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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
  • 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
20 results
Created with Raphaël 2.2.06Apr531Mar30252221181715119843224Feb23211716111024Jan20181716131210654321Dec171615139117Nov161598543229Oct2625242221201918171413121110986130Sep2724222120171615141310763130Aug2726252019181716121096543230Jul292726232119171615126528Jun22109828May25176529Apr28262120191614131211Mar325Feb2416109814Jan13618DecTweak scripts that analyze the effect of early/late contact on mpc resultsExpand script that test inverse kinematicsTweak log saving and frame saving in main scriptDo not take into account mean height of feet in base height estimationProgressively lower feet when contact is lateWorking on update of feet positions during stance phasesAdd new velocity profilesRaise minimum vertical force to 1 N for linear Crocoddyl MPCsTweak ylimits for z position plotAdd force term to the contact detection + Memory for late contactsBindings for WBC + Tweaks for tasks of size 18 in InvKinRaise base default height, increase flying feet gains, increase apex swing heightRemove +dt*wref from reference yaw orientation in WBCAdd hardcoded ylimits for position and velocity graphsFix 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 init