Commits · 101056ac81dd190cdcdcfd18a1840a40c7e44238 · Gepetto / quadruped-reactive-walking · GitLab

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Dec 02, 2020
- Rename mpc-tsid into scripts · 900bcda4
  Pierre-Alexandre Leziart authored 4 years ago
  
  900bcda4
- Moving mpc-tsid into its own subdirectory · 9bc90cb1
  Pierre-Alexandre Leziart authored 4 years ago
  
  9bc90cb1
Nov 30, 2020
- Remove n_periods parameter · 7994b9cb
  Pierre-Alexandre Leziart authored 4 years ago
  
  7994b9cb
- Add parameter to set the duration of the MPC s prediction horizon · 75e19aa8
  Pierre-Alexandre Leziart authored 4 years ago
  
  75e19aa8
- Improved initialisation that takes into account the initial position of feet... · 87c19c7d
  Pierre-Alexandre Leziart authored 4 years ago
  87c19c7d
- Clean, add comments, remove unused parts · 5e4eecf2
  Pierre-Alexandre Leziart authored 4 years ago
  
  5e4eecf2
- Log external forces applied in simulation + Change path of stairs STL · fbcc3870
  odri authored 4 years ago
  
  fbcc3870
- Fix variable holding feedforward torques · d312378d
  Pierre-Alexandre Leziart authored 4 years ago
  
  d312378d
- Switch WBC to 1 kHz + Use true matrix inverse + Fix feet trajectory generation · 56aa78dd
  Pierre-Alexandre Leziart authored 4 years ago
  
  56aa78dd
- Integration of the new blocks in the main loop to run on the real robot or in... · d048ff0c
  Pierre-Alexandre Leziart authored 4 years ago
  d048ff0c
- Trying to debug by cleaning updating MPC and TSID states in two different blocks · d1ac13ee
  Pierre-Alexandre Leziart authored 4 years ago
  
  d1ac13ee
- Integration of accelerometer data in the simulation device · 6d55d91b
  Pierre-Alexandre Leziart authored 4 years ago
  
  6d55d91b
- Rename functions to be consistent with the real device · 75f0bd68
  Pierre-Alexandre Leziart authored 4 years ago
  
  75f0bd68
- Add new Result structure to store control quantities that are sent to the control board · 4c114e3f
  Pierre-Alexandre Leziart authored 4 years ago
  
  4c114e3f
- Spawn robot in the air in simulation + Small fixes for utils_mpc · 871e2b07
  Pierre-Alexandre Leziart authored 4 years ago
  
  871e2b07
- Switch to security mode if the user presses the back button of the gamepad · 1269c300
  Pierre-Alexandre Leziart authored 4 years ago
  
  1269c300
- New security check for torques + Fixes in PyBulletSimulator class · c5fb89c3
  Pierre-Alexandre Leziart authored 4 years ago
  
  c5fb89c3
- create dummyDevice for first iteration of the controller · 90f9fb80
  Thomas Flayols authored 4 years ago
  
  90f9fb80
- PyBullet simulation is now hidden in a wrapper that mimics the interface we... · c0b1ea85
  Pierre-Alexandre Leziart authored 4 years ago
  c0b1ea85
- Small modifs to run on the robot with the new file architecture · babe40de
  Thomas Flayols authored 4 years ago
  
  babe40de
- Creating a new class for the main control loop + dt of TSID is not a global variable anymore · a493b040
  Pierre-Alexandre Leziart authored 4 years ago
  
  a493b040
- Add an additional flat plane during world creation · 026ecdaf
  Pierre-Alexandre Leziart authored 4 years ago
  
  026ecdaf
- Possibility to spawn a big cube with the solo on top of it · 3008c67e
  Pierre-Alexandre Leziart authored 4 years ago
  
  3008c67e
- Comparison between osqp and crocoddyl · 9720d9a2
  Pierre-Alexandre Leziart authored 4 years ago
  
  9720d9a2
Sep 09, 2020
- Clean code and add comments (continued x2) · 8beb4cb4
  Pierre-Alexandre Leziart authored 4 years ago
  
  8beb4cb4
- Clean code and add comments (continued) · 731e3e40
  Pierre-Alexandre Leziart authored 4 years ago
  
  731e3e40
- Add velocity profiles for two new scenarios + Remove reference velocity limiter · 4a2e7391
  Pierre-Alexandre Leziart authored 4 years ago
  
  4a2e7391
- Way to enable/disable GUI in run_scenario + New velocity profile + Tweak state estimator · 85b6115c
  Pierre-Alexandre Leziart authored 4 years ago
  
  85b6115c
- Integration of estimator in the control loop + Small changes for PyBullet... · ea81f303
  Pierre-Alexandre Leziart authored 4 years ago
  ea81f303
- Smooth reference velocity profile + Optimization + Function to get back to default position · f2ce01bc
  Pierre-Alexandre Leziart authored 4 years ago and Pierre-Alexandre Leziart committed 4 years ago
  
  f2ce01bc
- New functions to apply external forces in a smooth way · 3d185466
  Pierre-Alexandre Leziart authored 4 years ago and Pierre-Alexandre Leziart committed 4 years ago
  
  3d185466
- Add rought ground option + Add solo8 option + Testing loop frequency control with a signal · ff6590fa
  Pierre-Alexandre Leziart authored 4 years ago and Pierre-Alexandre Leziart committed 4 years ago
  
  ff6590fa
- Testing OSQP MPC in C++ · 340f55a0
  Pierre-Alexandre Leziart authored 4 years ago
  
  340f55a0
Jul 20, 2020
- Switch from np.matrix to np.array for pinocchio to improve computation time · 34665ebd
  Pierre-Alexandre Leziart authored 4 years ago and Pierre-Alexandre Leziart committed 4 years ago
  
  34665ebd
Jul 06, 2020
- Add support for envID and velID to handle different scenarios · 47118646
  Pierre-Alexandre Leziart authored 4 years ago
  
  47118646
Jul 03, 2020
- Enable external force that acts as a perturbation · e8b29fdd
  Pierre-Alexandre Leziart authored 4 years ago
  
  e8b29fdd
Jul 01, 2020
- Automatic spacing with linter · e9fd54cf
  Pierre-Alexandre Leziart authored 4 years ago
  
  e9fd54cf
Jun 25, 2020
- Tweak Logger to be able to handle the two MPC solvers · 23e6ca6b
  Pierre-Alexandre Leziart authored 4 years ago
  
  23e6ca6b
Jun 17, 2020
- Add gait period as a parameter in the main function · 23b9fd33
  Pierre-Alexandre Leziart authored 4 years ago
  
  23b9fd33
Jun 16, 2020
- Fixing PD+ controller and enabling PyBullet simulation · 5f57e6a9
  Pierre-Alexandre Leziart authored 4 years ago
  
  5f57e6a9