Commits · 900bcda494a4ce4850468ff3ac12b353648c0e60 · Gepetto / quadruped-reactive-walking · GitLab

Snippets Groups Projects

Dec 02, 2020
- Rename mpc-tsid into scripts · 900bcda4
  Pierre-Alexandre Leziart authored 4 years ago
  
  900bcda4
- Moving mpc-tsid into its own subdirectory · 9bc90cb1
  Pierre-Alexandre Leziart authored 4 years ago
  
  9bc90cb1
Nov 30, 2020
- Remove n_periods parameter · 7994b9cb
  Pierre-Alexandre Leziart authored 4 years ago
  
  7994b9cb
- Add parameter to set the duration of the MPC s prediction horizon · 75e19aa8
  Pierre-Alexandre Leziart authored 4 years ago
  
  75e19aa8
- Integration of Planner in C++ · c6d98967
  Pierre-Alexandre Leziart authored 4 years ago
  
  c6d98967
- Improved initialisation that takes into account the initial position of feet... · 87c19c7d
  Pierre-Alexandre Leziart authored 4 years ago
  87c19c7d
- Fixing formatting issues · 9f797221
  Pierre-Alexandre Leziart authored 4 years ago
  
  9f797221
- Clean, add comments, remove unused parts · 5e4eecf2
  Pierre-Alexandre Leziart authored 4 years ago
  
  5e4eecf2
- Cleaning controller script · 5daf9c32
  odri authored 4 years ago
  
  5daf9c32
- Cleaning Estimator code · 93449f13
  odri authored 4 years ago
  
  93449f13
- Add logging + Rework control architecture (nothing feedbacks from the WBC,... · e5b0404c
  odri authored 4 years ago
  e5b0404c
- Add logging to assess performance of the WBC · 9ca6b063
  Pierre-Alexandre Leziart authored 4 years ago
  
  9ca6b063
- Changing data going from MPC to WBC + Integration of reference velocity to get... · f9d16257
  Pierre-Alexandre Leziart authored 4 years ago
  f9d16257
- Debugging new inverse kinematics controller · 4c28ecbf
  Pierre-Alexandre Leziart authored 4 years ago
  
  4c28ecbf
- Connect inverse kinematics with WBC QP + Integration in control loop · 63d0281d
  Pierre-Alexandre Leziart authored 4 years ago
  
  63d0281d
- Insert new Planner object into control loop + Take into account the next state... · 6a8684a3
  Pierre-Alexandre Leziart authored 4 years ago
  6a8684a3
- Integration of the new blocks in the main loop to run on the real robot or in... · d048ff0c
  Pierre-Alexandre Leziart authored 4 years ago
  d048ff0c
- Trying to debug by cleaning updating MPC and TSID states in two different blocks · d1ac13ee
  Pierre-Alexandre Leziart authored 4 years ago
  
  d1ac13ee
- Add dummy device + Log reference velocity in estimator + Tune control gains · 6ae6586d
  Pierre-Alexandre Leziart authored 4 years ago
  
  6ae6586d
- Tune control gains for control on the real robot · 3cc2a351
  Pierre-Alexandre Leziart authored 4 years ago
  
  3cc2a351
- 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