Commits · fff0310d15a52f64360fdfa4aafe5a244fb75e9c · Gepetto / quadruped-reactive-walking

Nov 05, 2021
- Adapt motor offset after repair · fff0310d
  odri authored 3 years ago
  
  fff0310d
- Remove all traces of Controller from replay script + Adapt it for npz · 0e9fc104
  odri authored 3 years ago
  
  0e9fc104
- Correctly take into account offset of CoM + switch to the same weights than the other MPCs · 872bc7bb
  odri authored 3 years ago
  
  872bc7bb
- Walk parameters to perform the experiments · 2e286934
  odri authored 3 years ago
  
  2e286934
- Change log files that are displayed in compare_mpc · 8bad0540
  odri authored 3 years ago
  
  8bad0540
- Add new velocity profile (number 0) · 80293ab3
  odri authored 3 years ago
  
  80293ab3
Nov 04, 2021
- Merge branch 'devel-PA' into 'devel-PA' · a250c770
  Guilhem Saurel authored 3 years ago
  
  [CMake] set RPATH to $ORIGIN See merge request !17
  a250c770
- [CMake] set RPATH to $ORIGIN · af4bf0f3
  Guilhem Saurel authored 3 years ago
  
  To ease search of the SDK and odri_control_interface when they are installed in the same prefix
  af4bf0f3
Oct 29, 2021
- Small fix to comparison scripts · 5b899f94
  odri authored 3 years ago
  
  5b899f94
- Add two predefined velocity profiles · 3e0bb238
  odri authored 3 years ago
  
  3e0bb238
- No need to force Y offset of CoM in MPC anymore because it is done in utils · 13da98ed
  odri authored 3 years ago
  
  13da98ed
- Force Y offset of CoM to zero · 3b6e34f5
  odri authored 3 years ago
  
  3b6e34f5
- Uncomment lines in test_convergence_mpc.py · 4d886377
  odri authored 3 years ago
  
  4d886377
- Add CoM offset handling that automatically depends on the initial position of the robot · 04bbaba3
  odri authored 3 years ago
  
  04bbaba3
- Reduce joint limits in config_solo12.yaml · 9ebabad6
  odri authored 3 years ago
  
  9ebabad6
- Increase size of arrays that store non zero coefficients · b4a4909d
  odri authored 3 years ago
  
  b4a4909d
Oct 26, 2021
- Add two new velocity profiles to perform tests · 480bf988
  odri authored 3 years ago
  
  480bf988
- Comment stuff that was displayed in the terminal for debug purpose · e6ecb42b
  odri authored 3 years ago
  
  e6ecb42b
- Height limit, fix error in statplanner and heighmap · 967f4902
  thomascbrs authored 3 years ago
  
  967f4902
- Merge branch 'feature-solo-3d' into 'devel-PA' · cd8d6d2c
  Pierre-Alexandre Leziart authored 3 years ago
  
  Merge solo 3d 26/10/2021 See merge request !16
  cd8d6d2c
Oct 25, 2021
- Remove comments and prints, rename variables, clear code · 676ca51c
  thomascbrs authored 3 years ago
  
  676ca51c
- Fix error in Footstepplanner while recomputing the new optimised position · 2896f6b5
  thomascbrs authored 3 years ago
  
  2896f6b5
- Fix height planner, world frame for heightmap · f1c3db72
  thomascbrs authored 3 years ago
  
  f1c3db72
- Estimation of the feet by FK in Bezier planner, in cpp, removed from controller · c0d85d5c
  thomascbrs authored 3 years ago
  
  c0d85d5c
- Comment debug embed · 8c081679
  odri authored 3 years ago
  
  8c081679
- Tweak control gains + Import solo3D only if used + Fix StatePlanner call · da1d68c6
  odri authored 3 years ago
  
  da1d68c6
- Tweak visualization for pybullet camera and debug spheres · 87cbddb1
  odri authored 3 years ago
  
  87cbddb1
- Uncomment security check · b7a7fbde
  odri authored 3 years ago
  
  b7a7fbde
- Remove merging remains · 5321a2f0
  odri authored 3 years ago
  
  5321a2f0
- Merge branch 'feature-solo-3d' into 'devel-PA' · d687f326
  Pierre-Alexandre Leziart authored 3 years ago
  
  Merge solo3D integration 25/10/2021 See merge request !14
  d687f326
- solo3D integration · cad1e053
  thomascbrs authored 3 years ago
  
  cad1e053
- Merge branch 'devel_croco_2' into 'devel-PA' · ffda500c
  Pierre-Alexandre Leziart authored 3 years ago
  
  Merge devel croco 25/10/2021 See merge request !13
  ffda500c
- Merge branch 'devel-PA' into 'devel_croco_2' · a68579f3
  Pierre-Alexandre Leziart authored 3 years ago
  
  # Conflicts: # scripts/test_convergence_mpc.py
  a68579f3
Oct 24, 2021
- Enable compensation forces · 2aa4ff55
  Pierre-Alexandre Leziart authored 3 years ago
  
  2aa4ff55
Oct 22, 2021
- Debugging WBC · 3b250682
  odri authored 3 years ago
  
  3b250682
- Fix indexes of feet joints · 8a239130
  odri authored 3 years ago
  
  8a239130
Oct 21, 2021
- systemd: chrt 99 · 23e56c66
  pi authored 3 years ago
  
  23e56c66
- Add DEMONSTRATION parameter in yaml to enable/disable the demonstration... · 99279b7f
  odri authored 3 years ago
  
  Add DEMONSTRATION parameter in yaml to enable/disable the demonstration functionalities like the automatic switch to static gait and the orientation control with L1
  99279b7f
- Tweak joystick parameters · 620ccbb4
  odri authored 3 years ago
  
  620ccbb4
- Fix for demo: do not listen to mpc when the four feet are in contact · a4e73475
  odri authored 3 years ago
  
  a4e73475