how can I add the CPG(central pattern generator) model into the code?

[hejiayu1]

I want to compare the CPG and model-based approach and behavior-based approach.If I want to add the CPG model,which file should I modify？

[awinkler]

The CPG approach is very different from the Trajectory Optimization implemented by towr, so there is not much overlap of code. That means, unfortunately, a CPG approach cannot be easily implemented here.

[hejiayu1]

thanks