echandler5956f/Galileo

Issues

• Add document explaining Galileo structure

  #92 opened 3 months ago by Akshay5312
  0

• Add non-horizontal surface support in legged implementation

  #37 opened 3 months ago by Akshay5312
  3

• Solutions can only be found if initial and final modes are stance phase

  #88 opened 9 months ago by Akshay5312
  0

• Add a collision constraint with the ground

  #40 opened a year ago by Akshay5312
  0

• Add Joint Limits

  #85 opened 9 months ago by echandler5956f
  0

• Handle Arbitrary NLP Solver Parameters

  #84 opened 9 months ago by echandler5956f
  0

• Initial Guess Loading

  #83 opened 9 months ago by echandler5956f
  0

• Create Atlas example

  #46 opened 9 months ago by echandler5956f
  3

• Create a ROS implementation of Galileo

  #57 opened 9 months ago by Akshay5312
  0

• Remove reliance on mask_vec

  #80 opened 9 months ago by Akshay5312
  0

• Discuss how to improve Environment Surfaces moving forward.

  #68 opened 9 months ago by Akshay5312
  2

• Remove quaternion algebra from LeggedBody

  #71 opened 9 months ago by Akshay5312
  1

• JIT Compilation/Codegen for Casadi Functions

  #19 opened a year ago by echandler5956f
  1

• Dealing with multiphase dynamics

  #26 opened a year ago by echandler5956f
  3

• Create a DecisionDataBuilder

  #54 opened 9 months ago by echandler5956f
  1

• Getting the solution is painfully slow

  #65 opened 9 months ago by echandler5956f
  1

• LeggedRobotStates is in the galileo::opt namespace, but it should be in galileo::legged

  #58 opened 9 months ago by Akshay5312
  1

• Galileo Legged Solver Interface

  #61 opened 9 months ago by Akshay5312
  1

• Quaternion to Euler Angles

  #62 opened 10 months ago by echandler5956f
  0

• Galileo Branch Archives Convention

  #66 opened 10 months ago by echandler5956f
  0

• Legged Robot States indexing is inconvenient

  #60 opened 10 months ago by echandler5956f
  0

• Build MPC interface

  #14 opened a year ago by echandler5956f
  0

• Fix "Warning: slow font initialization"

  #52 opened 10 months ago by echandler5956f
  1

• Automatically add floating joint

  #45 opened a year ago by echandler5956f
  1

• Clean up access modifiers and documentation

  #33 opened a year ago by echandler5956f
  2

• Return constraint violations for plotting

  #39 opened a year ago by echandler5956f
  1

• ProblemData/ConstraintBuilder are very bulky for simple problems

  #28 opened a year ago by echandler5956f
  1

• Retrieve interpolated inputs

  #38 opened a year ago by echandler5956f
  1

• NaN in traj_test jac

  #10 opened a year ago by echandler5956f
  3

• Set up initial guess generator

  #8 opened a year ago by echandler5956f
  1

• Symbol Lookup Error

  #36 opened a year ago by echandler5956f
  1

• Purpose of LeggedBody and inclusion of Data in xxxConstraintBuilder

  #31 opened a year ago by echandler5956f
  2

• Implement VelocityConstraintBuilder

  #12 opened a year ago by echandler5956f
  1

• Figure out Contact Constraint Logic

  #13 opened a year ago by echandler5956f
  1

• Add a Constructor to LeggedProblemData

  #30 opened a year ago by Akshay5312
  1

• xxxProblemData generally needs two types of `model` and `data`

  #32 opened a year ago by echandler5956f
  1

• Contact is not valid

  #25 opened a year ago by echandler5956f
  3

• Finish FrictionConeConstraintBuider

  #11 opened a year ago by echandler5956f
  1

• How should we deal with doubled computation in the constraint builder class?

  #24 opened a year ago by Akshay5312
  1

• ProblemData usage is ambiguous

  #27 opened a year ago by echandler5956f
  1

• Map for Initial Guess of dxc

  #22 opened a year ago by echandler5956f
  1

• Validate that general (G) constraints are working

  #18 opened a year ago by echandler5956f
  1

• TrajectoryGeneration Class

  #20 opened a year ago by echandler5956f
  2

• Multi-Phase Initial Guesses

  #23 opened a year ago by echandler5956f
  0

• Transform initial guess for x to initial guess for dx

  #17 opened a year ago by echandler5956f
  2

• Initial Guess for dxc

  #21 opened a year ago by echandler5956f
  0

• Create Fdif: The difference operator

  #9 opened a year ago by echandler5956f
  1

• Reorder state decision variable data

  #16 opened a year ago by echandler5956f
  0

• Time varying general and decision constraints

  #15 opened a year ago by echandler5956f
  0

• Update dependencies

  #7 opened a year ago by echandler5956f
  1