Convex MPC with Towr

[mahumada408]

Hi,

I wanted to know if you have any thoughts on using ifopt and towr to solve convex MPC problems. For example, would you be able to use this architecture to solve the MPC problem in the MIT Cheetah (and mini Cheetah), and use Gazebo as the simulation platform? I'd love to give this a shot!

Cheetah Paper
https://doi.org/10.1109/IROS.2018.8594448

Thank!