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Created with Raphaël 2.2.014Oct13121110986130Sep2724222120171615141310763130Aug2726252019181716121096543230Jul292726232119171615126528Jun22109828May25176529Apr28262120191614131211Mar325Feb2416109814Jan13618Dec1615111093230Nov282625212027Oct2321129Sep8117Aug14121154331Jul3029282321201716131063125Jun1817161512Merge branch 'devel-PA' into 'devel-PA'joystick launcherFix library issue, import of yaml and prepare deployment on the robotSupport START button for the gamepad, implement put_on_the_floor function, debug, switch to real interfaceImplementation of gamepad clientSwitch from std::vector to Eigen Matrix to avoid runtime in FootTrajectoryGeneratorFinish handling of parallel loop for MPC + Log time of whole loopSwitch from boost to mutexContinue to test thingsTrying to use shared memorySwitch from odri to fake robotAdding fake robot class for debug purposeContinue working on structure of MPC wrapperWork on Joystick ClassContinue implementing Controller in C++ and create MpcWrapper C++ classAdd structure of main loop and Controller in C++ and tweak the CMakeFiles for compilationAdd a todoAvoid hardcoding mass of the robot in WBCSwitch back to 1 kHz + Add new data fields in LoggerRemove unused NLE argument for MPC, comment prints, switch to 500 HzScript to test InvKin tasks + Debugging main controllerAdd config yaml of second soloAdapt Invking test script for new architectureAdd possibility of NLE feedback in MPC + Add nice(-20) priority + Add lots of debug output in QP WBCAdd start of a script to debug each InvKin task independentlyAdd task between world and contact feetAdd plot of loop timeActualization of replay scriptActualization of replay scriptDebugging InvKin in WBCTweak parametersTuning yaml parameters to debug the controlTweak mpc convergence scriptTweak mpc comparison scriptDebug QP of WBC by adding prints and switching to a simpler formulation of the QPAdd script to adapt the initial joint position with respect to the position of the center of massDefine footsteps_under_shoulders as initial position of footsteps instead of being the vertical of the shouldersSwitching back to reference angular positions instead of measured ones for the WBCFormatting codeUse OSQP weights in Linear MPC, binding of weights vector, update test_convergence_script