Commits · 071102bea7b30c46ed10b2e69449e14ecb0d219c · Gepetto / quadruped-reactive-walking

Mar 18, 2022
- pyb and controller · 071102be
  Fanny Risbourg authored 3 years ago
  
  071102be
Mar 17, 2022
- change q_inti · 33e79fb2
  Fanny Risbourg authored 3 years ago
  
  33e79fb2
- removelines · 56532a7c
  Fanny Risbourg authored 3 years ago
  
  56532a7c
- work on controller · 9dd72da7
  Fanny Risbourg authored 3 years ago
  
  9dd72da7
- tart cleaning controller · db981344
  Fanny Risbourg authored 3 years ago
  
  db981344
- cleaning · 0f1682d1
  Fanny Risbourg authored 3 years ago
  
  0f1682d1
- install scripts · e2c2d7a6
  Fanny Risbourg authored 3 years ago and Pierre-Alexandre Leziart committed 3 years ago
  
  e2c2d7a6
Mar 15, 2022
- Python bindings names · 7159b542
  Fanny Risbourg authored 3 years ago and Pierre-Alexandre Leziart committed 3 years ago
  
  7159b542
Mar 11, 2022
- Clean and refactor gait class · 80dedbb0
  Fanny Risbourg authored 3 years ago and Pierre-Alexandre Leziart committed 3 years ago
  
  80dedbb0
- Clean repository · 4257e35c
  Fanny Risbourg authored 3 years ago and Pierre-Alexandre Leziart committed 3 years ago
  
  4257e35c
- Rework estimator · 811508c3
  Fanny Risbourg authored 3 years ago and Pierre-Alexandre Leziart committed 3 years ago
  
  811508c3
Mar 09, 2022
- Python bindings · a5641687
  Fanny Risbourg authored 3 years ago and Pierre-Alexandre Leziart committed 3 years ago
  
  a5641687
Mar 08, 2022
- Guilhem changes · 7ffd8216
  Fanny Risbourg authored 3 years ago and Pierre-Alexandre Leziart committed 3 years ago
  
  7ffd8216
- Update after Solo3D IROS paper experiments · fa7c084f
  Fanny Risbourg authored 3 years ago and Pierre-Alexandre Leziart committed 3 years ago
  
  fa7c084f
Oct 25, 2021
- Estimation of the feet by FK in Bezier planner, in cpp, removed from controller · c0d85d5c
  thomascbrs authored 3 years ago
  
  c0d85d5c
- Comment debug embed · 8c081679
  odri authored 3 years ago
  
  8c081679
- Tweak control gains + Import solo3D only if used + Fix StatePlanner call · da1d68c6
  odri authored 3 years ago
  
  da1d68c6
- Tweak visualization for pybullet camera and debug spheres · 87cbddb1
  odri authored 3 years ago
  
  87cbddb1
- solo3D integration · cad1e053
  thomascbrs authored 3 years ago
  
  cad1e053
Oct 22, 2021
- Debugging WBC · 3b250682
  odri authored 3 years ago
  
  3b250682
Oct 21, 2021

Add DEMONSTRATION parameter in yaml to enable/disable the demonstration... · 99279b7f

odri authored 3 years ago

Add DEMONSTRATION parameter in yaml to enable/disable the demonstration functionalities like the automatic switch to static gait and the orientation control with L1

99279b7f

Oct 20, 2021
- Fix issue with logging and bindings · 53d34aee
  Pierre-Alexandre Leziart authored 3 years ago
  
  53d34aee
- Remove unused z_average parameters · a86aa74a
  Pierre-Alexandre Leziart authored 3 years ago
  
  a86aa74a
Oct 18, 2021
- Tweak joystick references · d0036d11
  odri authored 3 years ago
  
  d0036d11
Oct 17, 2021
- Implement yaw rotation during static phase + Try to fix issue when returning... · 8b2cfb5f
  Pierre-Alexandre Leziart authored 3 years ago
  
  Implement yaw rotation during static phase + Try to fix issue when returning to trot then switching back to static again
  8b2cfb5f
- Continue work on C++ control + Rework joystick to full c++ + Tweak joystick... · 2517c712
  Pierre-Alexandre Leziart authored 3 years ago
  
  Continue work on C++ control + Rework joystick to full c++ + Tweak joystick values + Automatic switch to 4 stance + Position control by joystick
  2517c712
Oct 06, 2021
- Remove unused NLE argument for MPC, comment prints, switch to 500 Hz · c44a6c21
  odri authored 3 years ago
  
  c44a6c21
- Script to test InvKin tasks + Debugging main controller · 5b318996
  Pierre-Alexandre Leziart authored 3 years ago
  
  5b318996
Oct 01, 2021
- Add possibility of NLE feedback in MPC + Add nice(-20) priority + Add lots of... · 98986b84
  odri authored 3 years ago
  
  Add possibility of NLE feedback in MPC + Add nice(-20) priority + Add lots of debug output in QP WBC
  98986b84
Sep 24, 2021
- Switching back to reference angular positions instead of measured ones for the WBC · a5bbb418
  odri authored 3 years ago
  
  a5bbb418
Sep 20, 2021
- Do not sent reference height in goals for WBC · 520d7a66
  Pierre-Alexandre Leziart authored 3 years ago
  
  520d7a66
- Do not provide x, y, yaw of ideal world as goals for whole body control · e0bf1e14
  Pierre-Alexandre Leziart authored 3 years ago
  
  e0bf1e14
Sep 17, 2021
- Pos, vel and jerk feet into the MPC planner for costs · bcf492f0
  thomascbrs authored 3 years ago
  
  bcf492f0
Sep 16, 2021
- Switch from windowed velocity to 15 Hz low pass velocity for footstep planner · fd6b397f
  odri authored 3 years ago
  
  fd6b397f
- Gait refactoring: now directly written in yaml with number of periods in prediction horizon · b2d24044
  odri authored 3 years ago
  
  b2d24044
Sep 15, 2021
- Complete tasks rework to have base/feet, orientation and velocity tasks · b8de9810
  odri authored 3 years ago
  
  b8de9810
Sep 13, 2021
- Commit controller for same reason · 94b50c7f
  Pierre-Alexandre Leziart authored 3 years ago
  
  94b50c7f
Sep 10, 2021
- Switch to reference height for the WBC z position · eb98a446
  odri authored 3 years ago
  
  eb98a446
Sep 07, 2021
- Add debug lines and spheres + Study feet tracking with increasing roll angle · f61903b6
  Pierre-Alexandre Leziart authored 3 years ago
  
  f61903b6
Sep 06, 2021
- Formatting Controller.py · 7124575d
  Pierre-Alexandre Leziart authored 3 years ago
  
  7124575d