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Gepetto
quadruped-reactive-walking
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8bad054008c6c1a6fa485fc195f0640b331e98d3
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20
article-ral-iros-improved
casadi-walking
check-crocoddyl-ocp-vs-casadi
costs_creation
demo-2021-07-17
demo-raspberry
devel
devel-Ale
devel-Ale-3DOF
devel-Ale-reduced
devel-Ale-standing
devel-PA
devel-coco
devel_croco
flying
integrate_mpc
main
default
protected
pr/1
release_solo3d
test_mederic
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Created with Raphaël 2.2.0
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add gait shift (even if not necessary)
memory preallocation working with contacts
working whole body
memory preallocation working with contacts
same target as other repo
gait shift concluded
working on gait shift
gait shift concluded
working on gait shift
fix for wb
Merge branch 'devel-Ale-reduced' into devel-Ale
add riccati gains calculation
memory allocation working fine
modified gitignore
modified gitignore
working on memory allocation running, but not working properly
fixed explosion bug
addeded files to repo
start filling repo
changed imports
small fixes
remove all unused files
add skeleton for mpc wrapper
Remove all unnecessary blocks
fix bugs. Have to try time clamp in crocoddyl models
Add parameter to yaml config file to enable/disable compensation forces in QP of WBC
Predefined velocity profile directly in yaml + Model initialization directly in C++ instead of utils.py
Force lateral CoM offset to 0 in third croco MPC + Min vertical force to 0.2N
Switch from pseudoinverse to analytical inverse of the Jacobian
More efficient way than to use np allclose
Switch to analytical inverse of the Jacobian
article-ral-iro…
article-ral-iros-improved
Tweak walk parameters
Tweak torques, joint positions and velocities limits
Do not try to connect to joystick if not needed
Switch to size 18 for InvKin + Tweak LoggerControl
Switch back to only one time step of margin for contact
Tweak walk parameters
Force lateral offset of CoM to 0
Tweak joint angles security limits
New polarities, joint offsets and joint limits
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