Various personal C++ implementation for robot control.
- "Multicontact Motion Retargeting Using Whole-Body Optimization of Full Kinematics and Sequential Force Equilibrium"
https://ieeexplore.ieee.org/abstract/document/9728754
leph_model/SEIKOFloatingBase - "Collaborative Bimanual Manipulation Using Optimal Motion Adaptation and Interaction Control"
https://arxiv.org/abs/2206.00528
leph_model/SEIKOBimanual