Skip to content

v1.5
Compare
Choose a tag to compare
@stephane-caron stephane-caron released this 10 Dec 16:36
· 108 commits to master since this release
v1.5
9f31c8d

The main addition of this version is the release of a fully functional Docker image where the controller can be tested on a Choreonoid simulation of the JVRC-1 robot model:

docker run -it --rm --user ayumi -e DISPLAY=${DISPLAY} -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
    stephanecaron/lipm_walking_controller:1.5 lipm_walking --floor

image

The image includes source code and all libraries required to recompile, reproduce, tinker and have fun with the controller. Enjoy!

Added

  • Docker image with the complete controller environment
  • Documentation: write build instructions
  • Stabilizer: set wrench distribution QP weights from GUI

Fixed

  • Contact: read ankle transform from robot model (remove hard-coded values)
  • Improved solve time of wrench distribution QP from 200-400 us to 5-20 us
  • Sole dimensions for JVRC-1 model

Changed

  • Removed dependency on eigen-lssol
  • Stabilizer: switched solver of wrench distribution QP from LSSOL to QuadProg
Assets 2
Loading