Project using mujoco and mujoco_mpc for high-level planning strategies. ########### Use this version of mujoco_mpc
https://github.com/thomascbrs/mujoco_mpc/tree/topic-devel
<!-- Params for fly-high : 3 -->
<!-- [0] : gamma factor -->
<!-- [1] : Front legs factor -->
<!-- [2] : Back legs factor -->
<user name="Fly-high" dim="12" user="9 0.0 0.0 1.0 90. 1. 0.5" />
Only working on release mode.
From root directory. Plotting tools :
python3 scripts/plots.py
Explore new costs on the OCP formulation:
- Penalize contact forces
- Penalize feet acceleration
- Air time cost
- Symmetric cost
Improve plots and debug:
- Add references curves on plot (velocity/angular)
- Print MPC solutions on the graphs.