Commits · 3f8a4d6341214566a156050f5b0cf3667684f89b · Gepetto / quadruped-reactive-walking · GitLab

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Oct 01, 2021
- Adapt Invking test script for new architecture · 3f8a4d63
  odri authored 3 years ago
  
  3f8a4d63
- 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
- Add start of a script to debug each InvKin task independently · cd24f70e
  odri authored 3 years ago
  
  cd24f70e
- Add plot of loop time · 14ec86d8
  odri authored 3 years ago
  
  14ec86d8
- Actualization of replay script · 3c29e53a
  odri authored 3 years ago
  
  3c29e53a
Sep 24, 2021
- Tweak mpc convergence script · e099ade6
  odri authored 3 years ago
  
  e099ade6
- Tweak mpc comparison script · 81981141
  odri authored 3 years ago
  
  81981141
- Add script to adapt the initial joint position with respect to the position of the center of mass · e54069bf
  odri authored 3 years ago
  
  e54069bf
- Define footsteps_under_shoulders as initial position of footsteps instead of... · 53671a32
  odri authored 3 years ago
  
  Define footsteps_under_shoulders as initial position of footsteps instead of being the vertical of the shoulders
  53671a32
- Switching back to reference angular positions instead of measured ones for the WBC · a5bbb418
  odri authored 3 years ago
  
  a5bbb418
Sep 22, 2021
- Add yaml hardware config file as a parameter · 409e7997
  odri authored 3 years ago
  
  409e7997
Sep 20, 2021
- Fix MPC_planner with new config parameters + Formating · a76442c9
  thomascbrs authored 3 years ago
  
  a76442c9
- Do not sent reference height in goals for WBC · 520d7a66
  Pierre-Alexandre Leziart authored 3 years ago
  
  520d7a66
- Plot RMSE between mocap and ref · 38ee7769
  Pierre-Alexandre Leziart authored 3 years ago
  
  38ee7769
- 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
- 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
- Add RMSE print · c217595c
  odri authored 3 years ago
  
  c217595c
- Possibility to spawn a tilted ground · a931a508
  odri authored 3 years ago
  
  a931a508
- 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
- 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
- Add script to debug invkin · b814a8f8
  Pierre-Alexandre Leziart authored 3 years ago
  
  b814a8f8
Sep 10, 2021
- 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
- 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
- New velocity profiles · 8272bb7b
  odri authored 3 years ago
  
  8272bb7b
- Add graph to compare_mpcs · ffa59a4e
  odri authored 3 years ago
  
  ffa59a4e