sot-talos-balance issueshttps://gepgitlab.laas.fr/loco-3d/sot-talos-balance/-/issues2019-01-16T12:37:29Zhttps://gepgitlab.laas.fr/loco-3d/sot-talos-balance/-/issues/8Insert external forces in Gazebo2019-01-16T12:37:29ZNicolas MansardInsert external forces in GazeboCheck that Gazebo can accept external forces. If need be, define another task to implement this functionality in the setup. Document if relevant.Check that Gazebo can accept external forces. If need be, define another task to implement this functionality in the setup. Document if relevant.Set up of the control graphGabriele BuondonnoGabriele Buondonnohttps://gepgitlab.laas.fr/loco-3d/sot-talos-balance/-/issues/7Validate an example graph on the robot2019-01-18T17:00:34ZNicolas MansardValidate an example graph on the robotFollowing #5 and #6, the task is to run the example graph on the real robot.Following #5 and #6, the task is to run the example graph on the real robot.Basis estimation from IMU and contactGabriele BuondonnoGabriele Buondonnohttps://gepgitlab.laas.fr/loco-3d/sot-talos-balance/-/issues/6Installation and set up on Talos2020-06-05T15:40:20ZNicolas MansardInstallation and set up on TalosThis is a technical task: simply test that the installation procedure on the robot is working, and possibly document it for other members.This is a technical task: simply test that the installation procedure on the robot is working, and possibly document it for other members.Set up of the control graphOlivier StasseOlivier Stassehttps://gepgitlab.laas.fr/loco-3d/sot-talos-balance/-/issues/5Example graph for tracking an oscillatory COM in simulation2018-12-21T15:03:19ZNicolas MansardExample graph for tracking an oscillatory COM in simulationImplement a simple SOT graph to track a COM varying following a sinus. An alternative example movement can also be chosen.
Validation in Gazebo.Implement a simple SOT graph to track a COM varying following a sinus. An alternative example movement can also be chosen.
Validation in Gazebo.Set up of the control graphFlorent ForgetFlorent Forgethttps://gepgitlab.laas.fr/loco-3d/sot-talos-balance/-/issues/4Installation of the stack on Gazebo2018-12-04T19:39:00ZNicolas MansardInstallation of the stack on GazeboTechnical task: test that the installation procedure is working, and possibly document it for members of the team.Technical task: test that the installation procedure is working, and possibly document it for members of the team.Set up of the control graphFlorent ForgetFlorent Forgethttps://gepgitlab.laas.fr/loco-3d/sot-talos-balance/-/issues/3Choose estimation implementation2020-05-11T12:22:33ZNicolas MansardChoose estimation implementationThis is a technical task. Its objective is only to identify in which repo to implement the filter, with or without Python (Matlab?) prototyping, based or not on previous code of Gepetto.This is a technical task. Its objective is only to identify in which repo to implement the filter, with or without Python (Matlab?) prototyping, based or not on previous code of Gepetto.François BaillyFrançois Baillyhttps://gepgitlab.laas.fr/loco-3d/sot-talos-balance/-/issues/2Capture a dataset from robot IMU + mocap2018-12-04T17:20:07ZNicolas MansardCapture a dataset from robot IMU + mocapSee #1. This is an evolution of #1, capturing a similar IMU sequence but using the MoCap to have a ground truth. The mocap might be @ GBauzil of Creps.See #1. This is an evolution of #1, capturing a similar IMU sequence but using the MoCap to have a ground truth. The mocap might be @ GBauzil of Creps.Basis estimation from IMU and contacthttps://gepgitlab.laas.fr/loco-3d/sot-talos-balance/-/issues/1Capture dataset from TALOS IMU2021-11-05T14:44:50ZNicolas MansardCapture dataset from TALOS IMUUSing the set up of OStasse, obtain a first dataset of the robot IMU:
- robot standing still
- robot standing with PAL balance controller and some external pushes
- robot walking from Joystick (if possible).USing the set up of OStasse, obtain a first dataset of the robot IMU:
- robot standing still
- robot standing with PAL balance controller and some external pushes
- robot walking from Joystick (if possible).Basis estimation from IMU and contactOlivier StasseOlivier Stasse