Gepetto issueshttps://gitlab.laas.fr/groups/gepetto/-/issues2024-03-27T17:34:13Zhttps://gitlab.laas.fr/gepetto/articles/-/issues/1Add placeholder page with link2024-03-27T17:34:13ZPierre-Alexandre LeziartAdd placeholder page with linkLink from https://gepettoweb.laas.fr/articles/cat.html to https://constraints-as-terminations.github.ioLink from https://gepettoweb.laas.fr/articles/cat.html to https://constraints-as-terminations.github.ioGuilhem SaurelGuilhem Saurelhttps://gitlab.laas.fr/gepetto/figaroh/-/issues/1Dependencies2023-03-14T12:58:27ZFlorent LamirauxDependenciesThe dependencies in the main `CMakeLists.txt` are commented out. The list of dependencies should be expressed clearly and probably reduced.
For example, file `src/figaroh/calibration/calibration_tools.py` imports module `pandas` to parse...The dependencies in the main `CMakeLists.txt` are commented out. The list of dependencies should be expressed clearly and probably reduced.
For example, file `src/figaroh/calibration/calibration_tools.py` imports module `pandas` to parse csv files. This dependency should be removed.https://gitlab.laas.fr/gepetto/quadruped-reactive-walking/-/issues/3ROS integration [wbc]2023-03-20T12:17:49ZWilson JalletROS integration [wbc]Wilson JalletWilson Jallethttps://gitlab.laas.fr/gepetto/quadruped-reactive-walking/-/issues/2Cleanup/merge branches2023-02-27T12:29:54ZWilson JalletCleanup/merge branchesThe idea is to clean up some of the leftover branches, identify which branches have differing features/performance, and how to integrate them together.
For now, I propose merging some of them (those for WBC MPC) into [this branch](https...The idea is to clean up some of the leftover branches, identify which branches have differing features/performance, and how to integrate them together.
For now, I propose merging some of them (those for WBC MPC) into [this branch](https://gitlab.laas.fr/gepetto/quadruped-reactive-walking/-/tree/wjallet/new-ocp-walking) which allows switching OCP solvers (and integrates support for PROXDDP)
!32
**Branches to delete**
- [x] [master](https://gitlab.laas.fr/gepetto/quadruped-reactive-walking/-/tree/master) (since [main](https://gitlab.laas.fr/gepetto/quadruped-reactive-walking/-/tree/master) exists)
- [x] casadi-walking-PA (merged by @paleziart into casadi-walking)https://gitlab.laas.fr/gepetto/mpc-interface/-/issues/5tools.py: discretize2022-10-11T07:37:40ZOlivier Stassetools.py: discretizehttps://gitlab.laas.fr/gepetto/mpc-interface/-/issues/4tools.py: get_system_variables2022-09-06T06:46:50ZOlivier Stassetools.py: get_system_variableshttps://gitlab.laas.fr/gepetto/mpc-interface/-/issues/3tools.py: plan_steps2022-03-09T06:13:25ZOlivier Stassetools.py: plan_stepshttps://gitlab.laas.fr/gepetto/mpc-interface/-/issues/2tools.py: update_step_matrices2022-08-22T13:37:57ZOlivier Stassetools.py: update_step_matriceshttps://gitlab.laas.fr/gepetto/mpc-interface/-/issues/1tools.py: get_system_matrices port2022-08-22T14:49:17ZOlivier Stassetools.py: get_system_matrices porthttps://gitlab.laas.fr/gepetto/quadruped-reactive-walking/-/issues/1Follow-up from "Update after Solo3D IROS paper experiments"2022-03-08T11:23:40ZPierre-Alexandre LeziartFollow-up from "Update after Solo3D IROS paper experiments"The following discussion from !18 should be addressed:
- [ ] @paleziart started a [discussion](https://gitlab.laas.fr/gepetto/quadruped-reactive-walking/-/merge_requests/18#note_13652): (+1 comment)
> A garder en tête même si la d...The following discussion from !18 should be addressed:
- [ ] @paleziart started a [discussion](https://gitlab.laas.fr/gepetto/quadruped-reactive-walking/-/merge_requests/18#note_13652): (+1 comment)
> A garder en tête même si la différence était minime.https://gitlab.laas.fr/gepetto/solo-estimation/-/issues/1Bug2021-02-16T14:24:27ZJustin CarpentierBugThese lines are buggy
https://github.com/Gepetto/solo-estimation/blob/898eb133cd1b90c26923d2246be47dc6278b45ff/filters.py#L5-L8
You should rather use Pinocchio skew operations.These lines are buggy
https://github.com/Gepetto/solo-estimation/blob/898eb133cd1b90c26923d2246be47dc6278b45ff/filters.py#L5-L8
You should rather use Pinocchio skew operations.https://gitlab.laas.fr/gepetto/example-robot-data/-/issues/17Bug on the robot_loader under switchToNumpyArray setup2019-12-11T19:11:40ZCarlos MastalliBug on the robot_loader under switchToNumpyArray setupIf you tried to load a robot under the default setup, i.e.
