piMPC: A Parallel-in-horizon and Construction-free NMPC Solver

Gearing calculations and related functionality

Visualize the trajectory of the drone in the video

This repo provide a python script to create a composite image from a video.

Extended version of Featherstone's spatial_v2 package

codebase of oracle guided multimodal policies.

Analytical Contact Jacobian for bipedal robots using URDF

Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC