Commits · 38ee776946d8a6e09891655f5525a870d0f4cab5 · Gepetto / quadruped-reactive-walking · GitLab

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Sep 20, 2021
- 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
- Remove some whitespaces · fee56166
  Pierre-Alexandre Leziart authored 3 years ago
  
  fee56166
- Merge branch 'devel_croco_2' into 'devel-PA' · 043bebb9
  Pierre-Alexandre Leziart authored 3 years ago
  
  Merge devel croco 20/09/2021 See merge request !10
  043bebb9
- Increase again task gains · 3f36ae4b
  Pierre-Alexandre Leziart authored 3 years ago
  
  3f36ae4b
- Change end condition of the interpolation in x and y for the FootTrajectoryGenerator · 0142e213
  Pierre-Alexandre Leziart authored 3 years ago
  
  0142e213
- 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
- Lower WBC gains for tasks · c7f97d47
  odri authored 3 years ago
  
  c7f97d47
- Add RMSE print · c217595c
  odri authored 3 years ago
  
  c217595c
- Possibility to spawn a tilted ground · a931a508
  odri authored 3 years ago
  
  a931a508
- Add a weight vector for the InvKin tasks · fef360d6
  odri authored 3 years ago
  
  fef360d6
- Update tests to evaluate MPCs · 535a9398
  thomascbrs authored 3 years ago
  
  535a9398
- 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 16, 2021
- Switch from windowed velocity to 15 Hz low pass velocity for footstep planner · fd6b397f
  odri authored 3 years ago
  
  fd6b397f
- Add missing binding · c9b26a58
  odri authored 3 years ago
  
  c9b26a58
- Gait refactoring: now directly written in yaml with number of periods in prediction horizon · b2d24044
  odri authored 3 years ago
  
  b2d24044
- Compute jerk for feet trajectories + python bindings (jerk and timing of flying period) · 57c4a27c
  thomascbrs authored 3 years ago
  
  57c4a27c
Sep 15, 2021
- Complete tasks rework to have base/feet, orientation and velocity tasks · b8de9810
  odri authored 3 years ago
  
  b8de9810
Sep 14, 2021
- Modify acc, x_err, dx_ref in InvKin · 92c9223b
  odri authored 3 years ago
  
  92c9223b
Sep 13, 2021
- Commit controller for same reason · 94b50c7f
  Pierre-Alexandre Leziart authored 3 years ago
  
  94b50c7f
- Fix pseudo inverse template + Make change to place robot in ideal world for new InvKin · 0613aa3c
  Pierre-Alexandre Leziart authored 3 years ago
  
  0613aa3c
- Add script to debug invkin · b814a8f8
  Pierre-Alexandre Leziart authored 3 years ago
  
  b814a8f8
Sep 10, 2021
- Starting to implement new tasks in InvKin · f96d33f1
  odri authored 3 years ago
  
  f96d33f1
- Remove Jacobian block setZero for feet tracking task · 3859bd1b
  odri authored 3 years ago
  
  3859bd1b
- Update yaml with new position offsets + Calibration order and pos · a86c4e4a
  odri authored 3 years ago
  
  a86c4e4a
- Remove shadows from PyBullet simulation for increased performances · c0ee0b08
  odri authored 3 years ago
  
  c0ee0b08
- 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
Sep 03, 2021
- Adapt controller for gamepad control + Adapt LoggerControl and comparison script · 65ca22ff
  odri authored 3 years ago
  
  65ca22ff
Sep 01, 2021
- Finish reimplementation of free flyer with tasks · 4f9cc16d
  odri authored 3 years ago
  
  4f9cc16d
Aug 30, 2021
- Remove tests with direct torques computation with jacobian or - feet acceleration · 6e5ddb4c
  odri authored 3 years ago
  
  6e5ddb4c
- Re-add the free flyer in the inverse kinematics · 991f46f6
  odri authored 3 years ago
  
  991f46f6
Aug 27, 2021
- Change parameters in crocoddyl planner · 166955d5
  odri authored 3 years ago
  
  166955d5
- Change parameters in crocoddyl planner · 14d77cba
  odri authored 3 years ago
  
  14d77cba
- Remove old osqp parameters for tests · 277c17bd
  odri authored 3 years ago
  
  277c17bd