Commits · b2c5f53f2d10baebf49ef9d687da7f5dc7641c87 · Gepetto / quadruped-reactive-walking · GitLab

Snippets Groups Projects

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
Jun 08, 2021
- Adapt controller to new architecture · 990891ac
  Pierre-Alexandre Leziart authored 3 years ago
  
  990891ac
May 28, 2021
- Work on main control loop and InvKin in base frame · 4cda56b4
  Pierre-Alexandre Leziart authored 3 years ago
  
  4cda56b4
May 05, 2021
- Change control architecture to work in horizontal frame with reference... · c6542b87
  Pierre-Alexandre Leziart authored 3 years ago
  c6542b87
Apr 29, 2021
- Remove old logger that was not used anymore · 18d5aa74
  Pierre-Alexandre Leziart authored 3 years ago
  
  18d5aa74
Apr 26, 2021
- Remove config.h and finish integration of yaml config file · 9cb07cd6
  Pierre-Alexandre Leziart authored 4 years ago
  
  9cb07cd6
- Add yaml file to centralize the control of parameters · 841f01df
  Pierre-Alexandre Leziart authored 4 years ago
  
  841f01df
Apr 21, 2021
- Add possibility to use estimator with perfect height and linear velocity... · 3de310d3
  Pierre-Alexandre Leziart authored 4 years ago
  3de310d3
- Add load from .npz function for logs + Interactive figures to analyze the predicted trajectory · c68d4e14
  Pierre-Alexandre Leziart authored 4 years ago
  
  c68d4e14
Apr 20, 2021
- Add common N0_gait parameter to tune the number of spare lines in the gait matrix · 17ee9af7
  Pierre-Alexandre Leziart authored 4 years ago
  
  17ee9af7
- Finish switching from 5 columns to 4 columns for gait matrix (other blocks are now compatible) · 2afd964d
  Pierre-Alexandre Leziart authored 4 years ago
  
  2afd964d
Apr 19, 2021
- Refactoring · b915efb7
  Fanny Risbourg authored 4 years ago
  
  b915efb7
- Remove first column of gait matrix that contained the duration of each gait... · c0561629
  Pierre-Alexandre Leziart authored 4 years ago
  c0561629
Apr 16, 2021
- Cleaning and commenting · bca4c60d
  Pierre-Alexandre Leziart authored 4 years ago
  
  bca4c60d
- New organization and bidings to call Gait, FootstepPlanner and... · e5c969b7
  Pierre-Alexandre Leziart authored 4 years ago
  e5c969b7
Apr 14, 2021
- Making Gait class independent from the rest · 73d4cf8b
  Pierre-Alexandre Leziart authored 4 years ago
  
  73d4cf8b
Apr 13, 2021
- New StatePlanner class independent from Planner to generate the CoM trajectory · ee334b05
  Pierre-Alexandre Leziart authored 4 years ago
  
  ee334b05
- Possibility to set the gait directly from Python using setGait instead of updateGait · 41029676
  Pierre-Alexandre Leziart authored 4 years ago
  
  41029676
Apr 12, 2021
- Planner refactor · d7627fc4
  paLeziart authored 4 years ago
  Unverified
  
  d7627fc4
Mar 11, 2021
- Tweaking solo behaviour during experiments · 5bfe6a26
  odri authored 4 years ago
  
  5bfe6a26
Feb 25, 2021
- Reswitch to old estimator values + Put back things that should not have been... · 5ad96a0f
  odri authored 4 years ago
  5ad96a0f
- Clean code by removing unused stufff · d8dff193
  Pierre-Alexandre Leziart authored 4 years ago
  
  d8dff193
Feb 24, 2021
- Tweaking and enabling timer · 369eef8a
  Pierre-Alexandre Leziart authored 4 years ago
  
  369eef8a
- Cleaning QP_WBC.py · 758650a4
  Pierre-Alexandre Leziart authored 4 years ago
  
  758650a4
Feb 16, 2021
- Possibility to run kalman controller instead of complementary filter · 34d1b9f5
  Pierre-Alexandre Leziart authored 4 years ago
  
  34d1b9f5
Feb 10, 2021
- MPC block also outputs predicted trajectory for state and contact forces · c4f97166
  Pierre-Alexandre Leziart authored 4 years ago
  
  c4f97166
Feb 09, 2021
- Add new loggers for cleaner logging process · aecf6419
  Pierre-Alexandre Leziart authored 4 years ago
  
  aecf6419
Jan 14, 2021
- Fix PyBullet camera tracking + Increase P from 3 to 6 for PD+ · bdbb2397
  Pierre-Alexandre Leziart authored 4 years ago
  
  bdbb2397
Jan 13, 2021
- Clean controller function · e2153eae
  Pierre-Alexandre Leziart authored 4 years ago
  
  e2153eae
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