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Enable Fixed Complexity Slip MPC#332

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ShaneRozenLevy wants to merge 81 commits intoDAIRLab:adaptive_mpcDAIRLab/dairlib:adaptive_mpcfrom KodlabPenn:srozenlevy/planar_slip_mpcKodlabPenn/dairlib:srozenlevy/planar_slip_mpcCopy head branch name to clipboard

+2,155-335

Commits

Commits on Oct 14, 2022

• Code sort of works, but bounces

  

  Shane Rozen-Levy

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  82bcb3a

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Commits on Oct 18, 2022

• Changed how costs work, but getting some strange solutions

  

  Shane Rozen-Levy

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  e4151e7

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Commits on Oct 19, 2022

• Cleaned up code

  

  Shane Rozen-Levy

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Commits on Oct 20, 2022

• Merge remote-tracking branch 'upstream/adaptive_mpc' into srozenlevy/momentum_decision_variable

  

  Shane Rozen-Levy

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  db4f37a

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• Updated saving of trajectories

  

  Shane Rozen-Levy

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  d8e7101

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• Switched to trapazoidal collocation

  

  Shane Rozen-Levy

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  094e0b6

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• Setup timing

  

  Shane Rozen-Levy

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  c0da82c

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• Doing an alright job stepping in place

  

  Shane Rozen-Levy

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  0b8130d

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• Dropped down gain and reduced knot points

  

  Shane Rozen-Levy

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  ac506c0

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• Fixed bazel run

  

  Shane Rozen-Levy

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  0315fe0

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• Added reference generator script

  

  Shane Rozen-Levy

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  c2c91e2

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Commits on Oct 21, 2022

• Created cassie specific optimization class

  

  Shane Rozen-Levy

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  91c16cf

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• Added gains yaml

  

  Shane Rozen-Levy

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  0763b3e

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• Removed extra function calls

  

  Shane Rozen-Levy

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  563e1a1

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Commits on Oct 23, 2022

• Wrote the code necessary to generate references that may or may not work

  

  Shane Rozen-Levy

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Commits on Oct 24, 2022

• Looks like a walk

  

  Shane Rozen-Levy

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• Walk is looking even better

  

  Shane Rozen-Levy

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• Still working well

  

  Shane Rozen-Levy

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  fdc7f96

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• Working alright. Added guess from reference

  

  Shane Rozen-Levy

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  2f74771

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Commits on Oct 25, 2022

• Cleaned up gains

  

  Shane Rozen-Levy

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  b9e2cc4

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• Added trapazoidal integration to cost

  

  Shane Rozen-Levy

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  c2f5823

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• Removed over constrained system

  

  Shane Rozen-Levy

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  541995b

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Commits on Oct 26, 2022

• Fixed reference bug

  

  Shane Rozen-Levy

  committed
  ddcade0

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• Fixed reference bug

  

  Shane Rozen-Levy

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  2cb002a

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Commits on Oct 27, 2022

• Experimenting with ipopt

  

  Shane Rozen-Levy

  committed
  2d5fb27

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• First pass of transitioning over to object reference creation

  

  Shane Rozen-Levy

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Commits on Oct 31, 2022

• Cleaning up code for eventual push

  

  Shane Rozen-Levy

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  61de344

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• Added more comments

  

  Shane Rozen-Levy

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Commits on Nov 1, 2022

• Added tons of comments

  

  Shane Rozen-Levy

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Commits on Nov 2, 2022

• Switched ik to com based and add minimum swing foot height to gains

  

  Shane Rozen-Levy

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Commits on Nov 4, 2022

• Cleaning up code for PR

  

  Shane Rozen-Levy

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  e82efcb

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• Switched to yaml for gaits

  

  Shane Rozen-Levy

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• Switched to reletive path to file and try catch

  

  Shane Rozen-Levy

  committed
  e7f0843

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Commits on Nov 7, 2022

• Responded to more PR feedback

  

  Shane Rozen-Levy

  committed
  a3380c7

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Commits on Nov 9, 2022

• Started owrk on defining a lifting and reduction function

  

  Shane Rozen-Levy

  committed
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Commits on Nov 10, 2022

• Having weird com velocity error

  

  Shane Rozen-Levy

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  ef4a4f0

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• Happy with planar slip lifting function test

  

  Shane Rozen-Levy

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  8cfb6c9

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• Added Lifting function

  

  Shane Rozen-Levy

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  609df41

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• Added nonlinear cost

  

  Shane Rozen-Levy

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  a0545eb

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• Added nonlinear cost for real this time

  

  Shane Rozen-Levy

  committed
  1c742fb

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• Merge branch 'adaptive_mpc' into srozenlevy/planar_slip_mpc

