Commits · 3b250682a5727ccbddeb89e92025df705c62c54e · Gepetto / quadruped-reactive-walking

Oct 22, 2021
- Debugging WBC · 3b250682
  odri authored 3 years ago
  
  3b250682
Oct 21, 2021

Add DEMONSTRATION parameter in yaml to enable/disable the demonstration... · 99279b7f

odri authored 3 years ago

Add DEMONSTRATION parameter in yaml to enable/disable the demonstration functionalities like the automatic switch to static gait and the orientation control with L1

99279b7f

Oct 20, 2021
- Fix issue with logging and bindings · 53d34aee
  Pierre-Alexandre Leziart authored 3 years ago
  
  53d34aee
- Remove unused z_average parameters · a86aa74a
  Pierre-Alexandre Leziart authored 3 years ago
  
  a86aa74a
Oct 18, 2021
- Tweak joystick references · d0036d11
  odri authored 3 years ago
  
  d0036d11
Oct 17, 2021
- Implement yaw rotation during static phase + Try to fix issue when returning... · 8b2cfb5f
  Pierre-Alexandre Leziart authored 3 years ago
  
  Implement yaw rotation during static phase + Try to fix issue when returning to trot then switching back to static again
  8b2cfb5f
- Continue work on C++ control + Rework joystick to full c++ + Tweak joystick... · 2517c712
  Pierre-Alexandre Leziart authored 3 years ago
  
  Continue work on C++ control + Rework joystick to full c++ + Tweak joystick values + Automatic switch to 4 stance + Position control by joystick
  2517c712
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 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
Sep 24, 2021
- Switching back to reference angular positions instead of measured ones for the WBC · a5bbb418
  odri authored 3 years ago
  
  a5bbb418
Sep 20, 2021
- Do not sent reference height in goals for WBC · 520d7a66
  Pierre-Alexandre Leziart authored 3 years ago
  
  520d7a66
- 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
- Pos, vel and jerk feet into the MPC planner for costs · bcf492f0
  thomascbrs authored 3 years ago
  
  bcf492f0
Sep 16, 2021
- Switch from windowed velocity to 15 Hz low pass velocity for footstep planner · fd6b397f
  odri authored 3 years ago
  
  fd6b397f
- Gait refactoring: now directly written in yaml with number of periods in prediction horizon · b2d24044
  odri authored 3 years ago
  
  b2d24044
Sep 15, 2021
- Complete tasks rework to have base/feet, orientation and velocity tasks · b8de9810
  odri authored 3 years ago
  
  b8de9810
Sep 13, 2021
- Commit controller for same reason · 94b50c7f
  Pierre-Alexandre Leziart authored 3 years ago
  
  94b50c7f
Sep 10, 2021
- 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
- Re-add the free flyer in the inverse kinematics · 991f46f6
  odri authored 3 years ago
  
  991f46f6
Aug 27, 2021
- Changes to test different kinds of fixes for the QP WBC · 5324dbbb
  odri authored 3 years ago
  
  5324dbbb
Aug 25, 2021
- Adapt Kp Kd for new vector form + Tweak corba viewer · 923f6d05
  odri authored 3 years ago
  
  923f6d05
Aug 20, 2021
- Add reference acceleration computation for frame change of acceleration by footTrajectoryGenerator · 154fe606
  odri authored 3 years ago
  
  154fe606
Aug 19, 2021
- Working on Logging (adding, removing, cleaning) · f688142a
  odri authored 3 years ago
  
  f688142a
Aug 18, 2021
- 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
- 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
- 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
Aug 16, 2021
- Modif MPC planner, block optim around previous control cycle · 3f991008
  thomascbrs authored 3 years ago
  
  3f991008
- 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
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