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  • article-ral-iros-improved
  • casadi-walking
  • check-crocoddyl-ocp-vs-casadi
  • costs_creation
  • demo-2021-07-17
  • demo-raspberry
  • devel
  • devel-Ale
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  • devel-Ale-reduced
  • devel-Ale-standing
  • devel-PA
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  • integrate_mpc
  • main default protected
  • pr/1
  • release_solo3d
  • test_mederic
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Created with Raphaël 2.2.012Jan1130Nov242318175Oct426Sep20151413121187652131Aug3029262524232219181716121110985432129Jul2827262522212019181713121110876510Jun331May19171613103228Apr27222119126531Mar30252221181715119843224Feb23211716111024Jan201817161312106Enable only cost on velocity trackingComment ShootingNodeComment ProblemDataComment TargetComment CasadiOCP and remove unused parameters and variablesStart commenting[CMake] make MQTT optinalApply automatic formattingtest simulationtime_mpctime_mpcupdate torch_regressiontrain networkxps casadi forceplot comparison force failLog and display input state of the WBCTweak components of the position estimation filter of the EstimatorDisable special weight assignment for base task when all feet are in the airRevert "Switch back to 6th degree polynomial for Z + Previous EstimatorSet up simulation with forward walk at 1 m/s and turn at 0.5 rad/sRemove debugging logDebugging logDisable contact detection, swinging gains and WBC vertical refSwitch back to previous walk parameters (except vert lock)Reduce maximum lateral velocity with JoystickUse put_on_the_floor torques consistent with legs configurationSwitch back to previous Estimator parametersSwitch back to 6th degree polynomial for ZUpdate motor polarities and offsetstask as terminal costdevel-Ale-stand…devel-Ale-standingfirst trialslast walking experimentcode for xps, logger prepared for ocp plotsdevel-Ale-3DOFdevel-Ale-3DOFcode for xps, logger prepared for ocp plotsdebugging walkfix big plotfix k initializationfix k initializationfix k initializationocp plots trialfixed plot loadingworking 1KHz