  

  Shane Rozen-Levy

  committed
  48cdd83

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• Merge branch 'adaptive_mpc' into srozenlevy/planar_slip_mpc

  

  Shane Rozen-Levy

  committed
  aedcedb

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• Back to walking

  

  Shane Rozen-Levy

  committed
  8f943ce

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• Slowly putting adpative complexity mpc together

  

  Shane Rozen-Levy

  committed
  793d0d3

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Commits on Nov 14, 2022

• Started to work on fixed complexity

  

  Shane Rozen-Levy

  committed
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Commits on Nov 15, 2022

• Committing some code

  

  Shane Rozen-Levy

  committed
  ad3a232

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• Added momentum reference and cost

  

  Shane Rozen-Levy

  committed
  8d84367

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• Fixed bug in lifting function

  

  Shane Rozen-Levy

  committed
  1731e6f

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• Sort of works, gonna switch slip foot to just the toe

  

  Shane Rozen-Levy

  committed
  da2d982

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Commits on Nov 17, 2022

• Planar slip struggling with fixed timing

  

  Shane Rozen-Levy

  committed
  a4f2b95

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Commits on Dec 1, 2022

• Switched to non planar slip

  

  Shane Rozen-Levy

  committed
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Commits on Dec 6, 2022

• Slip is standing finally

  

  Shane Rozen-Levy

  committed
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Commits on Dec 7, 2022

• Robot is able to stand

  

  Shane Rozen-Levy

  committed
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Commits on Dec 8, 2022

• Making some progress on walking

  

  Shane Rozen-Levy

  committed
  8c51d74

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• Walking is working somewhat well

  

  Shane Rozen-Levy

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  40b7171

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Commits on Dec 9, 2022

• Properly setting r0

  

  Shane Rozen-Levy

  committed
  39b9e54

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• Fixed lifting function toe velocity

  

  Shane Rozen-Levy

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  e717381

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• Added damping, but realized com velocity is broken

  

  Shane Rozen-Levy

  committed
  ac577d9

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• Fixed reduction function

  

  Shane Rozen-Levy

  committed
  8b7bd24

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• Fixed grf reduction constraint slip velocity

  

  Shane Rozen-Levy

  committed
  9bd3407

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• Still strugging with grf constraint

  

  Shane Rozen-Levy

  committed
  50ad6bc

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• fixed bunch of reduction function bugs

  

  Shane Rozen-Levy

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  73c7b10

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Commits on Dec 13, 2022

• Cleaning up code

  

  Shane Rozen-Levy

  committed
  8448c54

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• Merge branch 'adaptive_mpc' into srozenlevy/planar_slip_mpc

  

  Shane Rozen-Levy

  committed
  4b3685b

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• Working on reducing diff to adaptive_mpc before merge

  

  Shane Rozen-Levy

  committed
  334fb22

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• Cleaning up code for merge, code runs, but ipopt crashes

  

  Shane Rozen-Levy

  committed
  820ee8d

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• Working on resolving bouncing

  

  Shane Rozen-Levy

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  454e6e3

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• Solving much better after some tuning

  

  Shane Rozen-Levy

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  891c522

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Commits on Dec 14, 2022

• Fixed dynamics bug

  

  Shane Rozen-Levy

  committed
  f54f8da

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• Experimenting with autoformatter

  

  Shane Rozen-Levy

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  acec98c

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• Ran autoformatter

  

  Shane Rozen-Levy

  committed
  83c4c4b

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• Cleaning up code for pr

  

  Shane Rozen-Levy

  committed
  7301283

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Commits on Dec 15, 2022

• Something seems broken

  

  Shane Rozen-Levy

  committed
  e19ce86

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• Couldn't even tell when the swap happened

  

  Shane Rozen-Levy

  committed
  0491e00

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• Getting some alright performance

  

  Shane Rozen-Levy

  committed
  d71aef7

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• Added gains to yaml

  

  Shane Rozen-Levy

  committed
  f08e1b0

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• Moved magic number to traj params

  

  Shane Rozen-Levy

  committed
  99e90da

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Commits on Dec 16, 2022

• Documented code and fixed unit test

  

  Shane Rozen-Levy

  committed
  655ded6

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• Merge branch 'adaptive_mpc' into srozenlevy/planar_slip_mpc

  

  Shane Rozen-Levy

  committed
  a3846db

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• Fixing merge mistakes

  

  Shane Rozen-Levy

  committed
  1c28a18

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Commits on Jan 12, 2023

• Responding to pr comments

  

  Shane Rozen-Levy

  committed
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