MPC Controller Skill Overview Expert skill for designing, implementing, and tuning Model Predictive Controllers for robotic systems, including both linear and nonlinear MPC. Capabilities - Derive kinematic and dynamic robot models - Formulate MPC optimization problems (QP, NLP) - Configure CasADi for symbolic differentiation - Set up ACADO code generation for real-time MPC - Implement constraint handling (velocity, acceleration, collision) - Configure cost function weights (tracking, control effort) - Implement warm starting for fast convergence - Set up NMPC for nonlinear systems - Configure…