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manumerous merged 1 commit into from
Dec 21, 2025
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Replace outdated images in README #40

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5 changes: 4 additions & 1 deletion README.md
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Expand Up @@ -3,7 +3,8 @@
This repository contains a Whole-Body Nonlinear Model Predictive Controller (NMPC) for humanoid loco-manipulation control. This approach enables to directly optimize through the **full-order torque-level dynamics in realtime** to generate a wide range of humanoid behaviors building up on an [extended & updated version of ocs2](https://github.com/manumerous/ocs2_ros2)

**Interactive Velocity and Base Height Control via Joystick:**
![Screencast2024-12-16180254-ezgif com-optimize(3)](https://github.com/user-attachments/assets/d4b1f0da-39ca-4ce1-b53c-e1d040abe1be)

![vokoscreenNG-2025-12-21_20-35-31-ezgif com-optimize](https://github.com/user-attachments/assets/daf374ba-fe82-469d-9270-63d18a51bb53)


It contains the following hardware platform agnostic MPC fromulations:
Expand All @@ -23,6 +24,8 @@ The project supports the following robot examples:
- Unitree G1
- 1X Neo (Comming soon)

![Screencast2024-12-16180254-ezgif com-optimize(3)](https://github.com/user-attachments/assets/d4b1f0da-39ca-4ce1-b53c-e1d040abe1be)

## Get Started

### Setup Colcon Workspace
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