The MPC control code for the A1 robot dog is not available on the CMU REX Lab GitHub.

[wanghuohuo0716]

https://github.com/RoboticExplorationLab/legged_mpc_control

[zixinz990]

Hi, I apologize for getting back to you so late. A lot has happened in the last three years. Please check out this codebase: quaternion-mpc. In short, we decided to privatize our lab codebase, and quaternion-mpc is a refactored and well-organized version of the original codebase.