About the Project This was a project I started working on but due to time constraints I couldn't fully complete. However, I think it is still worth writing down about it. This was about making a quadruped simulation model in MATLAB which I was planning to use for some downstream research work like RL algorithms. Hence, I started with building the quadruped model from scratch in Simscape multibody and then using ROS to communicate with the true Unitree Go 1 EDU quadruped for a