This code was used to generate the motions in the following publication [ pdf ]:

Winkler, A. W; Mastalli, C; Havoutis, I; Focchi, M; and Caldwell, D; Semini, C.
"Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain"
In 2015 IEEE International Conference on Robotics and Automation (ICRA)