Commits · ee334b055a11adcdf3e78e427c2bf1de3144506c · Gepetto / quadruped-reactive-walking · GitLab

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Apr 13, 2021
- New StatePlanner class independent from Planner to generate the CoM trajectory · ee334b05
  Pierre-Alexandre Leziart authored 4 years ago
  
  ee334b05
- Possibility to set the gait directly from Python using setGait instead of updateGait · 41029676
  Pierre-Alexandre Leziart authored 4 years ago
  
  41029676
Apr 12, 2021
- Planner refactor · d7627fc4
  paLeziart authored 4 years ago
  d7627fc4
Mar 11, 2021
- Tweaking solo behaviour during experiments · 5bfe6a26
  odri authored 4 years ago
  
  5bfe6a26
Feb 25, 2021
- Reswitch to old estimator values + Put back things that should not have been... · 5ad96a0f
  odri authored 4 years ago
  5ad96a0f
- Clean code by removing unused stufff · d8dff193
  Pierre-Alexandre Leziart authored 4 years ago
  
  d8dff193
Feb 24, 2021
- Tweaking and enabling timer · 369eef8a
  Pierre-Alexandre Leziart authored 4 years ago
  
  369eef8a
- Cleaning QP_WBC.py · 758650a4
  Pierre-Alexandre Leziart authored 4 years ago
  
  758650a4
Feb 16, 2021
- Possibility to run kalman controller instead of complementary filter · 34d1b9f5
  Pierre-Alexandre Leziart authored 4 years ago
  
  34d1b9f5
Feb 10, 2021
- MPC block also outputs predicted trajectory for state and contact forces · c4f97166
  Pierre-Alexandre Leziart authored 4 years ago
  
  c4f97166
Feb 09, 2021
- Add new loggers for cleaner logging process · aecf6419
  Pierre-Alexandre Leziart authored 4 years ago
  
  aecf6419
Jan 14, 2021
- Fix PyBullet camera tracking + Increase P from 3 to 6 for PD+ · bdbb2397
  Pierre-Alexandre Leziart authored 4 years ago
  
  bdbb2397
Jan 13, 2021
- Clean controller function · e2153eae
  Pierre-Alexandre Leziart authored 4 years ago
  
  e2153eae
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
- 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
  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
- Cleaning controller script · 5daf9c32
  odri authored 4 years ago
  
  5daf9c32
- Cleaning Estimator code · 93449f13
  odri authored 4 years ago
  
  93449f13
- Add logging + Rework control architecture (nothing feedbacks from the WBC,... · e5b0404c
  odri authored 4 years ago
  e5b0404c
- Add logging to assess performance of the WBC · 9ca6b063
  Pierre-Alexandre Leziart authored 4 years ago
  
  9ca6b063
- Changing data going from MPC to WBC + Integration of reference velocity to get... · f9d16257
  Pierre-Alexandre Leziart authored 4 years ago
  f9d16257
- Debugging new inverse kinematics controller · 4c28ecbf
  Pierre-Alexandre Leziart authored 4 years ago
  
  4c28ecbf
- Connect inverse kinematics with WBC QP + Integration in control loop · 63d0281d
  Pierre-Alexandre Leziart authored 4 years ago
  
  63d0281d
- Insert new Planner object into control loop + Take into account the next state... · 6a8684a3
  Pierre-Alexandre Leziart authored 4 years ago
  6a8684a3
- 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
- Add dummy device + Log reference velocity in estimator + Tune control gains · 6ae6586d
  Pierre-Alexandre Leziart authored 4 years ago
  
  6ae6586d
- Tune control gains for control on the real robot · 3cc2a351
  Pierre-Alexandre Leziart authored 4 years ago
  
  3cc2a351
- Add new Result structure to store control quantities that are sent to the control board · 4c114e3f
  Pierre-Alexandre Leziart authored 4 years ago
  
  4c114e3f
- Starting to implement result structure to communicate with control board · 76e1a65a
  Pierre-Alexandre Leziart authored 4 years ago
  
  76e1a65a
- Switch to security mode if the user presses the back button of the gamepad · 1269c300
  Pierre-Alexandre Leziart authored 4 years ago
  
  1269c300
- dummyDevice in init of Controller to run the first iteration of compute automatically · 1a37f0a2
  Pierre-Alexandre Leziart authored 4 years ago
  
  1a37f0a2
- 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
- Rename main.py into Controller.py · 2d7313f4
  Pierre-Alexandre Leziart authored 4 years ago
  
  2d7313f4