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  • article-ral-iros-improved
  • casadi-walking
  • check-crocoddyl-ocp-vs-casadi
  • costs_creation
  • demo-2021-07-17
  • demo-raspberry
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  • flying
  • integrate_mpc
  • main default protected
  • pr/1
  • release_solo3d
  • test_mederic
20 results
Created with Raphaël 2.2.017Feb16111024Jan20181716131210654321Dec171615139117Nov161598543229Oct2625242221201918171413121110986130Sep2724222120171615141310763130Aug2726252019181716121096543230Jul292726232119171615126528Jun22109828May25176529Apr28262120191614131211Mar325Feb2416109814Jan13618Dec1615111093230NovRemove lines to debug trajectory generatorSwitch log of ctc status truth inside the ContactDetectorRemove bit of code that was used to try to have a parabolic motion in Z in the reference trajectoryAdd TODO to Estimator insteadRemove k_mpc as argument of Gait functions and instead save the value from the initialization with params + Clean a bit main loopAdd ContactDetector to control loop + Misc debug stuffAdd fourth test to mpc to check the consistency of resultsAvoid division by 0 when all feet are in the airTest another default height for trunkSwitch contact detector from mpc resolution to wbc resolutionAdd binding to new getCurrentGaitCoeff functionForce lateral component of CoM position to 0Increase maximum number of non zero elements in MPC matrices for OSQPFormattingFix small index issue for Z component of swing trajectoryLet possibility to hardcode a gait changeSet lever arms to 0.0 when feet in swing phase + Enable warm start for solver with result of last iterationRemove parabolic motion in ZAdd parabolic motion in Z to reference trajectory to guide a jumping motionRemove a lineFirst version of contact detectorInvert direction of contact forces displayAdd unitest for mpcAdd new test for convergence of MPCTweak walk parametersTweak scripts to run scenarios and to analyse the resultsAdd check to avoid going out of arrayAdd new functions to joystick class to perform analysis of operability area with automatic velocity profileComment display during analysis + Avoid creating a gameplay client when following a predefined velocityAdd support of desired velocity for analysis of the operational range of the controllerPut back import to croco mpcsRevert "Delete Crocoddyl folders"Lower the base, small parameters changesPut back compensation termTweak alpha coefficient for FK and IMU merging + Change feet radius coefficientAdd figure to display velocity estimated by forward kinematicsAdd unitest for inverse kinematicsMove unitests in a folderContinue unitestsFinish unitests of foot trajectory generator