ROS2 wrapper for the haptiquad library, capable of calculating residuals and estimating ground reaction forces and base wrench acting on a quadruped floating base robot

Library capable of estimating internal and external residuals for a floating base robot. It is also capable of estimating any external force acting on the robot, as long as the time and position of the collision are known

Rosbag interface with the purpose to validate and evaluate the haptiquad library, capable of estimating ground reaction forces

Gazebo simulation of ANYmal C with the purpose to validate and evaluate the haptiquad library, capable of estimating ground reaction forces

Mujoco simulation of ANYmal C with the purpose to validate and evaluate the haptiquad library, capable of estimating ground reaction forces and base rench