Commits · b86b196a80343fe462df527c47f8c5e6b6bdd553 · Gepetto / quadruped-reactive-walking · GitLab

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Aug 16, 2021
- Modif MPC planner, block optim around previous control cycle · 3f991008
  thomascbrs authored 3 years ago
  
  3f991008
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 06, 2021
- Switch orientation part of q vector in main loop to roll pitch yaw instead of quaternion · 60ff897e
  odri authored 3 years ago
  
  60ff897e
Aug 02, 2021
- Fix feet logging that was disabled since we switched to c++ · ce49685d
  Pierre-Alexandre Leziart authored 3 years ago
  
  ce49685d
Jul 30, 2021
- Adapt fake PyBullet device for new odri_control_interface · 6918a30c
  odri authored 3 years ago
  
  6918a30c
Jul 15, 2021
- Replace conversion functions by more efficient versions + Remove debug interface of PyBullet · c1a8a2d7
  Pierre-Alexandre Leziart authored 3 years ago
  
  c1a8a2d7
- Merge from Devel Croco 14/07/2021 · 2e45b57e
  Pierre-Alexandre Leziart authored 3 years ago
  
  2e45b57e
Jul 06, 2021
- Small fix of a variable in parallel loop · 6e383bd4
  Pierre-Alexandre Leziart authored 3 years ago
  
  6e383bd4
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

Choice of MPC with integer + Foot trajectory generator after MPC in case MPC optimizes footsteps + Adapt MPC Crocoddyl with footsteps optimization to the new architecture

b2c5f53f

Jun 09, 2021
- Fix MPC Wrapper in parallel mode · bb592b61
  Pierre-Alexandre Leziart authored 3 years ago
  
  bb592b61
Apr 29, 2021
- Start working on adaptation of crocoddyl mpc with current state of the code · a6142037
  Pierre-Alexandre Leziart authored 3 years ago
  
  a6142037
Apr 26, 2021
- Remove config.h and finish integration of yaml config file · 9cb07cd6
  Pierre-Alexandre Leziart authored 3 years ago
  
  9cb07cd6
Apr 20, 2021
- Add common N0_gait parameter to tune the number of spare lines in the gait matrix · 17ee9af7
  Pierre-Alexandre Leziart authored 3 years ago
  
  17ee9af7
- Finish switching from 5 columns to 4 columns for gait matrix (other blocks are now compatible) · 2afd964d
  Pierre-Alexandre Leziart authored 3 years ago
  
  2afd964d
Apr 19, 2021
- Remove first column of gait matrix that contained the duration of each gait... · c0561629
  Pierre-Alexandre Leziart authored 3 years ago
  
  Remove first column of gait matrix that contained the duration of each gait phase. Now gait matrix has one line for each timestep.
  c0561629
Apr 16, 2021
- New organization and bidings to call Gait, FootstepPlanner and... · e5c969b7
  Pierre-Alexandre Leziart authored 3 years ago
  
  New organization and bidings to call Gait, FootstepPlanner and FootTrajectoryGenerator directly from Python
  e5c969b7
Feb 16, 2021
- Cleaning MPC + fix MPC default output (the one before the MPC finishes its computation) · 57fb6d44
  Pierre-Alexandre Leziart authored 4 years ago
  
  57fb6d44
Feb 10, 2021
- MPC block also outputs predicted trajectory for state and contact forces · c4f97166
  Pierre-Alexandre Leziart authored 4 years ago
  
  c4f97166
Feb 08, 2021
- Properly update MPC warm start when contact status is modified · e360f166
  Pierre-Alexandre Leziart authored 4 years ago
  
  e360f166
Dec 03, 2020
- Move and rename python scripts · 63a343e2
  Pierre-Alexandre Leziart authored 4 years ago
  
  63a343e2
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
- Clean, add comments, remove unused parts · 5e4eecf2
  Pierre-Alexandre Leziart authored 4 years ago
  
  5e4eecf2
- Integration and debugging of the new behaviour of the MPC (working in world frame) · 435decba
  Pierre-Alexandre Leziart authored 4 years ago
  
  435decba
- Small modifs to run on the robot with the new file architecture · babe40de
  Thomas Flayols authored 4 years ago
  
  babe40de
Sep 09, 2020
- Fix OSQP C++ segfault when not in multiprocessing · d6843b5c
  Pierre-Alexandre Leziart authored 4 years ago
  
  d6843b5c
- Adapt crocoddyl_eval/test_1 for new commits · aedacf29
  Pierre-Alexandre Leziart authored 4 years ago
  
  aedacf29
- 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 · 8f8a46f7
  Pierre-Alexandre Leziart authored 4 years ago
  
  8f8a46f7
- Add a function to properly stop the parallel process at the end of the simulation · 5579ac34
  Pierre-Alexandre Leziart authored 4 years ago
  
  5579ac34
- OSQP solver in C++ replaces the python version + handling TSID failures with... · 9c320bf4
  Pierre-Alexandre Leziart authored 4 years ago and Pierre-Alexandre Leziart committed 4 years ago
  
  OSQP solver in C++ replaces the python version + handling TSID failures with safety controller + offset_z to compensate vertical drift in TSID (commented)
  9c320bf4
- Testing OSQP MPC in C++ · 340f55a0
  Pierre-Alexandre Leziart authored 4 years ago
  
  340f55a0
Sep 08, 2020
- new arguments in the MPC_crocoddyl class initialisation · 34bec3cc
  Thomas Corberes authored 4 years ago
  
  34bec3cc
Aug 12, 2020
- Adding boolean for the new non linear mpc that does not take into account the lever arm assumption · 9eeaf360
  Thomas Corberes authored 4 years ago
  
  9eeaf360
Jul 16, 2020
- Include Crocoddyl solver in MPC_Wrapper (asynchronous version) · bd5135c7
  Pierre-Alexandre Leziart authored 4 years ago
  
  bd5135c7
- Include Crocoddyl solver in MPC_Wrapper (synchronous version) · eeaf5573
  Pierre-Alexandre Leziart authored 4 years ago
  
  eeaf5573
- Update parallel behaviour of MPC_Wrapper to fit the new numbers of parameters · 0cef41cc
  Pierre-Alexandre Leziart authored 4 years ago
  
  0cef41cc
Jul 13, 2020
- Introducing delay as MPC computation is not instantaneous · 383020d5
  Pierre-Alexandre Leziart authored 4 years ago
  
  383020d5