Pinocchio + OSQP runs H1 whole-body controller: tuning practice by breaking down the QP's three matrices

Using Pinocchio and OSQP, the author got a whole-body controller for the H1 humanoid robot running, and tuned the QP's three matrices one by one. The content covers the tuning process around this QP solving structure and is a record of controller implementation under real-robot or simulation conditions.