• BASE_VEL_VARIABLES_ID : humoto::pepper_mpc
• BODY_JERK_VARIABLES_ID : humoto::pepper_mpc
• COP_VARIABLES_ID : humoto::wpg04
• FOOTPOS_VARIABLES_ID : humoto::wpg04
• g_generic_tolerance : humoto
• g_gravitational_acceleration : humoto
• g_infinity : humoto
• g_pi : humoto
• JOINTS_VARIABLES_ID : humoto::pepper_ik
• ModelDescription : humoto::pepper_ik
• ModelDescriptionBase : humoto::pepper_ik
• ROOT_VARIABLES_ID : humoto::pepper_ik