Commits · 14ec86d885abd15b31caa45bd6c2294dd1df46e0 · Gepetto / quadruped-reactive-walking · GitLab

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Oct 01, 2021
- Add plot of loop time · 14ec86d8
  odri authored 3 years ago
  
  14ec86d8
Sep 20, 2021
- Plot RMSE between mocap and ref · 38ee7769
  Pierre-Alexandre Leziart authored 3 years ago
  
  38ee7769
Sep 17, 2021
- Add RMSE print · c217595c
  odri authored 3 years ago
  
  c217595c
- Pos, vel and jerk feet into the MPC planner for costs · bcf492f0
  thomascbrs authored 3 years ago
  
  bcf492f0
- Switch reference curve to forefront · cf8f7a16
  odri authored 3 years ago
  
  cf8f7a16
Sep 03, 2021
- Adapt controller for gamepad control + Adapt LoggerControl and comparison script · 65ca22ff
  odri authored 3 years ago
  
  65ca22ff
Aug 25, 2021
- Tweak graphs + Adapt loggers to support powerboard data · b38ef7a4
  odri authored 3 years ago
  
  b38ef7a4
Aug 19, 2021
- Fix log of h_v_windowed + Add MPC_type to the name of the log file · caea49f1
  odri authored 3 years ago
  
  caea49f1
- Clean and comment figures of LoggerControl · 83f7fcf6
  odri authored 3 years ago
  
  83f7fcf6
- Switch from savez to savez_compressed · 6a30c45f
  odri authored 3 years ago
  
  6a30c45f
- Working on Logging (adding, removing, cleaning) · f688142a
  odri authored 3 years ago
  
  f688142a
- Remove data fields related to the Kalman filter of the estimator (unused) · 3481cc8c
  odri authored 3 years ago
  
  3481cc8c
Aug 18, 2021
- Put back windowed velocity in plot · 193657c5
  odri authored 3 years ago
  
  193657c5
- Add oRb matrix in estimator and expose it with bindings · 6cef08d8
  odri authored 3 years ago
  
  6cef08d8
- Rename h_v_bis into h_v_windowed + Remove h_v_windowed_filt + Adjust which... · 56d0ef9f
  odri authored 3 years ago
  56d0ef9f
Aug 12, 2021
- Use filtered quantities in main loop + Log MPC solving time + Adapt logger for new quantities · 2c39e436
  odri authored 3 years ago
  
  2c39e436
Aug 10, 2021
- Tweak plot to also display the estimated position of feet in base frame · 709015e6
  Pierre-Alexandre Leziart authored 3 years ago
  
  709015e6
Aug 06, 2021
- Add graph to plot comparison of raw and filtered positions · 5575b764
  odri authored 3 years ago
  
  5575b764
- Switch orientation part of q vector in main loop to roll pitch yaw instead of quaternion · 60ff897e
  odri authored 3 years ago
  
  60ff897e
- Time spent by each block added to Logger + Integration of 15Hz low pass... · 44fc04c4
  odri authored 3 years ago
  44fc04c4
Aug 05, 2021
- Remove unused variable x_f_wbc from main loop and LoggerControl · 7c67e8e7
  odri authored 3 years ago
  
  7c67e8e7
Aug 04, 2021
- Fix array dimensions when running on real robot + Filtered velocity given to footstep planner · a0d2c222
  odri authored 3 years ago
  
  a0d2c222
Aug 03, 2021
- Adapt LoggerControl for mpc_utils removals + Remove unused log fields · 9f6aba7e
  Pierre-Alexandre Leziart authored 3 years ago
  
  9f6aba7e
Jul 29, 2021
- Switching to odri_control_interface instead of solopython to retrieve from and... · 30b667aa
  odri authored 3 years ago
  30b667aa
Jul 26, 2021
- Avoid redundant computation in WBC Wrapper · c8dac10e
  Pierre-Alexandre Leziart authored 3 years ago
  
  c8dac10e
- Finish switching to full C++ for the whole-body control part + Error is no... · ace49f32
  Pierre-Alexandre Leziart authored 3 years ago
  ace49f32
Jul 16, 2021
- Debugging new c++ block · 7c4577c6
  odri authored 3 years ago
  
  7c4577c6
Jul 15, 2021
- Replace python estimator by C++ version + Adapt logger for new estimator · c22e0f2c
  Pierre-Alexandre Leziart authored 3 years ago
  
  c22e0f2c
Jun 22, 2021
- Choice of MPC with integer + Foot trajectory generator after MPC in case MPC... · b2c5f53f
  Pierre-Alexandre Leziart authored 3 years ago
  b2c5f53f
Jun 10, 2021
- Switch all solo12 loading to SoloLoader + architecture to run scenarios from... · 2fd5429a
  Pierre-Alexandre Leziart authored 3 years ago
  2fd5429a
Jun 08, 2021
- Adapt logging and plots to new architecture · 621127a4
  Pierre-Alexandre Leziart authored 3 years ago
  
  621127a4
May 28, 2021
- Work on main control loop and InvKin in base frame · 4cda56b4
  Pierre-Alexandre Leziart authored 3 years ago
  
  4cda56b4
May 25, 2021
- Add graphs to debug footsteps · a5dc880b
  Pierre-Alexandre Leziart authored 3 years ago
  
  a5dc880b
May 05, 2021
- Change control architecture to work in horizontal frame with reference... · c6542b87
  Pierre-Alexandre Leziart authored 3 years ago
  c6542b87
Apr 26, 2021
- Add yaml file to centralize the control of parameters · 841f01df
  Pierre-Alexandre Leziart authored 4 years ago
  
  841f01df
Apr 21, 2021
- Add load from .npz function for logs + Interactive figures to analyze the predicted trajectory · c68d4e14
  Pierre-Alexandre Leziart authored 4 years ago
  
  c68d4e14
Apr 20, 2021
- Add common N0_gait parameter to tune the number of spare lines in the gait matrix · 17ee9af7
  Pierre-Alexandre Leziart authored 4 years ago
  
  17ee9af7
- Small fixes after merge · 9a7edc59
  Pierre-Alexandre Leziart authored 4 years ago
  
  9a7edc59
- Finish switching from 5 columns to 4 columns for gait matrix (other blocks are now compatible) · 2afd964d
  Pierre-Alexandre Leziart authored 4 years ago
  
  2afd964d
Apr 12, 2021
- Planner refactor · d7627fc4
  paLeziart authored 4 years ago
  Unverified
  
  d7627fc4