Humanoid Robot G1, model-based Whole-Body Motion Control

Humanoid G1, model-based Whole-Body Motion Control using custom Kinematics and Dynamics (ARBMLlib) library.
Weighted WBC Approach with the following costs and constraints:
- Costs: Centroidal Dynamics Task, Joint Acceleration Task, Regularization Task
- Equality: Floating-base Dynamics, Contact Constraints
- Inequality: Friction Cone Constraints
- QP Solver: qpOASES(c++)