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Issac_Quadruped_Simulation
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Issac_Quadruped_Simulation
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### Quadruped Simulation Using Issac ``` - Quadruped, - RobotRunner -> - LegController, - StateEstimator, - ControlFSM -> - FSM State RecoveryStand, - FSM State FrontJump-> 1. FrontJumpCtrl, 2. DataReader, 3. DataReaderCtrl - FSM State Backflip-> 1. BackFlipCtrl, 2. DataReader, 3. DataReaderCtrl - FSM State Locomotion -> - ConvexMPCLocomotion-> 1. FootSwingTrajectory, 2. Gait, 3. MPC Solver in C ```