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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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  • flying
  • integrate_mpc
  • main default protected
  • pr/1
  • release_solo3d
  • test_mederic
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Created with Raphaël 2.2.06Apr531Mar30252221181715119843224Feb23211716111024Jan20181716131210654321Dec171615139117Nov161598543229Oct2625242221201918171413121110986130Sep2724222120171615141310763130Aug2726252019181716121096543230Jul292726232119171615126528Jun22109828May25176529Apr28262120191614131211Mar325Feb2416109814Jan13618Dec1615111093Fix indent of k since flyingParabolic trajectory generation during full flight phasesfirst commitDisable unused parameters warning with a flagdevel-cocodevel-cocoRemove guide to use solopython calibrator + New script to perform calibration using odri control interfaceNew actuator offsets + Guide to use solopython calibratorDo not installRemove target installDo not compile executableRemove paho from CMakeListRemove paho mqttCreate generic Interface to send data to the controller + Create minimal demo script with that Interface + Set demo for simulation in PyBullet with OSQP MPCMerge branch 'refactoring' into 'devel-PA'Add new function to MPC Wrapper to use a temporary result if the contact status of feet changes between two calls of the MPCRemove regularization cost on contact forces for MPCLower contact threshold from 0.25 to 0.2Apply 1 suggestion(s) to 1 file(s)Apply 1 suggestion(s) to 1 file(s)Apply 1 suggestion(s) to 1 file(s)do feet transform in controllerdisplay functionget_feet_targetssolve_mpc fucnctioncreate run_estimatorcreate get_perfect_data functionremove vectors from initchange vector shapecontroller fix imports solo3dpyb and controllerFix issue with ctc term for before/after expect switch + Move contact detection from PyBullet truth to a detection based on velocity and expected contact termsAdd graph to debug probability curves for contact detectionTweak graphs for contact detection analysis and add function to tune the value of the decision thresholdDisable foot lowering when contact is lateDisable taking into account foot height for nowAdd new velocity profile to log data about contactsTweak MPC temporary result that is used while the MPC is solvingfix rebasechange q_intiremovelineswork on controller