Commits · cabf0996088c21e31d44baaa673def756941bc3e · loco-3d / multicontact-locomotion-planning · GitLab

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Apr 08, 2019
- [utils] change method to compute zmp from trajectory · cabf0996
  Pierre Fernbach authored 5 years ago
  
  cabf0996
- [utils] add plot for effector and com trajectories · f9d72242
  Pierre Fernbach authored 5 years ago
  
  f9d72242
- [utils] trajectories : add DifferentiableEuclidianTrajectory · ee4e1e4a
  Pierre Fernbach authored 5 years ago
  
  ee4e1e4a
- [wb] refactore tsid : return a struct for the results with numpy matrices · e7b2de3a
  Pierre Fernbach authored 5 years ago
  
  e7b2de3a
Apr 05, 2019
- [utils] plot zmp compute for openhrp · cdc3625e
  Pierre Fernbach authored 5 years ago
  
  cdc3625e
- [centroidal] add option to compute contact at joint position · e7d5cebd
  Pierre Fernbach authored 5 years ago
  
  e7d5cebd
- move helper methods from tsid to util script · e162b2a2
  Pierre Fernbach authored 5 years ago
  
  e162b2a2
Apr 03, 2019
- [main] update to new prototype of export openHRP · 1d82218f
  Pierre Fernbach authored 5 years ago
  
  1d82218f
- [plot] add a plot of the reference feet trajectories · 042af53b
  Pierre Fernbach authored 5 years ago
  
  042af53b
- [wb] tsid : priority eff task = 0 (from 1) · 4522dc6a
  Pierre Fernbach authored 5 years ago
  
  4522dc6a
- [config] update config for hrp2 flat ground, work in openhrp but oscillations · 8a4cf5b9
  Pierre Fernbach authored 5 years ago
  
  8a4cf5b9
- [centroidal] timeopt : set initial linear momentum from velocity in planning · 7802efb2
  Pierre Fernbach authored 5 years ago
  
  7802efb2
- [centroidal] timeopt : force to connection to the end state given by planning · 3223000b
  Pierre Fernbach authored 5 years ago
  
  3223000b
- [util] fix possible error in polybezier due to numerical imprecision · 0403ba3d
  Pierre Fernbach authored 5 years ago
  
  0403ba3d
- [export] fix openhrp zmp compuation · 25c3c2e0
  Pierre Fernbach authored 5 years ago
  
  25c3c2e0
Apr 01, 2019
- [wb] temps debug : only allow 1 retry for the end effector trajectory · 6b76f143
  Pierre Fernbach authored 5 years ago
  
  6b76f143
- [effector] revert/comment ongoing work · f3f57561
  Pierre Fernbach authored 5 years ago
  
  f3f57561
Mar 25, 2019
- [cs] export rbprm to cs now work when there is only one config · dcc4c0e3
  Pierre Fernbach authored 5 years ago
  
  dcc4c0e3
- [export] minor change for openHRP export · 5fa2aad2
  Pierre Fernbach authored 5 years ago
  
  5fa2aad2
- [configs] add files for anymal · f95552ff
  Pierre Fernbach authored 5 years ago
  
  f95552ff
- [wholebody] correctly check the motion for collision and joint limits at each phase · 1a32f5df
  Pierre Fernbach authored 5 years ago
  
  1a32f5df
- [main][util] add class to check motion for collision and joint limits · cad47a67
  Pierre Fernbach authored 5 years ago
  
  cad47a67
Mar 18, 2019
- [centroidal] in geometric init guess : take com height found during contact planning · 20f560a3
  Pierre Fernbach authored 6 years ago
  
  20f560a3
- [export] openHRP add debug output · 394ad32f
  Pierre Fernbach authored 6 years ago
  
  394ad32f
- [configs] add config file for hrp2_flatGround demo · 839f3976
  Pierre Fernbach authored 6 years ago
  
  839f3976
- [centroidal] timeopt can now deal with a shift in com z before and after centroidal motion · 27d81ff6
  Pierre Fernbach authored 6 years ago
  
  27d81ff6
Mar 15, 2019
- [config] improve error message about python argument and display all available choices · a37f565e
  Pierre Fernbach authored 6 years ago
  
  a37f565e
Mar 13, 2019
- [export] add script to export to openHRP · acb06e37
  Pierre Fernbach authored 6 years ago
  
  acb06e37
Mar 12, 2019
- [wb] fix index of states list · c9d2b110
  Pierre Fernbach authored 6 years ago
  
  c9d2b110
- [main,config] change way to choose the demo, use python arguments · 89a503ee
  Pierre Fernbach authored 6 years ago
  
  89a503ee
- [main] adapt to changes in wb script · d30bd45f
  Pierre Fernbach authored 6 years ago
  
  d30bd45f
- [wb] remove debug code · bf044662
  Pierre Fernbach authored 6 years ago
  
  bf044662
- [wb] tsid now return v_t and a_t · dbf3fba6
  Pierre Fernbach authored 6 years ago
  
  dbf3fba6
- [wb] comment out use of bezier constrained · 36764366
  Pierre Fernbach authored 6 years ago
  
  36764366
Feb 28, 2019
- [effector] improve behavior, sixeObject still have issues · 182f1b55
  Pierre Fernbach authored 6 years ago
  
  182f1b55
Feb 27, 2019
- [effector] constrained bezier kinda work ... need work on the sizeObject · 81c2c72a
  Pierre Fernbach authored 6 years ago
  
  81c2c72a
Feb 26, 2019
- [effector] constraints work exept for sizeObject · 26d7ae33
  Pierre Fernbach authored 6 years ago
  
  26d7ae33
- [effector] constrained effector work (but need to work on the constraint computation) · 4099335e
  Pierre Fernbach authored 6 years ago
  
  4099335e
- [wb] fix display of traj in vieer in TSID · 5616c0e1
  Pierre Fernbach authored 6 years ago
  
  5616c0e1
- [effector] fix time interval in bezier_constrained · 1a6c6465
  Pierre Fernbach authored 6 years ago
  
  1a6c6465