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SONIC whole-body controller for the G1 - #3557

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Nabla7 wants to merge 25 commits into
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pim/feat/g1-sonic-wbc
Open

SONIC whole-body controller for the G1#3557
Nabla7 wants to merge 25 commits into
mainfrom
pim/feat/g1-sonic-wbc

test(sonic): prune redundant coverage and shared scaffolding

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