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iit-DLSLab / Quadruped-PyMPC

A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax).
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Load robots using robot_descriptions.py #8

Open Danfoa opened 5 months ago

Danfoa commented 5 months ago

For ease of use, the robots should be loaded from robot_descriptions.py.

If custom modifications to the XML are needed, I believe all can be done programmatically instead of handcrafting the XML changes.