Atlas uses its whole body -- legs, arms, torso -- to perform a sequence of dynamic maneuvers that form a gymnastic routine.  We created the maneuvers using new techniques that streamline the development process. First, an optimization algorithm transforms high-level descriptions of each maneuver into dynamically-feasible reference motions.  Then Atlas tracks the motions using a model predictive controller that smoothly blends from one maneuver to the next.  Using this approach, we developed the routine significantly faster than previous Atlas routines, with a performance success rate of about 80%. For more information visit us at https://www.BostonDynamics.com.