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Created with Raphaël 2.2.018Oct171413121110986130Sep2724222120171615141310763130Aug2726252019181716121096543230Jul292726232119171615126528Jun22109828May25176529Apr28262120191614131211Mar325Feb2416109814Jan13618Dec1615111093230Nov282625212027Oct2321129Sep8117Aug14121154331Jul3029282321201716131063125Jun18Tweak joystick referencesAdd FakePowerboard class to the FakeRobot classChange name of ethernet interfaceAdd MQTT interfaceComment debug RNEA calls in whole body control to reduce computation costImplement yaw rotation during static phase + Try to fix issue when returning to trot then switching back to static againContinue work on C++ control + Rework joystick to full c++ + Tweak joystick values + Automatic switch to 4 stance + Position control by joystickMerge 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 script