Commits · 4f9cc16dd011dc7b2016973fdd9832e024888874 · Gepetto / quadruped-reactive-walking · GitLab

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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
- Tweak parameters · 19ba211d
  odri authored 3 years ago
  
  19ba211d
- New velocity profiles · 8272bb7b
  odri authored 3 years ago
  
  8272bb7b
- Add graph to compare_mpcs · ffa59a4e
  odri authored 3 years ago
  
  ffa59a4e
- Small tweak for comparison of MPCs · 22e7e6db
  odri authored 3 years ago
  
  22e7e6db
- Add automatic CoM offset computation for the MPC · 50ac2646
  odri authored 3 years ago
  
  50ac2646
- Changes to test different kinds of fixes for the QP WBC · 5324dbbb
  odri authored 3 years ago
  
  5324dbbb
- Merge branch 'devel-PA' of https://gitlab.laas.fr/gepetto/quadruped-reactive-walking into devel-PA · 18534131
  odri authored 3 years ago
  
  18534131
- Merge branch 'devel_croco_2' into 'devel-PA' · f46bc46d
  Pierre-Alexandre Leziart authored 3 years ago
  
  Merge devel croco 27/08/2021 See merge request !9
  f46bc46d
- Add maximum fz force · 73071ad2
  thomascbrs authored 3 years ago
  
  73071ad2
- Return to default tolerances for the QP in the whole body control · 3616bda7
  odri authored 3 years ago
  
  3616bda7
Aug 26, 2021
- Merge branch 'devel_croco_2' into 'devel-PA' · 04a098dc
  Pierre-Alexandre Leziart authored 3 years ago
  
  Merge devel_croco 26/08/2021 See merge request !8
  04a098dc
- Use the reference trajectory of the Com (True) or not (False) for shoulder/contact cost · 00b81c77
  thomascbrs authored 3 years ago
  
  00b81c77
Aug 25, 2021
- Adapt Kp Kd for new vector form + Tweak corba viewer · 923f6d05
  odri authored 3 years ago
  
  923f6d05
- Reduce joystick low pass + Add new velocity profiles · ef70ff1b
  odri authored 3 years ago
  
  ef70ff1b
- Tweak graphs + Adapt loggers to support powerboard data · b38ef7a4
  odri authored 3 years ago
  
  b38ef7a4
- Dummy Powerboard for simulator + Fix apply_external_force function · b86b196a
  odri authored 3 years ago
  
  b86b196a
- Start convergence analysis in the middle of a stance phase and with offset to the nominal state · a2b858e4
  odri authored 3 years ago
  
  a2b858e4
- Forgot line that set value to Ngait · 74012a3b
  odri authored 3 years ago
  
  74012a3b
- Tracking of feet in IK now always active, even during stance phases · c9d4f143
  odri authored 3 years ago
  
  c9d4f143
- Kp and Kd are now vectors of size 3 + Ngait is automatically chosen · 5e351f9f
  odri authored 3 years ago
  
  5e351f9f
- Switch OSQP list size to 15000 for longer horizon · 2583ba5d
  odri authored 3 years ago
  
  2583ba5d
- Add new gaits · 91edb354
  odri authored 3 years ago
  
  91edb354
- Merge branch 'devel_croco_2' into 'devel-PA' · e2ac5143
  Pierre-Alexandre Leziart authored 3 years ago
  
  Merge devel croco 25/08/2021 See merge request !7
  e2ac5143
- Fix error to use longer time horizon and modify the nodes on which the... · aa1056fa
  thomascbrs authored 3 years ago
  
  Fix error to use longer time horizon and modify the nodes on which the shoulder-to-contact cost apply
  aa1056fa
Aug 20, 2021
- Script to test convergence of mpcs · 24314fd2
  odri authored 3 years ago
  
  24314fd2
- Tweak for experiments · cfd87db8
  odri authored 3 years ago
  
  cfd87db8
- Merge branch 'devel_croco_2' into 'devel-PA' · 54c1eb4b
  Pierre-Alexandre Leziart authored 3 years ago
  
  Merge devel croco 20/08/2021 bis See merge request !6
  54c1eb4b
- Add type_MPC to input of LoggerControl in main loop · fcda5e0c
  odri authored 3 years ago
  
  fcda5e0c
- Add reference acceleration computation for frame change of acceleration by footTrajectoryGenerator · 154fe606
  odri authored 3 years ago
  
  154fe606
- Increase tolerance of OSQP · a10b0c91
  odri authored 3 years ago
  
  a10b0c91
- Add offset and fix error indexing xref · 0da59dc1
  thomascbrs authored 3 years ago
  
  0da59dc1
- Delete commented line at the end of file · 7379db5f
  odri authored 3 years ago
  
  7379db5f
- Merge branch 'devel_croco_2' into 'devel-PA' · c46b95f6
  Pierre-Alexandre Leziart authored 3 years ago
  
  Merge devel croco 20/08/2021 See merge request !5
  c46b95f6
Aug 19, 2021
- New gains OSQP, new test script t compare mpcs, remove old file · 25b90d14
  thomascbrs authored 3 years ago
  
  25b90d14