Commits · bcf492f0813e3a3ae93a58cb3b4d8f99c065819b · Gepetto / quadruped-reactive-walking · GitLab

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Sep 17, 2021
- Pos, vel and jerk feet into the MPC planner for costs · bcf492f0
  thomascbrs authored 3 years ago
  
  bcf492f0
Sep 16, 2021
- Compute jerk for feet trajectories + python bindings (jerk and timing of flying period) · 57c4a27c
  thomascbrs authored 3 years ago
  
  57c4a27c
Sep 15, 2021
- Complete tasks rework to have base/feet, orientation and velocity tasks · b8de9810
  odri authored 3 years ago
  
  b8de9810
Sep 14, 2021
- Modify acc, x_err, dx_ref in InvKin · 92c9223b
  odri authored 3 years ago
  
  92c9223b
Sep 13, 2021
- Commit controller for same reason · 94b50c7f
  Pierre-Alexandre Leziart authored 3 years ago
  
  94b50c7f
- Fix pseudo inverse template + Make change to place robot in ideal world for new InvKin · 0613aa3c
  Pierre-Alexandre Leziart authored 3 years ago
  
  0613aa3c
- Add script to debug invkin · b814a8f8
  Pierre-Alexandre Leziart authored 3 years ago
  
  b814a8f8
Sep 10, 2021
- Starting to implement new tasks in InvKin · f96d33f1
  odri authored 3 years ago
  
  f96d33f1
- Remove Jacobian block setZero for feet tracking task · 3859bd1b
  odri authored 3 years ago
  
  3859bd1b
- Update yaml with new position offsets + Calibration order and pos · a86c4e4a
  odri authored 3 years ago
  
  a86c4e4a
- Remove shadows from PyBullet simulation for increased performances · c0ee0b08
  odri authored 3 years ago
  
  c0ee0b08
- Switch to reference height for the WBC z position · eb98a446
  odri authored 3 years ago
  
  eb98a446
Sep 07, 2021
- Add debug lines and spheres + Study feet tracking with increasing roll angle · f61903b6
  Pierre-Alexandre Leziart authored 3 years ago
  
  f61903b6
Sep 06, 2021
- Formatting Controller.py · 7124575d
  Pierre-Alexandre Leziart authored 3 years ago
  
  7124575d
Sep 03, 2021
- Adapt controller for gamepad control + Adapt LoggerControl and comparison script · 65ca22ff
  odri authored 3 years ago
  
  65ca22ff
Sep 01, 2021
- Finish reimplementation of free flyer with tasks · 4f9cc16d
  odri authored 3 years ago
  
  4f9cc16d
Aug 30, 2021
- Remove tests with direct torques computation with jacobian or - feet acceleration · 6e5ddb4c
  odri authored 3 years ago
  
  6e5ddb4c
- Re-add the free flyer in the inverse kinematics · 991f46f6
  odri authored 3 years ago
  
  991f46f6
Aug 27, 2021
- Change parameters in crocoddyl planner · 166955d5
  odri authored 3 years ago
  
  166955d5
- Change parameters in crocoddyl planner · 14d77cba
  odri authored 3 years ago
  
  14d77cba
- Remove old osqp parameters for tests · 277c17bd
  odri authored 3 years ago
  
  277c17bd
- Tweak parameters · 19ba211d
  odri authored 3 years ago
  
  19ba211d
- New velocity profiles · 8272bb7b
  odri authored 3 years ago
  
  8272bb7b
- Add graph to compare_mpcs · ffa59a4e
  odri authored 3 years ago
  
  ffa59a4e
- Small tweak for comparison of MPCs · 22e7e6db
  odri authored 3 years ago
  
  22e7e6db
- Add automatic CoM offset computation for the MPC · 50ac2646
  odri authored 3 years ago
  
  50ac2646
- Changes to test different kinds of fixes for the QP WBC · 5324dbbb
  odri authored 3 years ago
  
  5324dbbb
- Merge branch 'devel-PA' of https://gitlab.laas.fr/gepetto/quadruped-reactive-walking into devel-PA · 18534131
  odri authored 3 years ago
  
  18534131
- Merge branch 'devel_croco_2' into 'devel-PA' · f46bc46d
  Pierre-Alexandre Leziart authored 3 years ago
  
  Merge devel croco 27/08/2021 See merge request !9
  f46bc46d
- Add maximum fz force · 73071ad2
  thomascbrs authored 3 years ago
  
  73071ad2
- Return to default tolerances for the QP in the whole body control · 3616bda7
  odri authored 3 years ago
  
  3616bda7
Aug 26, 2021
- Merge branch 'devel_croco_2' into 'devel-PA' · 04a098dc
  Pierre-Alexandre Leziart authored 3 years ago
  
  Merge devel_croco 26/08/2021 See merge request !8
  04a098dc
- Use the reference trajectory of the Com (True) or not (False) for shoulder/contact cost · 00b81c77
  thomascbrs authored 3 years ago
  
  00b81c77
Aug 25, 2021
- Adapt Kp Kd for new vector form + Tweak corba viewer · 923f6d05
  odri authored 3 years ago
  
  923f6d05
- Reduce joystick low pass + Add new velocity profiles · ef70ff1b
  odri authored 3 years ago
  
  ef70ff1b
- Tweak graphs + Adapt loggers to support powerboard data · b38ef7a4
  odri authored 3 years ago
  
  b38ef7a4
- Dummy Powerboard for simulator + Fix apply_external_force function · b86b196a
  odri authored 3 years ago
  
  b86b196a
- Start convergence analysis in the middle of a stance phase and with offset to the nominal state · a2b858e4
  odri authored 3 years ago
  
  a2b858e4
- Forgot line that set value to Ngait · 74012a3b
  odri authored 3 years ago
  
  74012a3b
- Tracking of feet in IK now always active, even during stance phases · c9d4f143
  odri authored 3 years ago
  
  c9d4f143