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Quad-SDK Soft Release - Refactors and Bugfixes #294

Merged
merged 391 commits into from
Jun 14, 2022
Merged

Quad-SDK Soft Release - Refactors and Bugfixes #294

merged 391 commits into from
Jun 14, 2022

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jcnorby
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@jcnorby jcnorby commented Jun 10, 2022 •
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Changes include:

  • Updating linear solver from MA57 to MA27
  • Refactors of Robot Driver (include state estimator abstract class and examples) and NMPC Controller (includes scripts to generate new dynamics functions)
  • Additional world files
  • Streamlined parameter loading
  • Updated Doxygen permissions
  • Updated documentation

jcnorby and others added 30 commits November 30, 2021 09:34
@jcnorby
Attempt to handle slopes by predicting z_max
67dce5d
@jcnorby
Switch build system to catkin_tools, switch spirit* to quad*
7b54376
@jcnorby
Fix timeout in catkin_tools install
a54bc56
@jcnorby
Reduce jobs in circle ci to avoid compiling issues
1daa703
@jcnorby
Initial commit
8cf62b5
Fix spirit namespace in parsing scripts
2f518f3
fix sdls matrix inverse by comparing with the max eigen value, change…
cf6f69e 
… nmpc controller test to a trotting at the same point
Add restart flag to mblink converter
c087161
Increase update rate of mblink converter to 500Hz
d6c0c7c
@justinyim
Update model.config
0c3f13f
@justinyim
Update README.md
084622e
@justinyim
Update processLog.m
250aeb3
@justinyim
Update LICENSE
873b0bd
@justinyim
Update LICENSE.txt
059c471
@justinyim
Update LICENSE
f992977
@justinyim
Update global_body_planner.yaml
4a9bbc5
@justinyim
Update planning_utils.h
cacbca0
@justinyim
Update CMakeLists.txt
507f860 
Removed from line 31:

include_directories(${CMAKE_CURRENT_SOURCE_DIR}/../external/QuadSDK/SDK/thirdparty)
Change a few more namespacing instances, remove .travis.yml
0e37f1a
Merge branch 'main' into devel
e1597f9
@jcnorby
Delete parseSpiritBag.m
81f29b0
@jcnorby
Merge branch 'main' into add-grf-pid-controller
76d1209
@jcnorby
Finish initial LegControllerTemplate integration
ea6c3f4
Add joint controller (needs cleaning)
d6bc836
Switch back to grf controller
cba1564
@jcnorby
Merge branch 'main' into devel
3a6b7d4
@jcnorby
Merge branch 'devel' into add-grf-pid-controller
1b483bc
@jcnorby
Switch leg controller to leg controller interface, implement leg cont…
b6219e2 
…roller template as abstract class
@jcnorby
Fix leg controller test bug
b8e2a95
add panic variable, better warm start
8e0e382
jcnorby and others added 20 commits May 24, 2022 22:06
@jcnorby @astutt
Rename global planner (#280)
076f0a6 
* Add images of topic structure

* Update promo figure

* Add files via upload

* Update README.md

* Update README.md

* Add files via upload

* Add files via upload

* Update promo figure

* update gbp and utils documentation

* fixed image formatting

* Rename Fast Global Motion Planner to Global Body Planner for Legged Robots (gbpl)

* Update GBP readme with new name

* Update README.md

* Update README.md

* Update README.md

Co-authored-by: Alex Stutt <[email protected]>
@astutt
cleaned out all osqp stuff (#281)
2e3962c
@jcnorby
Merge in changes from devel
fe22b8b
@jcnorby
Additional changes to match devel
ccfb7d4
@qishuny
Merge remote-tracking branch 'origin/devel' into melodic_devel_test_r…
351de7d 
…obot_driver
@qishuny
Additional changes to estimator inheritance.
b48c939
@jcnorby
Update README.md
a0b9f9e
@qishuny
fix format
cf2c957
@qishuny
Merge remote-tracking branch 'origin/devel' into melodic_devel_test_r…
139550f 
…obot_driver
@qishuny
additional format fix
4f83a42
@qishuny
Fixed params loading issue. Rewrite comments
b577932
@qishuny
additional changes to comments
7cdb975
@qishuny
Merge pull request #271 from robomechanics/melodic_devel_test_robot_d…
bae9ff0 
…river

Robot driver refactoring
@astutt @jcnorby
Minor documentation updates (#287)
1c05a0f 
* removed old world file, added some pics for docs

* Added Unitree A1 license.

* pics of another world

Co-authored-by: Justin Yim <[email protected]>
Co-authored-by: Joe Norby <[email protected]>
@jcnorby
Merge branch 'main' into merge-devel-into-main
900ff5c
@jcnorby
Squashed commit of the following:
2e0d8a9 
commit 1c05a0f
Author: Alex Stutt <[email protected]>
Date:   Fri Jun 10 10:57:45 2022 -0700

    Minor documentation updates (#287)

    * removed old world file, added some pics for docs

    * Added Unitree A1 license.

