Commits · 0db56812dc85330cd7e3753333bb93b78fcd32fb · Gepetto / quadruped-reactive-walking · GitLab

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Oct 13, 2021
- Switch from std::vector to Eigen Matrix to avoid runtime in FootTrajectoryGenerator · 0db56812
  odri authored 3 years ago
  
  0db56812
Oct 12, 2021
- Finish handling of parallel loop for MPC + Log time of whole loop · f5f69600
  odri authored 3 years ago
  
  f5f69600
Oct 11, 2021
- Switch from boost to mutex · 6da1b3d2
  odri authored 3 years ago
  
  6da1b3d2
- Continue to test things · cd34adc2
  odri authored 3 years ago
  
  cd34adc2
- Trying to use shared memory · 492906d0
  Pierre-Alexandre Leziart authored 3 years ago
  
  492906d0
- Switch from odri to fake robot · 8a0715f4
  Pierre-Alexandre Leziart authored 3 years ago
  
  8a0715f4
- Adding fake robot class for debug purpose · a7212f5d
  Pierre-Alexandre Leziart authored 3 years ago
  
  a7212f5d
Oct 10, 2021
- Continue working on structure of MPC wrapper · 91793997
  Pierre-Alexandre Leziart authored 3 years ago
  
  91793997
- Work on Joystick Class · b2ee8489
  Pierre-Alexandre Leziart authored 3 years ago
  
  b2ee8489
- Continue implementing Controller in C++ and create MpcWrapper C++ class · 5ebf47e3
  Pierre-Alexandre Leziart authored 3 years ago
  
  5ebf47e3
Oct 09, 2021
- Add structure of main loop and Controller in C++ and tweak the CMakeFiles for compilation · d943adf4
  Pierre-Alexandre Leziart authored 3 years ago
  
  d943adf4
Oct 08, 2021
- Add a todo · f3089a12
  odri authored 3 years ago
  
  f3089a12
- Avoid hardcoding mass of the robot in WBC · 2ff6d2b9
  odri authored 3 years ago
  
  2ff6d2b9
- Switch back to 1 kHz + Add new data fields in Logger · 9f95bbc5
  odri authored 3 years ago
  
  9f95bbc5
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 config yaml of second solo · 405099d1
  odri authored 3 years ago
  
  405099d1
- Adapt Invking test script for new architecture · 3f8a4d63
  odri authored 3 years ago
  
  3f8a4d63
- 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
- Add start of a script to debug each InvKin task independently · cd24f70e
  odri authored 3 years ago
  
  cd24f70e
- Add task between world and contact feet · 81daab5b
  odri authored 3 years ago
  
  81daab5b
- Add plot of loop time · 14ec86d8
  odri authored 3 years ago
  
  14ec86d8
- Actualization of replay script · 3c29e53a
  odri authored 3 years ago
  
  3c29e53a
Sep 30, 2021
- Debugging InvKin in WBC · 7cc68d9a
  odri authored 3 years ago
  
  7cc68d9a
Sep 24, 2021
- Tuning yaml parameters to debug the control · d42a3fa9
  odri authored 3 years ago
  
  d42a3fa9
- Tweak mpc convergence script · e099ade6
  odri authored 3 years ago
  
  e099ade6
- Tweak mpc comparison script · 81981141
  odri authored 3 years ago
  
  81981141
- Debug QP of WBC by adding prints and switching to a simpler formulation of the QP · 7a2201e5
  odri authored 3 years ago
  
  7a2201e5
- Add script to adapt the initial joint position with respect to the position of the center of mass · e54069bf
  odri authored 3 years ago
  
  e54069bf
- Define footsteps_under_shoulders as initial position of footsteps instead of... · 53671a32
  odri authored 3 years ago
  
  Define footsteps_under_shoulders as initial position of footsteps instead of being the vertical of the shoulders
  53671a32
- Switching back to reference angular positions instead of measured ones for the WBC · a5bbb418
  odri authored 3 years ago
  
  a5bbb418
Sep 22, 2021
- Add yaml hardware config file as a parameter · 409e7997
  odri authored 3 years ago
  
  409e7997
Sep 21, 2021
- Merge branch 'devel_croco_2' into 'devel-PA' · 1855b38a
  Pierre-Alexandre Leziart authored 3 years ago
  
  Merge devel croco 21/09/2021 See merge request !11
  1855b38a
Sep 20, 2021
- Fix MPC_planner with new config parameters + Formating · a76442c9
  thomascbrs authored 3 years ago
  
  a76442c9
- Do not sent reference height in goals for WBC · 520d7a66
  Pierre-Alexandre Leziart authored 3 years ago
  
  520d7a66
- Plot RMSE between mocap and ref · 38ee7769
  Pierre-Alexandre Leziart authored 3 years ago
  
  38ee7769
- Tweak parameters of WBC · 45cd6b6c
  Pierre-Alexandre Leziart authored 3 years ago
  
  45cd6b6c
- Fix gait initialization by filling past gait matrix with starting gait · 98207eba
  Pierre-Alexandre Leziart authored 3 years ago
  
  98207eba
- Adapt MPC Crocoddyl · 08e32ccf
  Pierre-Alexandre Leziart authored 3 years ago
  
  08e32ccf
- Adapt new structure · 90541db2
  Pierre-Alexandre Leziart authored 3 years ago
  
  90541db2