Commits · 3481cc8ca1aa3fe652659d6ee2ba96153668f4c5 · Gepetto / quadruped-reactive-walking · GitLab

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Aug 19, 2021
- Remove data fields related to the Kalman filter of the estimator (unused) · 3481cc8c
  odri authored 3 years ago
  
  3481cc8c
Aug 18, 2021
- New set of gains for MPCs (for h_ref), new velocities tests in joystick,... · db79e162
  thomascbrs authored 3 years ago
  
  New set of gains for MPCs (for h_ref), new velocities tests in joystick, scripts to eval RMSE, small fix in control cycle eval scripts
  db79e162
- back to h_ref and not the height given by the MPC · 30076ceb
  thomascbrs authored 3 years ago
  
  30076ceb
- Add small test of footTrajectoryGenerator · 17f71f07
  odri authored 3 years ago
  
  17f71f07
- Remove useless insert into pythonpath · 008afcc9
  odri authored 3 years ago
  
  008afcc9
- Refresh script that launches lots of scenarios · 19029fc4
  odri authored 3 years ago
  
  19029fc4
- Put back windowed velocity in plot · 193657c5
  odri authored 3 years ago
  
  193657c5
- Switch back to h_ref instead of height of the mpc · 761365ac
  odri authored 3 years ago
  
  761365ac
- 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
  
  Rename h_v_bis into h_v_windowed + Remove h_v_windowed_filt + Adjust which data is sent to planner and mpc
  56d0ef9f
Aug 17, 2021
- Delete solo3D folder with visualization tool · 97bc3e3a
  odri authored 3 years ago
  
  97bc3e3a
- Adapt Gepetto viewer for configuration vector of size 18 (roll pitch yaw) · 3a3aac0d
  odri authored 3 years ago
  
  3a3aac0d
- Fix error target in Controller, and modif in MPC Planner · 81e481ca
  thomascbrs authored 3 years ago
  
  81e481ca
- Tweak PD gains in waiting position at start of control · 22b5d608
  odri authored 3 years ago
  
  22b5d608
Aug 16, 2021
- Modif MPC planner, block optim around previous control cycle · 3f991008
  thomascbrs authored 3 years ago
  
  3f991008
- New set of gains, modif to adapt parameters in test_1 · b0904bb4
  thomascbrs authored 3 years ago
  
  b0904bb4
- Fix time.clock() issue, velocity ref to compare MPC linear and non linear · a11d4ddc
  thomascbrs authored 3 years ago
  
  a11d4ddc
- Add height from mpc in WBC · b7222d95
  thomascbrs authored 3 years ago
  
  b7222d95
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
- Switch value to 1 kHz in yaml · 38c4d02c
  odri authored 3 years ago
  
  38c4d02c
- Adapt to new odri interface + Log time of whole loop with interface · a4cfb5b5
  odri authored 3 years ago
  
  a4cfb5b5
- Tune joystick low-pass filter + main function to assess the filtering · afe7da99
  odri authored 3 years ago
  
  afe7da99
Aug 10, 2021
- Remove modulo plot + Fix small formatting issue · 29969d08
  Pierre-Alexandre Leziart authored 3 years ago
  
  29969d08
- Plot to check modulo of the 15Hz filter · b9bc2189
  Pierre-Alexandre Leziart authored 3 years ago
  
  b9bc2189
- 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 code to debug the 15Hz filters (will be removed) · 70841ad9
  odri authored 3 years ago
  
  70841ad9
- 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
- Remove updateState function that has been replaced by a c++ version · d396ce74
  odri authored 3 years ago
  
  d396ce74
- Time spent by each block added to Logger + Integration of 15Hz low pass... · 44fc04c4
  odri authored 3 years ago
  
  Time spent by each block added to Logger + Integration of 15Hz low pass filters in loop + Logging of filtered quantities
  44fc04c4
- Add parameters to yaml file to enable the corba viewer · c85bb851
  odri authored 3 years ago
  
  c85bb851
- Add Filter Python bindings + Clean unused variable in Gait · e98c56e4
  odri authored 3 years ago
  
  e98c56e4
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
- New index offsets after repair · ca57f8b6
  odri authored 3 years ago
  
  ca57f8b6
- Start working on footstep position update in FootstepPlanner · 76b1db59
  Pierre-Alexandre Leziart authored 3 years ago
  
  76b1db59
- Deleted Python QP WBC · 2ddfe57c
  Pierre-Alexandre Leziart authored 3 years ago
  
  2ddfe57c
- Deleted Python InvKin · c97b538c
  Pierre-Alexandre Leziart authored 3 years ago
  
  c97b538c
- Feet indexes with getFrameId · 4a8c7290
  Pierre-Alexandre Leziart authored 3 years ago
  
  4a8c7290
- Adapt LoggerControl for mpc_utils removals + Remove unused log fields · 9f6aba7e
  Pierre-Alexandre Leziart authored 3 years ago
  
  9f6aba7e