Commits · 86d46dac317ca9067d4a200392293435e4fbc6fd · Gepetto / quadruped-reactive-walking · GitLab

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Oct 05, 2022
- Log and display input state of the WBC · 86d46dac
  odri authored 2 years ago
  
  86d46dac
Oct 04, 2022
- Remove debugging log · 852920a5
  odri authored 2 years ago
  
  852920a5
Sep 26, 2022
- Debugging log · 6fb202f0
  odri authored 2 years ago
  
  6fb202f0
- Disable contact detection, swinging gains and WBC vertical ref · ae244e6e
  odri authored 2 years ago
  
  ae244e6e
- Use put_on_the_floor torques consistent with legs configuration · 023dbfa6
  odri authored 2 years ago
  
  023dbfa6
Sep 08, 2022
- Possibility to apply external force and to spawn block on the ground in pyb_debug function · 2213da16
  Pierre-Alexandre Leziart authored 2 years ago
  
  2213da16
- Formatting · 88defb22
  Pierre-Alexandre Leziart authored 2 years ago
  
  88defb22
- Formating contact detector input · 50699561
  Pierre-Alexandre Leziart authored 2 years ago
  
  50699561
- Smaller PD gains when in swing phase · 23ff057e
  Pierre-Alexandre Leziart authored 2 years ago
  
  23ff057e
- Reference base velocities are given to WBC · 250272b6
  Pierre-Alexandre Leziart authored 2 years ago
  
  250272b6
- C++ OSQP wrapper now also have get_temporary_result function · 8c8e79a3
  Pierre-Alexandre Leziart authored 2 years ago
  
  8c8e79a3
- Tweak WBC feet rotation matrix to have them in horizontal frame · 06895ab9
  Pierre-Alexandre Leziart authored 2 years ago
  
  06895ab9
- Formatting and fixing formulas with new direction of the past gait matrix · 26558501
  Pierre-Alexandre Leziart authored 2 years ago
  
  26558501
- Small addition to the recovery script · c0d363f5
  Pierre-Alexandre Leziart authored 2 years ago
  
  c0d363f5
Sep 02, 2022
- Add alternative getPhaseDuration getElapsedTime getRemainingDuration · d6f5f944
  Pierre-Alexandre Leziart authored 2 years ago
  
  d6f5f944
Aug 31, 2022
- Set minimal contact force to 1N in linear and nonlinear croco · 2d5bde59
  Pierre-Alexandre Leziart authored 2 years ago
  
  2d5bde59
Aug 26, 2022
- First version of recover function · d066f80f
  Pierre-Alexandre Leziart authored 2 years ago
  
  d066f80f
- Spawn a block under the front left foot at a given iteration · 119bfe68
  Pierre-Alexandre Leziart authored 2 years ago
  
  119bfe68
Aug 25, 2022
- Proper handling of parallel loop + Implement get_temporary_result · c59bb1a6
  Pierre-Alexandre Leziart authored 2 years ago
  
  c59bb1a6
- Bindings for C++ MpcWrapper + Use this wrapper when using OSQP MPC · e2b0ba3e
  Pierre-Alexandre Leziart authored 2 years ago
  
  e2b0ba3e
Aug 24, 2022
- Call to C++ MpcWrapper when using OSQP MPC · 90139424
  odri authored 2 years ago
  
  90139424
- Add a binding · f61a02f5
  Pierre-Alexandre Leziart authored 2 years ago
  
  f61a02f5
- Simplify inputs of updateFootsteps and propagate changes inside FootstepPlanner · b883d8e4
  Pierre-Alexandre Leziart authored 2 years ago
  
  b883d8e4
Aug 23, 2022
- Add set functions for past and desired gait · f3497f6e
  Pierre-Alexandre Leziart authored 2 years ago
  
  f3497f6e
Aug 22, 2022
- Fix computation of alphaVelocity in Estimator · c4ec4773
  Pierre-Alexandre Leziart authored 2 years ago
  
  c4ec4773
Aug 19, 2022
- Apply formatting to python files · 5db909f6
  Pierre-Alexandre Leziart authored 2 years ago
  
  5db909f6
- Apply formatting to bindings · da4b85db
  Pierre-Alexandre Leziart authored 2 years ago
  
  da4b85db
- Fix function calls in ContactDetector · de98a900
  Pierre-Alexandre Leziart authored 2 years ago
  
  de98a900
- Partially fix Controller.py · def4cf55
  Pierre-Alexandre Leziart authored 2 years ago
  
  def4cf55
- Fix compilation issues after rebase · 4fce727c
  Pierre-Alexandre Leziart authored 2 years ago
  
  4fce727c
- Rebase changes to PyBulletSimulator from flying branch · cf68e2b2
  Pierre-Alexandre Leziart authored 2 years ago
  
  cf68e2b2
- Rebase changes to MPC_Wrapper from flying branch · 7b5e1c22
  Pierre-Alexandre Leziart authored 2 years ago
  
  7b5e1c22
- Rebase changes to LoggerControl from flying branch · 96328df5
  Pierre-Alexandre Leziart authored 2 years ago
  
  96328df5
- Add ContactDetector from flying branch · 76038de9
  Pierre-Alexandre Leziart authored 2 years ago
  
  76038de9
- Rebase changes to python bindings from flying branch · f92bab14
  Pierre-Alexandre Leziart authored 2 years ago
  
  f92bab14
Apr 27, 2022
- Fix the hardcoded path and add a argparse for the log display · 806e37a0
  Maximilien Naveau authored 2 years ago
  
  806e37a0
- fix small reshape issue and update readme · b5e55f12
  Maximilien Naveau authored 2 years ago
  
  b5e55f12
Apr 19, 2022
- Add parameter to yaml config file to enable/disable compensation forces in QP of WBC · 9c976517
  odri authored 2 years ago
  
  9c976517
- More idiomatic way to append · 0645a3d1
  odri authored 2 years ago
  
  0645a3d1
- Use unfiltered configuration vector for footstepPlanner · a864dbaa
  odri authored 2 years ago
  
  a864dbaa