual/Indy7_5.stl
examples/indy7_description/meshes/visual/Indy7_6.stl
examples/indy7_description/meshes/visual/Indy7_eye_6.stl
gato/constants.h
gato/settings.h
gato/types.cuh
gato/bsqp/bsqp.cuh
gato/bsqp/rowgroups.cuh
gato/bsqp/kernels/admm.cuh
gato/bsqp/kernels/bdsv.cuh
gato/bsqp/kernels/contact_debug.cuh
gato/bsqp/kernels/line_search.cuh
gato/bsqp/kernels/merit.cuh
gato/bsqp/kernels/pcg.cuh
gato/bsqp/kernels/schur_linsys.cuh
gato/bsqp/kernels/setup_kkt.cuh
gato/bsqp/kernels/sim.cuh
gato/dynamics/grid_plant_step.cuh
gato/dynamics/integrator.cuh
gato/dynamics/manifold.cuh
gato/dynamics/plant.cuh
gato/dynamics/go2/grid.cuh
gato/dynamics/go2/limits.cuh
gato/dynamics/iiwa14/grid.cuh
gato/dynamics/iiwa14/limits.cuh
gato/dynamics/indy7/grid.cuh
gato/dynamics/indy7/limits.cuh
gato/utils/cuda.cuh
gato/utils/dlpack.h
gato/utils/linalg.cuh
python/bindings.cu
python/gato/__init__.py
python/gato/_arrays.py
python/gato/_cache.py
python/gato/_grid.py
python/gato/_registry.json
python/gato/builder.py
python/gato/certificate.py
python/gato/common.py
python/gato/config.py
python/gato/controller.py
python/gato/envs.py
python/gato/estimators.py
python/gato/fingerprint.py
python/gato/gait.py
python/gato/hypotheses.py
python/gato/interface.py
python/gato/linsys_autotune.py
python/gato/mpc_gato.py
python/gato/paths.py
python/gato/policy.py
python/gato/rowkinds.py
python/gato/worlds.py
python/gato_mpc.egg-info/PKG-INFO
python/gato_mpc.egg-info/SOURCES.txt
python/gato_mpc.egg-info/dependency_links.txt
python/gato_mpc.egg-info/requires.txt
python/gato_mpc.egg-info/top_level.txt
test/conftest.py
test/dynamics_fingerprint.json
test/expected_skips.txt
test/expected_tests.txt
test/gpu-proof-policy.yaml
test/receipt_modules.txt
test/test_anchor.py
test/test_api_smoke.py
test/test_arrays.py
test/test_bindings_shapes.py
test/test_build.py
test/test_codegen.py
test/test_common.py
test/test_contact_rows.py
test/test_controller.py
test/test_cpp_interface.py
test/test_distribution_artifacts.py
test/test_dynamics_fingerprint.py
test/test_exact_hessian.py
test/test_examples.py
test/test_f_ext.py
test/test_fig7_validation.py
test/test_floating_go2.py
test/test_floating_rowgroups.py
test/test_floating_worlds.py
test/test_gait.py
test/test_kernel_gates.py
test/test_limits_closed_loop.py
test/test_linsys_autotune.py
test/test_manifold.py
test/test_mechanism_oracles.py
test/test_mpc_initialization.py
test/test_packaging.py
test/test_parity_golden.py
test/test_policy.py
test/test_receipt_contract.py
test/test_register_robot.py
test/test_row_masks.py
test/test_rowgroups.py
test/test_smoke_solve.py
test/test_worlds.py
test/cuda/bdsv_factor_solve.cu
test/cuda/bdsv_vs_pcg.cu
test/cuda/ee_rows.cu
test/cuda/gamma_parity.cu
test/cuda/pcg_vs_cpu.cu
test/cuda/plant_shim.cuh
test/oracles/__init__.py
test/oracles/mechanisms.py
tools/autotune_linsys.py
tools/build.sh
tools/check_installed_package.py
tools/common.sh
tools/docker.sh
tools/gen_dynamics_fingerprint.py
tools/install.sh
tools/native_identity.py
tools/parity_baseline.py
tools/regen_grid.py