Commits · d7627fc4a2bb971a76286c9bc0fcfa3d898badf8 · Gepetto / quadruped-reactive-walking

Apr 12, 2021

paLeziart authored 4 years ago


* Code cleaning and refactor
* Add Types, FootTrajectoryGenerator, Gait, FootstepPlanner classes
* Rename quadruped-reactive-walking qrw

Authored-by: Fanny Risbourg <frisbourg@laas.fr>

Unverified

d7627fc4

Dec 18, 2020
- Implement change of gait with joystick for C++ Planner · b939677c
  Pierre-Alexandre Leziart authored 4 years ago
  
  b939677c
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
- Commenting graphs and debugging · 6d4ead92
  Pierre-Alexandre Leziart authored 4 years ago
  
  6d4ead92
- Remove n_periods parameter · 7994b9cb
  Pierre-Alexandre Leziart authored 4 years ago
  
  7994b9cb
- Add parameter to set the duration of the MPC s prediction horizon · 75e19aa8
  Pierre-Alexandre Leziart authored 4 years ago
  
  75e19aa8
- Integration of Planner in C++ · c6d98967
  Pierre-Alexandre Leziart authored 4 years ago
  
  c6d98967
- Improved initialisation that takes into account the initial position of feet... · 87c19c7d
  Pierre-Alexandre Leziart authored 4 years ago
  
  Improved initialisation that takes into account the initial position of feet and the initial height of the base based on q_init
  87c19c7d
- 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
- Avoid loading matplotlib + New gait functions + Gait transition with XYAB + Tweak getRefStates · d7556d02
  odri authored 4 years ago
  
  d7556d02
- Fix default position of footsteps (wrong offset for shoulders) · 9e3072b0
  Pierre-Alexandre Leziart authored 4 years ago
  
  9e3072b0
- Switch WBC to 1 kHz + Use true matrix inverse + Fix feet trajectory generation · 56aa78dd
  Pierre-Alexandre Leziart authored 4 years ago
  
  56aa78dd
- Debugging new inverse kinematics controller · 4c28ecbf
  Pierre-Alexandre Leziart authored 4 years ago
  
  4c28ecbf
- Add lines to do orientation control with joystick + Plots of MPC references +... · a417938c
  Pierre-Alexandre Leziart authored 4 years ago
  
  Add lines to do orientation control with joystick + Plots of MPC references + Function to create custom gaits + Tweak choice of feet positions + Changes in test functions for debugging
  a417938c
- 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
  
  Integration of the new blocks in the main loop to run on the real robot or in simulation + In openloop for now
  d048ff0c
- Adding TSID in the loop and debugging · 8972175f
  Pierre-Alexandre Leziart authored 4 years ago
  
  8972175f
- Integration and debugging of the new behaviour of the MPC (working in world frame) · 435decba
  Pierre-Alexandre Leziart authored 4 years ago
  
  435decba
- Finish implementation and debugging of Planner (adding Foot trajectory generator, logs, graphs) · 49aac7c9
  Pierre-Alexandre Leziart authored 4 years ago
  
  49aac7c9
- Planner that outputs current and future locations of footsteps, the reference... · 3582ab3d
  Pierre-Alexandre Leziart authored 4 years ago
  
  Planner that outputs current and future locations of footsteps, the reference trajectory of the base based on the reference velocity given by the user and the current position/velocity of the base in TSID world
  3582ab3d