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[WIP] auto stabilizer for jaxon wheel #71

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[WIP] auto stabilizer for jaxon wheel #71

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kindsenior
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JAXONRED and others added 30 commits November 12, 2020 18:38
fix bug; disable use_force_sensor flag for arm
55e8498
@YutaKojio
set flywheel balance parameter
d35220f
@YutaKojio
fix bug on jumping arm position soon after walking
b9deb91
completly disable damping when torque mode
26e0eb3
@YutaKojio
fix bug on torque control
5dbfe4c
@Naoki-Hiraoka
[SequencePlayer] fix bug in remoteJointGroup
c89d3fe
fix pkg pass of opencv
9f33725
interpolate pd gain when stopStabilizer
5104200
truncate zmp in st when is_walking
17ab6db
@YutaKojio
Merge branch 'fix-removejointgroup' of github.com:Naoki-Hiraoka/hrpsy…
f2473a9 
…s-base into foot-guided-walk-fullbody
@YutaKojio
disable toe joint in FullbodyIK
1e0e480
@YutaKojio
check openhrp3 version
bef4f51
@YutaKojio
Revert "check openhrp3 version"
5c7b068 
This reverts commit bef4f51.
@YutaKojio
set qpoases to ON and do not build Stabilizer rtc
f758360
@YutaKojio
fix bug on ref_force
7372fd3
@Naoki-Hiraoka
add libproj-dev to package.xml
1d44311
@YutaKojio
Merge pull request #5 from Naoki-Hiraoka/foot-guided-walk-fullbody
c1dfe10 
add libproj-dev to package.xml
@YutaKojio
fix param; increase damping gain fisrt and last of walking
6b442cf
@Naoki-Hiraoka
fix contactstates
0ab547d
@YutaKojio
Merge pull request #6 from Naoki-Hiraoka/foot-guided-walk-fullbody
6c2b0b4 
fix contactstates
fix bug; initialize i = 0 in for
446680d
Merge branch 'foot-guided-walk-fullbody' of https://github.com/YutaKo…
e04988d 
…jio/hrpsys-base into foot-guided-walk-fullbody
@Naoki-Hiraoka
[Stabilizer] fix size_t initialization
92e34e8
revert add_definition
0c2ada8
fix damping param in double
396dfdb
@fkanehiro
Merge pull request fkanehiro#1298 from Naoki-Hiraoka/fix-i
3a83667 
[Stabilizer] fix size_t initialization
use preprev_footstep if steppble region is not read
be0765a
@YutaKojio
add debug_landing_height
c473b18
@YutaKojio
add read_steppable_region for debug
7d05391
@YutaKojio
cannot walk without ST
5240923
Naoki-Hiraoka and others added 23 commits February 17, 2022 15:19
@Naoki-Hiraoka
[AutoBalancer/AutoBalancer.cpp] fix port instance name
f646fcd
@YutaKojio
Merge pull request #16 from Naoki-Hiraoka/auto-stabilizer-fix-instance
c40cffe 
[AutoBalancer/AutoBalancer.cpp] fix port instance name
@Naoki-Hiraoka
[idl/HRPDataTypes.idl] add comment
1502938
@YutaKojio
Merge pull request #17 from Naoki-Hiraoka/add-comment-idl
5aab7f9 
[idl/HRPDataTypes.idl] add comment
@Naoki-Hiraoka
[AutoBalancer/Stabilizer] remove RUNST
d6dceb5
@YutaKojio
Merge pull request fkanehiro#37 from Naoki-Hiraoka/auto-stabilizer-runst
b78ca46 
[AutoBalancer/Stabilizer] remove RUNST
@YutaKojio
judge isContact using force_z in foot origin frame
a6f1a9f
@Naoki-Hiraoka
[AutoBalancer/Stablizer] fix moment calculation in calcTorque
f82e59b
@YutaKojio
add tmp log for vision update timing
f32f252
@YutaKojio
Merge pull request fkanehiro#39 from Naoki-Hiraoka/auto-stabilizer-re…
03bc233 
…f-moment

[AutoBalancer/Stablizer] fix moment calculation in calcTorque
@YutaKojio
support 0 ~ 3 of overwritable-footstep-index-offset
8e725bb
@YutaKojio
change default param of weight_fly_interpolator_time
a1e7119
@YutaKojio
fix bug on count; see YutaKojio#53
507d06f
@YutaKojio
rm fake comment
bacb4a0
@YutaKojio
disable Stabilizer rtc build
7ff863f
@YutaKojio
merge auto-stabilizer
cfd80ee
@Naoki-Hiraoka
[AutoBalancer] add m_landingTarget.tm and m_endCogState.tm
ed6e14b
@YutaKojio
Merge pull request fkanehiro#57 from Naoki-Hiraoka/auto-stabilizer-stamp
49aeca8 
[AutoBalancer] add m_landingTarget.tm and m_endCogState.tm
@Naoki-Hiraoka
[AutoBalancer/Stablizer] fix filter hz for act_contact_states
b63a6a8
Merge branch 'auto-stabilizer' of github-yutakojio:YutaKojio/hrpsys-b…
8dc1a44 
…ase into auto-stabilizer-wheel
@YutaKojio
Merge pull request fkanehiro#58 from Naoki-Hiraoka/auto-stabilizer-ac…
1ae45f3 
…t-contact-hz

[AutoBalancer/Stablizer] fix filter hz for act_contact_states
@jaxon-user
change flywheel tau limit
e506f82
@kindsenior
[AutoBalancer.cpp] modify wheel radius and joint id and add rear wheel
600c5cc
@kindsenior kindsenior mentioned this pull request Apr 14, 2022
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@kindsenior kindsenior force-pushed the kindsenior/auto-stabilizer-jaxon-wheel branch from 11f748f to 556faf8 Compare June 12, 2022 05:29
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8 participants
@kindsenior @YutaKojio @Naoki-Hiraoka @fkanehiro @jaxon-user @mehdi-benallegue @ketaro-m @98shimpei