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robomechanics / quad-sdk

Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.
https://robomechanics.github.io/quad-sdk/
MIT License
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No directory nmpc_controller/scripts/utils/casadi file #395

Closed duyongquan closed 10 months ago

duyongquan commented 1 year ago

How does the NMPC model find the corresponding formula and code？

ologandavid commented 11 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

ardalantj commented 10 months ago

@duyongquan Following up on this. If there is no further issue, we will close this issue.

ologandavid commented 10 months ago

Closing due to inactivity.