├── .gitignore ├── CMakeLists.txt ├── Config.cmake.in ├── README.md ├── colcon.pkg ├── demos ├── demo_dg_whole_body_controller.py ├── demo_impedance_ctrl_bouncing_cpp.py ├── demo_impedance_ctrl_cpp.py ├── demo_impedance_ctrl_python.py ├── demo_robot_com_ctrl.py ├── demo_robot_com_ctrl_cpp.py ├── demo_robot_com_imp_ctrl_cpp.py ├── demo_robot_impedance.py └── solo_impedance.yaml ├── include └── mim_control │ ├── centroidal_force_qp_controller.hpp │ ├── centroidal_impedance_controller.hpp │ ├── centroidal_pd_controller.hpp │ ├── dynamic_graph │ ├── centroidal_force_qp_controller.hpp │ ├── centroidal_pd_controller.hpp │ ├── impedance_controller.hpp │ └── signal_utils.hpp │ └── impedance_controller.hpp ├── license.txt ├── python └── mim_control │ ├── __init__.py │ ├── dynamic_graph │ ├── __init__.py │ ├── go_to.py │ └── wbc_graph.py │ ├── impedance_controller.py │ ├── qp_solver.py │ ├── robot_centroidal_controller.py │ └── robot_impedance_controller.py ├── src ├── 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