Integrate existing Cheetah balancer controller to existing mpc controller.
Project detail
Building a quadruped robot. Need help with integration of an already existing balancer controller in the current mpc controller.
The current mpc controller is running with our urdf in Pybullet/ROS.
The balancer controller should also work in the existing Pybullet simulation and one should have the option to switch between the controllers.
Balancer controller can be found here: https://github.com/raess1/Cheetah-Software/tree/master/user/MIT_Controller/Controllers/BalanceController