IsaacLab QP Quadruped Trotting Controller

[arjun-2612]

Hello. I want to ask how I can find a QP trotting controller for a quadruped in IsaacLab/IsaacSim. I am trying to implement that so I can train RL to track the QP outputs, but so far I have not been able to find a QP example in Isaac. I found that there used to be a unitree A1 QP controller, but that was scrapped? Any chance I can have the code for it?

[vick-yu]

Thanks for raising this question! You mentioned a previously available Unitree A1 QP controller—could you clarify which implementation you’re referring to? Was it an internal demo provided within Isaac Sim/IsaacLab in an earlier release? Any details about where it was located or how it was used in Isaac Sim would be really helpful for the community.

Additionally, if you have links or documentation references, please share them. This could help others interested in QP-based locomotion controllers and RL tracking setups for quadrupeds in IsaacLab/IsaacSim.

Thanks!