    * pics of another world

    Co-authored-by: Justin Yim <[email protected]>
    Co-authored-by: Joe Norby <[email protected]>

commit bae9ff0
Merge: a0b9f9e 7cdb975
Author: Bill Yu <[email protected]>
Date:   Mon Jun 6 08:55:03 2022 -0400

    Merge pull request #271 from robomechanics/melodic_devel_test_robot_driver

    Robot driver refactoring

commit 7cdb975
Author: qishuny <[email protected]>
Date:   Fri Jun 3 18:48:57 2022 -0400

    additional changes to comments

commit b577932
Author: qishuny <[email protected]>
Date:   Fri Jun 3 18:47:13 2022 -0400

    Fixed params loading issue. Rewrite comments

commit 4f83a42
Author: qishuny <[email protected]>
Date:   Fri Jun 3 16:37:59 2022 -0400

    additional format fix

commit 139550f
Merge: cf2c957 a0b9f9e
Author: qishuny <[email protected]>
Date:   Fri Jun 3 11:08:04 2022 -0400

    Merge remote-tracking branch 'origin/devel' into melodic_devel_test_robot_driver

commit cf2c957
Author: qishuny <[email protected]>
Date:   Fri Jun 3 11:07:46 2022 -0400

    fix format

commit a0b9f9e
Author: Joe Norby <[email protected]>
Date:   Fri Jun 3 09:15:45 2022 -0400

    Update README.md

commit b48c939
Author: qishuny <[email protected]>
Date:   Thu Jun 2 11:12:42 2022 -0400

    Additional changes to estimator inheritance.

commit 351de7d
Merge: 82c665d 2e3962c
Author: qishuny <[email protected]>
Date:   Wed May 25 14:54:56 2022 -0400

    Merge remote-tracking branch 'origin/devel' into melodic_devel_test_robot_driver

commit 82c665d
Author: qishuny <[email protected]>
Date:   Tue May 24 21:26:47 2022 -0400

    change function input, fix lint

commit 05a077a
Author: qishuny <[email protected]>
Date:   Tue May 24 00:26:32 2022 -0400

    in refactor branch move CF estimator from robot driver to its own class

commit 81a5c99
Merge: 6fda82a 88c4f1c
Author: qishuny <[email protected]>
Date:   Mon May 23 23:37:42 2022 -0400

    Merge remote-tracking branch 'origin/devel' into melodic_devel_test_robot_driver

commit 6fda82a
Merge: 7fca4c1 a6e25da
Author: qishuny <[email protected]>
Date:   Mon May 23 08:51:04 2022 -0400

    Merge remote-tracking branch 'origin/devel' into melodic_devel_test_robot_driver

commit 7fca4c1
Author: qishuny <[email protected]>
Date:   Sat May 21 21:01:36 2022 -0400

    change cmake list format again

commit 5d07d7c
Author: qishuny <[email protected]>
Date:   Sat May 21 21:00:27 2022 -0400

    change robot driver cmake list format

commit d9ff47d
Author: qishuny <[email protected]>
Date:   Sat May 21 02:04:38 2022 -0400

    fix lint

commit 8ff802c
Author: qishuny <[email protected]>
Date:   Sat May 21 01:52:36 2022 -0400

    added Ardalan's refactor to robot driver
@jcnorby
Fix parameter setting to allow non-spirit robot descriptions (#286)
495554a
@jcnorby
Add permissions to doxygen action and remove PRs from action triggers…
c77b9a4 
… (only pushes) (#293)
@jcnorby @jrenaf @qishuny
NMPC Refactor (#265)
3a945c5 
* Initial commit cleaning nmpc_controller, also adds landing support to FLP and changes same_plan_index to plan_index_diff

* Add MATLAB scripts

* Add readme

* add documentation

* respect lint

* Clear out some comments

* Disable AC by default

* Respect linking checks

* Reduce solve tolerance back to standard value

* Switch linear solver form ma57 (commercial solver) to ma27 (free solver)

Co-authored-by: Yanhao Yang <[email protected]>
Co-authored-by: jrenaf <[email protected]>
Co-authored-by: Bill Yu <[email protected]>
@jcnorby
Merge branch 'devel' into merge-devel-into-main
c5cb65c
@jcnorby jcnorby mentioned this pull request Jun 14, 2022
Closed
@jcnorby jcnorby merged commit b04d4f7 into main Jun 14, 2022
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Reviewers

@ardalantj ardalantj ardalantj approved these changes

@yanhaoy yanhaoy yanhaoy approved these changes

@jrenaf jrenaf jrenaf approved these changes

@qishuny qishuny qishuny approved these changes

@astutt astutt Awaiting requested review from astutt

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7 participants
@jcnorby @ardalantj @yanhaoy @jrenaf @qishuny @justinyim @astutt