Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation

[@therobotstudio]

Fantastic work, as always!

[@stevenjensjorgensen]

Excellent work! The sampling-based bi-level optimization is the key novelty and seems very efficient.

[@ShannonJosephGlomb]

So awesome great work ❤

[@NeuroScientician]

Is this an open source projectt?

[@gf2e]

Great work, and a great explanation. I noticed at 2:06 it seemed to indicate that a foot contacting the door was forbidden. But at 4:10 I see a foot holding the door so it doesn’t spring shut. Is there a difference between the two scenarios?