Commits · 83f7fcf6968e8652228b2d51bf8f1a4f7c7ea881 · Gepetto / quadruped-reactive-walking · GitLab

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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
  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
Aug 06, 2021
- Add code to debug the 15Hz filters (will be removed) · 70841ad9
  odri authored 3 years ago
  
  70841ad9
- Switch orientation part of q vector in main loop to roll pitch yaw instead of quaternion · 60ff897e
  odri authored 3 years ago
  
  60ff897e
- Remove updateState function that has been replaced by a c++ version · d396ce74
  odri authored 3 years ago
  
  d396ce74
- Time spent by each block added to Logger + Integration of 15Hz low pass... · 44fc04c4
  odri authored 3 years ago
  44fc04c4
- Add parameters to yaml file to enable the corba viewer · c85bb851
  odri authored 3 years ago
  
  c85bb851
- Add Filter Python bindings + Clean unused variable in Gait · e98c56e4
  odri authored 3 years ago
  
  e98c56e4
Aug 05, 2021
- Remove unused variable x_f_wbc from main loop and LoggerControl · 7c67e8e7
  odri authored 3 years ago
  
  7c67e8e7
Aug 04, 2021
- Fix array dimensions when running on real robot + Filtered velocity given to footstep planner · a0d2c222
  odri authored 3 years ago
  
  a0d2c222
Aug 03, 2021
- Start working on footstep position update in FootstepPlanner · 76b1db59
  Pierre-Alexandre Leziart authored 3 years ago
  
  76b1db59
- Deleted Python QP WBC · 2ddfe57c
  Pierre-Alexandre Leziart authored 3 years ago
  
  2ddfe57c
Aug 02, 2021
- Add estimator cut frequency and PD+ gains to the yaml for easier tuning · d5cb3bc8
  Pierre-Alexandre Leziart authored 3 years ago
  
  d5cb3bc8
Jul 29, 2021
- Switching to odri_control_interface instead of solopython to retrieve from and... · 30b667aa
  odri authored 3 years ago
  30b667aa
Jul 27, 2021
- Switch updateState function to a C++ version included in Estimator class,... · 6391f635
  Pierre-Alexandre Leziart authored 3 years ago
  6391f635
Jul 26, 2021
- Finish switching to full C++ for the whole-body control part + Error is no... · ace49f32
  Pierre-Alexandre Leziart authored 3 years ago
  ace49f32
Jul 16, 2021
- Debugging new c++ block · 7c4577c6
  odri authored 3 years ago
  
  7c4577c6
- Switch Inverse Kinematics block to full c++ instead of a mix of python and c++ · 8db10bb4
  odri authored 3 years ago
  
  8db10bb4
Jul 15, 2021
- Remove mention to TSID · bca51854
  odri authored 3 years ago
  
  bca51854
- Add C++ version of security check · 78274754
  odri authored 3 years ago
  
  78274754
- Replace python estimator by C++ version + Adapt logger for new estimator · c22e0f2c
  Pierre-Alexandre Leziart authored 3 years ago
  
  c22e0f2c
- Debug and test C++ version of Estimator · ef526431
  Pierre-Alexandre Leziart authored 3 years ago
  
  ef526431
- Add C++ functions to FootTrajectoryGeneration for more efficient frame... · 01fbdae0
  Pierre-Alexandre Leziart authored 3 years ago
  01fbdae0
- Merge from Devel Croco 14/07/2021 · 2e45b57e
  Pierre-Alexandre Leziart authored 3 years ago
  
  2e45b57e
Jul 05, 2021
- Continue integration of Params to centralize all parameters · a42895e9
  Pierre-Alexandre Leziart authored 3 years ago
  
  a42895e9
Jun 28, 2021
- Refactoring to control all hardcoded parameters from the yaml file (not finished) · 4add8549
  Pierre-Alexandre Leziart authored 3 years ago
  
  4add8549
Jun 22, 2021
- Choice of MPC with integer + Foot trajectory generator after MPC in case MPC... · b2c5f53f
  Pierre-Alexandre Leziart authored 3 years ago
  b2c5f53f
Jun 10, 2021
- Switch all solo12 loading to SoloLoader + architecture to run scenarios from... · 2fd5429a
  Pierre-Alexandre Leziart authored 3 years ago
  2fd5429a
Jun 09, 2021
- Remove unecessary angle transformations from state update procedure, for computational efficiency · 366b2e47
  Pierre-Alexandre Leziart authored 3 years ago
  
  366b2e47