Closed duyongquan closed 10 months ago
Hi @duyongquan, The NMPC model grabs the corresponding formula and code it needs from https://github.com/robomechanics/quad-sdk/tree/main/nmpc_controller/.
This is outlined in more detail in the wiki here: https://github.com/robomechanics/quad-sdk/wiki/Tutorial:-Adding-a-New-Type-of-Robot-to-Quad-SDK. The instructions are for adding a new robot, but generating the NMPC scripts and defining its references are outlined here.
If things are still unclear, follow up with me and I can explain in greater detail.
Best, David Ologan
@duyongquan Following up on this. If there is no further issue, we will close this issue.
Closing due to inactivity.
How does the NMPC model find the corresponding formula and code?