This repository implements a hierarchical controller for quadruped locomotion that combines a high-level reinforcement learning policy with a low-level model predictive controller (MPC). The RL policy dynamically predicts weight parameters for the MPC, which computes optimal ground reaction forces and joint torques. The codebase includes Isaac Gym training environments for the Unitree A1, Go1, and Aliengo robots, along with a custom C++ MPC solver (OSQP-based) and a finite state machine for robust transient handling. While primarily a research project that bridges RL and MPC for legged robots, it also provides reusable robotics components such as state estimators, leg controllers, gait pattern generators, and foot swing trajectory planners. The work is based on the MIT Cheetah software and includes detailed development logs and configuration files for reproducible experiments.