MPC controller example using a new robot

[Nicola Russo]

Hello! I'm trying to run the mpc controller example using a DIY robot.

I was wondering how these values are calculated:

MPC_BODY_MASS
MPC_BODY_INERTIA
MPC_BODY_HEIGHT

I'm also not sure about _DEFAULT_HIP_POSITIONS. I understood these are the hip joints positions, however they are slightly different if compared with the URDF values (eg. this one)

thanks!

[erwincoumans]

Those values should be similar to the real robot (or URDF file). Since there are sim-to-real differences, they can be tuned to work better on real robot, hence some differences.
In the latest revision, the A1 is also included for MPC, both simulation and real robot.
See #30

Good luck, and keep us posted if you have any luck tuning the parameters for your robot!