Unfortunately, there was no available time to continue this project. The development progress stopped at b028d0c.

If there is a chance to restart this project in the future, below are implementations from others that could serve as possible references:

• https://github.com/matheecs/ocs2_legged_robot_notes
• https://github.com/qiayuanliao/legged_control
• https://github.com/skywoodsz/qm_control