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Mpc step planning - #1854

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rmburg merged 142 commits into
HULKs:mainfrom
rmburg:mpc-step-planning
Oct 10, 2025
Merged

Mpc step planning#1854
rmburg merged 142 commits into
HULKs:mainfrom
rmburg:mpc-step-planning

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@rmburg

@rmburg rmburg commented May 28, 2025 •
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Why? What?

Fixes #1838

Depends on:

ToDo / Known Issues

  • cleanup
  • verify derivatives (proptest?)
  • do some fuzz testing in behavior sim
  • resolve todo comments
  • Either downgrade dependencies or upgrade rust version in SDK
  • Remove hybrid alignment
  • Remove later clamping layers once we're sure steps are always legal
  • update docs/robotics/motion/step_planning.md
  • evaluate if we want to reimplement the diagonal penalty from the rUNSWift walk volume
  • reimplement initial side bonus if needed
  • eliminate max_step_size in parameters, replace with walk_volume_extents
  • add feature gate parameter
  • remove allocations
  • fix walk-in orientation
  • fix "lighthouse" ball search
  • reach feature parity with the previous state when MPC is disabled
    • hybrid alignment
    • initial side bonus

Ideas for Next Iterations (Not This PR)

  • stop casting between f32 and f64 every time we interact with the solver
    • probably requires rewriting/adapting the solver
  • Faster gradient computation
    • Enzyme?
    • explicit formulation?

How to Test

observe planned steps (twix), either with a real robot or behavior sim

@github-project-automation github-project-automation Bot moved this to Request for Review in Development May 28, 2025
@rmburg rmburg removed this from Development May 28, 2025
@github-project-automation github-project-automation Bot moved this to Request for Review in Development May 28, 2025
@rmburg rmburg moved this from Request for Review to In Progress in Development May 28, 2025
@rmburg
rmburg force-pushed the mpc-step-planning branch 4 times, most recently from 15404e0 to 2767c21 Compare May 29, 2025 17:34
@rmburg rmburg mentioned this pull request May 30, 2025
Merged
@rmburg
rmburg force-pushed the mpc-step-planning branch from bac7076 to cb90156 Compare May 30, 2025 08:50
@rmburg rmburg mentioned this pull request May 30, 2025
Merged
@rmburg
rmburg force-pushed the mpc-step-planning branch 2 times, most recently from 7f38182 to d5ad87d Compare May 30, 2025 10:50
@oleflb oleflb assigned rmburg and knoellle and unassigned rmburg May 31, 2025
@rmburg
rmburg force-pushed the mpc-step-planning branch 3 times, most recently from da6cfad to 159fcc0 Compare June 4, 2025 14:34
@rmburg
rmburg force-pushed the mpc-step-planning branch 4 times, most recently from 0d2c4f0 to 4329b12 Compare June 8, 2025 16:15
@rmburg
rmburg force-pushed the mpc-step-planning branch 2 times, most recently from 7e0304b to ecd7fb6 Compare July 1, 2025 13:58
rmburg added 17 commits October 1, 2025 16:55
@rmburg
Move test_path out of cfg(test) gate
8fbbdab 
Otherwise, it could not be used across crate boundaries and in external benches/tests.
@rmburg
penalize orientation towards the wrong side of the path
0c37282
@rmburg
Pin OpEn dependency
de86133
@rmburg
Remove step_planning_duration
b6ab5ac
@rmburg
Clamp inside movement without anatomical constraints
3a4398d
@rmburg
Rename plan_step to make intent clearer
569dd4d
@rmburg
Adress review comments
b289e06
@rmburg
Remove unnecessary special case for striker walk-in
826e76d
@rmburg
Remove unused utilities
31ea2b7
@rmburg
Move test_utils module to its own file
9b0322b
@rmburg
Organize imports
f841e51
@rmburg
Refactor: use hybrid alignment distance again
cb1dc03
@rmburg
Re-implement hybrid alignment for greedy step plan
740a939
@rmburg
Refactor direct step and fix a few issues
7d30bb4 
Before, direct step was not working for the greedy step planner
@rmburg
Remove leftover comment
369c6f7
@rmburg
Naming consistency
6fa8e43
@rmburg
Use methods of Path type
ee9e04f
@rmburg
rmburg force-pushed the mpc-step-planning branch from cfdb211 to ee9e04f Compare October 1, 2025 14:55
@rmburg
rmburg enabled auto-merge October 9, 2025 11:15
@rmburg
rmburg requested a review from oleflb October 9, 2025 20:41
oleflb
oleflb reviewed Oct 10, 2025
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There you go. Bitte nächstes Mal kleinere PRs und nicht ein Riesending :)

@rmburg
rmburg added this pull request to the merge queue Oct 10, 2025
Merged via the queue into HULKs:main with commit 27921c5 Oct 10, 2025
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@rmburg
rmburg deleted the mpc-step-planning branch October 10, 2025 10:26
@github-project-automation github-project-automation Bot moved this from In Progress to Done in Development Oct 10, 2025
@rmburg rmburg mentioned this pull request Oct 20, 2025
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@rmburg rmburg mentioned this pull request Dec 11, 2025
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@rmburg rmburg mentioned this pull request Jul 6, 2026
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@oleflb oleflb oleflb approved these changes

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@knoellle knoellle

@rmburg rmburg

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impl MPC Step planning

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@rmburg @oleflb @knoellle