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).
Users should be able to introduce a new robot, by defining a .yaml config file defining the robot name, and the necessary attributes to be handled by the env.
Users should be able to introduce a new robot, by defining a .yaml config file defining the robot name, and the necessary attributes to be handled by the env.