Put MPC in four wheels omnidirecional robot

[RodrigoFBernardo]

Good afternoon, I have a four-wheel omnidirectional robot and I would like to apply MPC, has anyone done something similar? The examples are all for differential robots and the controller is not prepared for an omnidirectional robot.

Does anyone have an idea of how I can easily adapt?

[roboticlemon]

I too am interested in this. A holonomic motion model which supported pure translation and rotation would be a very good addition to this library. I'd be interested in contributing to it too.