qm_control: a MPC and WBC framework for quadruped manipulator

qm_control is a controller for quadruped manipulators using model predictive control and whole-body control. The controller aims to make the quadruped manipulator more athletic. It has achieved tasks such as whole-body planning, end-effector motion tracking, stability with force disturbance, and whole-body compliance control.

Code, Video: YouTube, Bilibili (for China).