adding the step adaptation feature #65
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After rebasing I can not run walkingModule when we use the step adaptation configuration files: |
It means that some fields are not present in the corresponding configuration files. Probably we missed this while rebasing. |
Yeah I added the missing parts and now the problem is that seems does not load the stiffness and damping gains! |
Unfortunately, that part was a little tricky to rebase. You can still check with the old version of the code if something is missing. |
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S-Dafarra
modified the milestones:
Iteration 48 - End or research increment,
Iteration 49 - Summer time
changing the name of QPSolver class remove small bug combining the two class of step adaptation into one class small modifications of step adaptation library modifications of step adaptation library modifications of step adaptation library small modifications of step adaptation library removing some useless methods removing some useless methods small modifications adding an enum for recognizing of swing foot in solve method Using step adaptation library inside the walking controller fixing some bugs fixing the bug related to the size of hessian matrix of step adaptation optimization push recovery by two arms in saggital and lateral direction cleaning the code some primary modifications separation of the step adaptation config files some primary modifications adding the documentation link to the simple estimator modification of the configuration file make an object of TrajectoryGeneration for step adjustment some modifications in trajectoryGenerator and module some small modifications in Module.cpp moving the arms push detection inside the stepAdjustment module modifying some comments dubeg of moving the step adjustment stuff from walkingModule to step adaptation library Keeping the dcm replanning part inside the walkingModule remove some magic numbers modify the input of runstepAdaptation as a reference small modifications step adaptation documentation and configuration files modification Bring the arm joints name for push detection inside the configuration file some modification on walkingModule and exceptions some modifications in walkingModule defining the output and input of step adaptation structure as a private member removing some small bugs! add missing trajectoryPlanner inside cmake lists remove the bug related to zmp offset copy the retargeting planner parameters to reduce the shaking tuning pull request on the robot step adaptation left arm lateral direction tuning the planner parametr for yaw movement tuning unicycle planner parameter for rotational movement tuning step adaptaion on the robot set stiffness and damping joint again inside the code tune the step adaptation parameters tuning step adaptation tuning step adjustment tune the step adaptation parameters activating push recovery every two steps lateral direction is working remove the yaw error remove some comments tuning step adaptaion parameters remove the bug related to the yaw orientation small modification removing the bug related to the push detection during rotational walking parameter tuning some small modifications solve the problem of joystick command during step adaptation solve the problem of joystick increasing speed of walking some modifications try to solve joystick problem small modification try to solve the last step impact saturation of the com error tunning parameters saturation of the com error video recorded version pull request modifications Fix some rebase issues.
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Rebased on top of devel after #68 |
changing the name of QPSolver class
remove small bug
combining the two class of step adaptation into one class
small modifications of step adaptation library
modifications of step adaptation library
modifications of step adaptation library
small modifications of step adaptation library
removing some useless methods
removing some useless methods
small modifications
adding an enum for recognizing of swing foot in solve method
Using step adaptation library inside the walking controller
fixing some bugs
fixing the bug related to the size of hessian matrix of step adaptation optimization
push recovery by two arms in saggital and lateral direction
cleaning the code
some primary modifications
separation of the step adaptation config files
some primary modifications
adding the documentation link to the simple estimator
modification of the configuration file
make an object of TrajectoryGeneration for step adjustment
some modifications in trajectoryGenerator and module
some small modifications in Module.cpp
moving the arms push detection inside the stepAdjustment module
modifying some comments
dubeg of moving the step adjustment stuff from walkingModule to step adaptation library
Keeping the dcm replanning part inside the walkingModule
remove some magic numbers
modify the input of runstepAdaptation as a reference
small modifications
step adaptation documentation and configuration files modification
Bring the arm joints name for push detection inside the configuration file
some modification on walkingModule and exceptions
some modifications in walkingModule
defining the output and input of step adaptation structure as a private member
removing some small bugs!
add missing trajectoryPlanner inside cmake lists
remove the bug related to zmp offset
copy the retargeting planner parameters to reduce the shaking
tuning pull request on the robot
step adaptation left arm lateral direction
tuning the planner parametr for yaw movement
tuning unicycle planner parameter for rotational movement
tuning step adaptaion on the robot
set stiffness and damping joint again inside the code
tune the step adaptation parameters
tuning step adaptation
tuning step adjustment
tune the step adaptation parameters
activating push recovery every two steps
lateral direction is working
remove the yaw error
remove some comments
tuning step adaptaion parameters
remove the bug related to the yaw orientation
small modification
removing the bug related to the push detection during rotational walking
parameter tuning
some small modifications
solve the problem of joystick command during step adaptation
solve the problem of joystick
increasing speed of walking
some modifications
try to solve joystick problem
small modification
try to solve the last step impact
saturation of the com error
tunning parameters
saturation of the com error
video recorded version
pull request modifications
Fix some rebase issues.