├── .gitattributes ├── .gitignore ├── LICENSE ├── README.md ├── examples ├── drake_walking.ipynb ├── hippopt_walking.ipynb ├── jaxsim_walking.ipynb ├── mujoco_walking.ipynb └── mujoco_walking_position.ipynb ├── pixi.lock ├── pyproject.toml ├── setup.py └── src └── comodo ├── TSIDController ├── TSIDController.py ├── TSIDParameterTuning.py └── __init__.py ├── __init__.py ├── abstractClasses ├── __init__.py ├── controller.py ├── planner.py └── simulator.py ├── centroidalMPC ├── __init__.py ├── centroidalMPC.py ├── footPositionPlanner.py └── mpcParameterTuning.py ├── drakeSimulator ├── __init__.py ├── drakeSimulator.py └── drakeURDFHelper.py ├── gazeboClassicSimulator ├── __init__.py ├── gazeboClassicSimulator.py ├── gazeboLauncher.py └── robotInterface.py ├── hippoptWalkingPlanner ├── hippoptWalkingPlanner.py └── hippoptWalkingPlannerParameterTuning.py ├── inverseKinematics ├── __init__.py ├── inverseKinematics.py └── inverseKinematicsParamTuning.py ├── jaxsimSimulator ├── __init__.py └── 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