- OpenSoT: a library dedicated to hierarchical whole-body control of robots subject to linear constraints.
- AHMP: a framework for automatic contact and motion discovery.
- se3_sqp: SQP-based trajectory optimization for robots, built on HPIPM and Pinocchio.
- YAHMP: a humanoid general motion tracking policy for the Unitree G1 robot.
- huro: interfaces for Unitree robots.
- diffsqp: batchable SQP solver in PyTorch.