Commits · 4c114e3f1497f99f8d831245b9f49a2062d4f12a · Gepetto / quadruped-reactive-walking · GitLab

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Nov 30, 2020
- Add new Result structure to store control quantities that are sent to the control board · 4c114e3f
  Pierre-Alexandre Leziart authored 4 years ago
  
  4c114e3f
- Starting to implement result structure to communicate with control board · 76e1a65a
  Pierre-Alexandre Leziart authored 4 years ago
  
  76e1a65a
- Switch to security mode if the user presses the back button of the gamepad · 1269c300
  Pierre-Alexandre Leziart authored 4 years ago
  
  1269c300
- dummyDevice in init of Controller to run the first iteration of compute automatically · 1a37f0a2
  Pierre-Alexandre Leziart authored 4 years ago
  
  1a37f0a2
- create dummyDevice for first iteration of the controller · 90f9fb80
  Thomas Flayols authored 4 years ago
  
  90f9fb80
- PyBullet simulation is now hidden in a wrapper that mimics the interface we... · c0b1ea85
  Pierre-Alexandre Leziart authored 4 years ago
  c0b1ea85
- Rename main.py into Controller.py · 2d7313f4
  Pierre-Alexandre Leziart authored 4 years ago
  
  2d7313f4
- Small modifs to run on the robot with the new file architecture · babe40de
  Thomas Flayols authored 4 years ago
  
  babe40de
- Creating a new class for the main control loop + dt of TSID is not a global variable anymore · a493b040
  Pierre-Alexandre Leziart authored 4 years ago
  
  a493b040
- Fix emergency controller that was not using the proper velocity vector · 3801f734
  Pierre-Alexandre Leziart authored 4 years ago
  
  3801f734
- Add the possibility to perform various gaits and to change gait during the simulation · 5394c6c8
  Pierre-Alexandre Leziart authored 4 years ago
  
  5394c6c8
- Working on function to do the transition between two gaits · aab83e8e
  Pierre-Alexandre Leziart authored 4 years ago
  
  aab83e8e
- Comparison between osqp and crocoddyl · 9720d9a2
  Pierre-Alexandre Leziart authored 4 years ago
  
  9720d9a2
Sep 09, 2020
- Fix OSQP C++ segfault when not in multiprocessing · d6843b5c
  Pierre-Alexandre Leziart authored 4 years ago
  
  d6843b5c
- Clean code and add comments (continued x2) · 8beb4cb4
  Pierre-Alexandre Leziart authored 4 years ago
  
  8beb4cb4
- Cleaning code (solving problems notified by linter) · bf7c3a1c
  Pierre-Alexandre Leziart authored 4 years ago
  
  bf7c3a1c
- Clean code and add comments (continued) · 731e3e40
  Pierre-Alexandre Leziart authored 4 years ago
  
  731e3e40
- Clean code and add comments · 8f8a46f7
  Pierre-Alexandre Leziart authored 4 years ago
  
  8f8a46f7
- Remove code whose goal was to test triggering the main loop with a periodic signal · 408abd26
  Pierre-Alexandre Leziart authored 4 years ago
  
  408abd26
- Add velocity profiles for two new scenarios + Remove reference velocity limiter · 4a2e7391
  Pierre-Alexandre Leziart authored 4 years ago
  
  4a2e7391
- Way to enable/disable GUI in run_scenario + New velocity profile + Tweak state estimator · 85b6115c
  Pierre-Alexandre Leziart authored 4 years ago
  
  85b6115c
- Integration of estimator in the control loop + Small changes for PyBullet... · ea81f303
  Pierre-Alexandre Leziart authored 4 years ago
  ea81f303
- Smooth reference velocity profile + Optimization + Function to get back to default position · f2ce01bc
  Pierre-Alexandre Leziart authored 4 years ago and Pierre-Alexandre Leziart committed 4 years ago
  
  f2ce01bc
- Add rought ground option + Add solo8 option + Testing loop frequency control with a signal · ff6590fa
  Pierre-Alexandre Leziart authored 4 years ago and Pierre-Alexandre Leziart committed 4 years ago
  
  ff6590fa
- OSQP solver in C++ replaces the python version + handling TSID failures with... · 9c320bf4
  Pierre-Alexandre Leziart authored 4 years ago and Pierre-Alexandre Leziart committed 4 years ago
  9c320bf4
- Testing OSQP MPC in C++ · 340f55a0
  Pierre-Alexandre Leziart authored 4 years ago
  
  340f55a0
- Switch inverse dynamics to 500 Hz + Debug stuff · 82f01d9b
  Pierre-Alexandre Leziart authored 4 years ago
  
  82f01d9b
Jul 20, 2020
- Switch from np.matrix to np.array for pinocchio to improve computation time · 34665ebd
  Pierre-Alexandre Leziart authored 4 years ago and Pierre-Alexandre Leziart committed 4 years ago
  
  34665ebd
Jul 16, 2020
- Create a new function in processing.py to handle the PD+ · cdbc9315
  Pierre-Alexandre Leziart authored 4 years ago
  
  cdbc9315
- Changes after integration of Crocoddyl solver in MPC_Wrapper + new way to... · 27c024f5
  Pierre-Alexandre Leziart authored 4 years ago
  27c024f5
Jul 13, 2020
- Introducing delay as MPC computation is not instantaneous · 383020d5
  Pierre-Alexandre Leziart authored 4 years ago
  
  383020d5
Jul 06, 2020
- Add support for envID and velID to handle different scenarios · 47118646
  Pierre-Alexandre Leziart authored 4 years ago
  
  47118646
Jul 03, 2020
- Setup comparison between two different scenarios · 9d835c9c
  Pierre-Alexandre Leziart authored 4 years ago
  
  9d835c9c
Jul 01, 2020
- Adapt main.py to be able to launch scenarios from scenarios.py · 05e44741
  Pierre-Alexandre Leziart authored 4 years ago
  
  05e44741
- Automatic spacing with linter · e9fd54cf
  Pierre-Alexandre Leziart authored 4 years ago
  
  e9fd54cf
Jun 25, 2020
- Tweak Logger to be able to handle the two MPC solvers · 23e6ca6b
  Pierre-Alexandre Leziart authored 4 years ago
  
  23e6ca6b
- Rework Logger to have cleaner and more useful graphs + Remove unecessary... · 87c2bc6d
  Pierre-Alexandre Leziart authored 4 years ago
  87c2bc6d
Jun 17, 2020
- Add gait period as a parameter in the main function · 23b9fd33
  Pierre-Alexandre Leziart authored 4 years ago
  
  23b9fd33
Jun 12, 2020
- Small fixes + store height of contacts in fstep_planner.z_contacts · b55c3e16
  Pierre-Alexandre Leziart authored 4 years ago
  
  b55c3e16
Jun 11, 2020
- Removed dependencies to the ContactSequencer object as well as unused arguments · a20da07f
  Pierre-Alexandre Leziart authored 4 years ago
  
  a20da07f