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Representation-Free Model Predictive Control for Dynamic Quadruped

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please, how to deal with the problem "Undefined function or variable 'qpSWIFT'"

Hello author, I read your published paper carefully, the + in the formula (15) should be -, I feel that it may be a clerical error because the symbols after...

Hello, First of all, this is such a great work, thanks for posting it! I have been experimenting a bit with the code, and am trying to run long simulations...