Commits · c44a6c21c38e66e9fa31cf558528893b0fcaa68c · Gepetto / quadruped-reactive-walking

Oct 06, 2021
- Remove unused NLE argument for MPC, comment prints, switch to 500 Hz · c44a6c21
  odri authored 3 years ago
  
  c44a6c21
- Script to test InvKin tasks + Debugging main controller · 5b318996
  Pierre-Alexandre Leziart authored 3 years ago
  
  5b318996
Oct 01, 2021
- Add config yaml of second solo · 405099d1
  odri authored 3 years ago
  
  405099d1
- Adapt Invking test script for new architecture · 3f8a4d63
  odri authored 3 years ago
  
  3f8a4d63
- Add possibility of NLE feedback in MPC + Add nice(-20) priority + Add lots of... · 98986b84
  odri authored 3 years ago
  
  Add possibility of NLE feedback in MPC + Add nice(-20) priority + Add lots of debug output in QP WBC
  98986b84
- Add start of a script to debug each InvKin task independently · cd24f70e
  odri authored 3 years ago
  
  cd24f70e
- Add task between world and contact feet · 81daab5b
  odri authored 3 years ago
  
  81daab5b
- Add plot of loop time · 14ec86d8
  odri authored 3 years ago
  
  14ec86d8
- Actualization of replay script · 3c29e53a
  odri authored 3 years ago
  
  3c29e53a
Sep 30, 2021
- Debugging InvKin in WBC · 7cc68d9a
  odri authored 3 years ago
  
  7cc68d9a
Sep 24, 2021
- Tuning yaml parameters to debug the control · d42a3fa9
  odri authored 3 years ago
  
  d42a3fa9
- Tweak mpc convergence script · e099ade6
  odri authored 3 years ago
  
  e099ade6
- Tweak mpc comparison script · 81981141
  odri authored 3 years ago
  
  81981141
- Debug QP of WBC by adding prints and switching to a simpler formulation of the QP · 7a2201e5
  odri authored 3 years ago
  
  7a2201e5
- Add script to adapt the initial joint position with respect to the position of the center of mass · e54069bf
  odri authored 3 years ago
  
  e54069bf
- Define footsteps_under_shoulders as initial position of footsteps instead of... · 53671a32
  odri authored 3 years ago
  
  Define footsteps_under_shoulders as initial position of footsteps instead of being the vertical of the shoulders
  53671a32
- Switching back to reference angular positions instead of measured ones for the WBC · a5bbb418
  odri authored 3 years ago
  
  a5bbb418
Sep 22, 2021
- Add yaml hardware config file as a parameter · 409e7997
  odri authored 3 years ago
  
  409e7997
Sep 21, 2021
- Merge branch 'devel_croco_2' into 'devel-PA' · 1855b38a
  Pierre-Alexandre Leziart authored 3 years ago
  
  Merge devel croco 21/09/2021 See merge request !11
  1855b38a
Sep 20, 2021
- Fix MPC_planner with new config parameters + Formating · a76442c9
  thomascbrs authored 3 years ago
  
  a76442c9
- Do not sent reference height in goals for WBC · 520d7a66
  Pierre-Alexandre Leziart authored 3 years ago
  
  520d7a66
- Plot RMSE between mocap and ref · 38ee7769
  Pierre-Alexandre Leziart authored 3 years ago
  
  38ee7769
- Tweak parameters of WBC · 45cd6b6c
  Pierre-Alexandre Leziart authored 3 years ago
  
  45cd6b6c
- Fix gait initialization by filling past gait matrix with starting gait · 98207eba
  Pierre-Alexandre Leziart authored 3 years ago
  
  98207eba
- Adapt MPC Crocoddyl · 08e32ccf
  Pierre-Alexandre Leziart authored 3 years ago
  
  08e32ccf
- Adapt new structure · 90541db2
  Pierre-Alexandre Leziart authored 3 years ago
  
  90541db2
- Remove some whitespaces · fee56166
  Pierre-Alexandre Leziart authored 3 years ago
  
  fee56166
- Merge branch 'devel_croco_2' into 'devel-PA' · 043bebb9
  Pierre-Alexandre Leziart authored 3 years ago
  
  Merge devel croco 20/09/2021 See merge request !10
  043bebb9
- Increase again task gains · 3f36ae4b
  Pierre-Alexandre Leziart authored 3 years ago
  
  3f36ae4b
- Change end condition of the interpolation in x and y for the FootTrajectoryGenerator · 0142e213
  Pierre-Alexandre Leziart authored 3 years ago
  
  0142e213
- Do not provide x, y, yaw of ideal world as goals for whole body control · e0bf1e14
  Pierre-Alexandre Leziart authored 3 years ago
  
  e0bf1e14
Sep 17, 2021
- Lower WBC gains for tasks · c7f97d47
  odri authored 3 years ago
  
  c7f97d47
- Add RMSE print · c217595c
  odri authored 3 years ago
  
  c217595c
- Possibility to spawn a tilted ground · a931a508
  odri authored 3 years ago
  
  a931a508
- Add a weight vector for the InvKin tasks · fef360d6
  odri authored 3 years ago
  
  fef360d6
- Update tests to evaluate MPCs · 535a9398
  thomascbrs authored 3 years ago
  
  535a9398
- Pos, vel and jerk feet into the MPC planner for costs · bcf492f0
  thomascbrs authored 3 years ago
  
  bcf492f0
- Switch reference curve to forefront · cf8f7a16
  odri authored 3 years ago
  
  cf8f7a16
Sep 16, 2021
- Switch from windowed velocity to 15 Hz low pass velocity for footstep planner · fd6b397f
  odri authored 3 years ago
  
  fd6b397f
- Add missing binding · c9b26a58
  odri authored 3 years ago
  
  c9b26a58