Raisim Example

This is a Raisim example demonstrating convex-MPC (Model Predictive Control) for quadruped robots and HWBC(Hierarchical Whole-Body Control) for legged mobile manipulators.

Dependencies

This project uses the following external libraries:

• Raisim - Physics simulation library
• Eigen - Linear algebra library
• OsqpEigen - Quadratic programming solver

How to Use

1. Install Raisim
   Follow the instructions on the Raisim official website to install the library.

2. Build the Project
   Run the following commands to build the project:

   mkdir build && cd build
   cmake .. 
   make
   

Demonstrations

Convex-MPC

HWBC