Commits · d0036d11f3d52f93e7935bf0fdbbd69a7551151a · Gepetto / quadruped-reactive-walking · GitLab

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Oct 18, 2021
- Tweak joystick references · d0036d11
  odri authored 3 years ago
  
  d0036d11
- Add FakePowerboard class to the FakeRobot class · deb370cf
  odri authored 3 years ago
  
  deb370cf
- Change name of ethernet interface · f07af785
  pi authored 3 years ago
  
  f07af785
- Add MQTT interface · 0b8a54a9
  pi authored 3 years ago
  
  0b8a54a9
Oct 17, 2021
- Comment debug RNEA calls in whole body control to reduce computation cost · 7ea73093
  Pierre-Alexandre Leziart authored 3 years ago
  
  7ea73093
- Implement yaw rotation during static phase + Try to fix issue when returning... · 8b2cfb5f
  Pierre-Alexandre Leziart authored 3 years ago
  
  Implement yaw rotation during static phase + Try to fix issue when returning to trot then switching back to static again
  8b2cfb5f
- Continue work on C++ control + Rework joystick to full c++ + Tweak joystick... · 2517c712
  Pierre-Alexandre Leziart authored 3 years ago
  
  Continue work on C++ control + Rework joystick to full c++ + Tweak joystick values + Automatic switch to 4 stance + Position control by joystick
  2517c712
Oct 14, 2021
- Merge branch 'devel-PA' into 'devel-PA' · 95f04c47
  Guilhem Saurel authored 3 years ago
  
  joystick launcher See merge request !12
  95f04c47
- joystick launcher · 8beae832
  Guilhem Saurel authored 3 years ago
  
  8beae832
Oct 13, 2021
- Fix library issue, import of yaml and prepare deployment on the robot · 80fdcbb8
  odri authored 3 years ago
  
  80fdcbb8
- Support START button for the gamepad, implement put_on_the_floor function,... · 2c576e9f
  odri authored 3 years ago
  
  Support START button for the gamepad, implement put_on_the_floor function, debug, switch to real interface
  2c576e9f
- Implementation of gamepad client · e2df2e15
  odri authored 3 years ago
  
  e2df2e15
- Switch from std::vector to Eigen Matrix to avoid runtime in FootTrajectoryGenerator · 0db56812
  odri authored 3 years ago
  
  0db56812
Oct 12, 2021
- Finish handling of parallel loop for MPC + Log time of whole loop · f5f69600
  odri authored 3 years ago
  
  f5f69600
Oct 11, 2021
- Switch from boost to mutex · 6da1b3d2
  odri authored 3 years ago
  
  6da1b3d2
- Continue to test things · cd34adc2
  odri authored 3 years ago
  
  cd34adc2
- Trying to use shared memory · 492906d0
  Pierre-Alexandre Leziart authored 3 years ago
  
  492906d0
- Switch from odri to fake robot · 8a0715f4
  Pierre-Alexandre Leziart authored 3 years ago
  
  8a0715f4
- Adding fake robot class for debug purpose · a7212f5d
  Pierre-Alexandre Leziart authored 3 years ago
  
  a7212f5d
Oct 10, 2021
- Continue working on structure of MPC wrapper · 91793997
  Pierre-Alexandre Leziart authored 3 years ago
  
  91793997
- Work on Joystick Class · b2ee8489
  Pierre-Alexandre Leziart authored 3 years ago
  
  b2ee8489
- Continue implementing Controller in C++ and create MpcWrapper C++ class · 5ebf47e3
  Pierre-Alexandre Leziart authored 3 years ago
  
  5ebf47e3
Oct 09, 2021
- Add structure of main loop and Controller in C++ and tweak the CMakeFiles for compilation · d943adf4
  Pierre-Alexandre Leziart authored 3 years ago
  
  d943adf4
Oct 08, 2021
- Add a todo · f3089a12
  odri authored 3 years ago
  
  f3089a12
- Avoid hardcoding mass of the robot in WBC · 2ff6d2b9
  odri authored 3 years ago
  
  2ff6d2b9
- Switch back to 1 kHz + Add new data fields in Logger · 9f95bbc5
  odri authored 3 years ago
  
  9f95bbc5
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