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A collection of MPC walking scripts with various models

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edantec/MPC_benchmark

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MPC_benchmark

A collection of Python scripts used to benchmark three kind of locomotion models:

  • Full dynamics formulation;
  • Centroidal formulation;
  • Kinodynamics formulation.

The Python scripts launch a Pybullet simulation of the humanoid robot Talos performing various walking motions on flat ground and stairs.

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A collection of MPC walking scripts with various models

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