Collection of Kyon-specific MPC and MPC cluster implementations for RL-augmented MPC within the IBRIDO framework. Used by AugMPC.
In particular, this repository hosts:
- MPC configurations for Kyon and Unitree's B2-w robots
- MPC cluster implementations based on MPCHive
- Joint impedance configurations
- Helper launchers and configurations to help run the robots within xbot2_mujoco
- MPCViz robot-specific configuration and helps to debug and visualize MPC plans