Commits · cf8f7a16d560a170b7200356fb9a83e52ed9f9db · Gepetto / quadruped-reactive-walking · GitLab

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Sep 10, 2021
- Remove shadows from PyBullet simulation for increased performances · c0ee0b08
  odri authored 3 years ago
  
  c0ee0b08
Sep 07, 2021
- Add debug lines and spheres + Study feet tracking with increasing roll angle · f61903b6
  Pierre-Alexandre Leziart authored 3 years ago
  
  f61903b6
Aug 25, 2021
- Dummy Powerboard for simulator + Fix apply_external_force function · b86b196a
  odri authored 3 years ago
  
  b86b196a
Aug 04, 2021
- Fix array dimensions when running on real robot + Filtered velocity given to footstep planner · a0d2c222
  odri authored 3 years ago
  
  a0d2c222
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
Jul 05, 2021
- Small modif to have feet closer to the ground when robot is spawned in Pybullet · 8837eab1
  Pierre-Alexandre Leziart authored 3 years ago
  
  8837eab1
Feb 08, 2021
- Add actuators position and velocity update in SendCommand to handle case in... · 76e83d41
  Pierre-Alexandre Leziart authored 4 years ago
  76e83d41
Jan 13, 2021
- Take into account lever arm of IMU when generating IMU acceleration in... · 142d3337
  Pierre-Alexandre Leziart authored 4 years ago
  142d3337
Dec 03, 2020
- Fix obstacles loading · c4dbeefe
  Pierre-Alexandre Leziart authored 4 years ago
  
  c4dbeefe
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
- Adaptative spawning height of the robot in PyBullet world depending on the... · df1d26d9
  Pierre-Alexandre Leziart authored 4 years ago
  df1d26d9
- 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
- Put PyBullet related functions in separate file · 009ee421
  Pierre-Alexandre Leziart authored 4 years ago
  
  009ee421
- Log external forces applied in simulation + Change path of stairs STL · fbcc3870
  odri authored 4 years ago
  
  fbcc3870
- Fix variable holding feedforward torques · d312378d
  Pierre-Alexandre Leziart authored 4 years ago
  
  d312378d
- Switch WBC to 1 kHz + Use true matrix inverse + Fix feet trajectory generation · 56aa78dd
  Pierre-Alexandre Leziart authored 4 years ago
  
  56aa78dd
- 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
- Integration of accelerometer data in the simulation device · 6d55d91b
  Pierre-Alexandre Leziart authored 4 years ago
  
  6d55d91b
- Rename functions to be consistent with the real device · 75f0bd68
  Pierre-Alexandre Leziart authored 4 years ago
  
  75f0bd68
- Add new Result structure to store control quantities that are sent to the control board · 4c114e3f
  Pierre-Alexandre Leziart authored 4 years ago
  
  4c114e3f
- Spawn robot in the air in simulation + Small fixes for utils_mpc · 871e2b07
  Pierre-Alexandre Leziart authored 4 years ago
  
  871e2b07
- Switch to security mode if the user presses the back button of the gamepad · 1269c300
  Pierre-Alexandre Leziart authored 4 years ago
  
  1269c300
- New security check for torques + Fixes in PyBulletSimulator class · c5fb89c3
  Pierre-Alexandre Leziart authored 4 years ago
  
  c5fb89c3
- 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
- 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
- Add an additional flat plane during world creation · 026ecdaf
  Pierre-Alexandre Leziart authored 4 years ago
  
  026ecdaf
- Possibility to spawn a big cube with the solo on top of it · 3008c67e
  Pierre-Alexandre Leziart authored 4 years ago
  
  3008c67e
- Comparison between osqp and crocoddyl · 9720d9a2
  Pierre-Alexandre Leziart authored 4 years ago
  
  9720d9a2
Sep 09, 2020
- Clean code and add comments (continued x2) · 8beb4cb4
  Pierre-Alexandre Leziart authored 4 years ago
  
  8beb4cb4
- Clean code and add comments (continued) · 731e3e40
  Pierre-Alexandre Leziart authored 4 years ago
  
  731e3e40
- Add velocity profiles for two new scenarios + Remove reference velocity limiter · 4a2e7391
  Pierre-Alexandre Leziart authored 4 years ago
  
  4a2e7391
- Way to enable/disable GUI in run_scenario + New velocity profile + Tweak state estimator · 85b6115c
  Pierre-Alexandre Leziart authored 4 years ago
  
  85b6115c
- Integration of estimator in the control loop + Small changes for PyBullet... · ea81f303
  Pierre-Alexandre Leziart authored 4 years ago
  ea81f303
- Smooth reference velocity profile + Optimization + Function to get back to default position · f2ce01bc
  Pierre-Alexandre Leziart authored 4 years ago and Pierre-Alexandre Leziart committed 4 years ago
  
  f2ce01bc