```python
import example_robot_data
model = example_robot_data.loadANYmal().model
```
then the following errors appears:
```
/usr/local/lib/python2.7/dist-packages/example_robot...If you tried to load a robot under the default setup, i.e.
```python
import example_robot_data
model = example_robot_data.loadANYmal().model
```
then the following errors appears:
```
/usr/local/lib/python2.7/dist-packages/example_robot_data/robots_loader.py in addFreeFlyerJointLimits(robot)
45 ub = rmodel.upperPositionLimit
46 ub[:7] = 1
---> 47 rmodel.upperPositionLimit = ub
48 lb = rmodel.lowerPositionLimit
49 lb[:7] = -1
ArgumentError: Python argument types in
None.None(Model, numpy.ndarray)
did not match C++ signature:
None(pinocchio::ModelTpl<double, 0, pinocchio::JointCollectionDefaultTpl> {lvalue}, Eigen::Matrix<double, -1, 1, 0, -1, 1>)
```
Note that if you switch to matrix everything is OK, i.e.
```python
import example_robot_data
import eigenpy
eigenpy.switchToNumpyMatrix()
model = example_robot_data.loadANYmal().model
```Guilhem SaurelGuilhem Saurelhttps://gitlab.laas.fr/gepetto/example-robot-data/-/issues/16Floating-base joint limits2019-11-22T14:53:44ZWolfgang MerktFloating-base joint limitsThe robot loader sets the position limits to +/-1. This includes both translation as well as rotation dimensions.
I recall there was a need for finite position limits for the random state generation. Setting it to 1 though seems like a ...The robot loader sets the position limits to +/-1. This includes both translation as well as rotation dimensions.
I recall there was a need for finite position limits for the random state generation. Setting it to 1 though seems like a hack.https://gitlab.laas.fr/gepetto/solo-pybullet/-/issues/1How to use this package?2019-11-21T18:03:17ZNicolas MansardHow to use this package?I have difficulties to understand how to use this package. It is clearly done to be installed from source, as an example, forked and modified by the user. But even so, how should I start the example? How are you advising me to set up my ...I have difficulties to understand how to use this package. It is clearly done to be installed from source, as an example, forked and modified by the user. But even so, how should I start the example? How are you advising me to set up my fork and to implement my own controller following the example?https://gitlab.laas.fr/gepetto/qgv/-/issues/3Enable to export the dot file.2019-11-19T15:55:22ZGuilhem SaurelEnable to export the dot file.*Created by: jmirabel*
*Created by: jmirabel*
https://gitlab.laas.fr/gepetto/example-robot-data/-/issues/12Create c++ and Python methods for loading the robot2019-08-15T12:29:15ZCarlos MastalliCreate c++ and Python methods for loading the robotCurrently we have define these methods inside Crocoddyl, the idea is to move them into a right place.Currently we have define these methods inside Crocoddyl, the idea is to move them into a right place.Carlos MastalliCarlos Mastallihttps://gitlab.laas.fr/gepetto/example-robot-data/-/issues/11Add License2019-05-13T16:41:34ZGuilhem SaurelAdd LicenseAs reported by @nmansard this package lacks a License file.
And we are including files that comes with their own license, so this must be taken in account.As reported by @nmansard this package lacks a License file.
And we are including files that comes with their own license, so this must be taken in account.https://gitlab.laas.fr/gepetto/example-robot-data/-/issues/9Add LWR robot model2019-03-09T18:28:16ZCarlos MastalliAdd LWR robot modelhttps://gitlab.laas.fr/gepetto/example-robot-data/-/issues/8Add Atlas robot model2019-03-09T18:28:03ZCarlos MastalliAdd Atlas robot modelhttps://gitlab.laas.fr/gepetto/example-robot-data/-/issues/6Add unit-test for joint limits2019-12-06T16:45:55ZCarlos MastalliAdd unit-test for joint limitsThis already has be reported here: https://gepgitlab.laas.fr/loco-3d/crocoddyl/issues/130. However, this is strictly important for example-robot-dataThis already has be reported here: https://gepgitlab.laas.fr/loco-3d/crocoddyl/issues/130. However, this is strictly important for example-robot-data