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1. BaselineWalkingController BaselineWalkingController Public

   Humanoid walking controller with various baseline methods

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2. CentroidalControlCollection CentroidalControlCollection Public

   Collection of centroidal control for legged robots

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3. QpSolverCollection QpSolverCollection Public

   Unified C++ interface for quadratic programming solvers

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4. NMPC NMPC Public

   Non-linear model predictive control (NMPC) library

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5. MultiContactController MultiContactController Public

   Humanoid multi-contact motion controller

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6. DataDrivenMPC DataDrivenMPC Public

   Model predictive control based on data-driven model

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