Mpc step planning - #1854

Merged

rmburg merged 142 commits into

HULKs:mainfrom

rmburg:mpc-step-planning

Oct 10, 2025

Commits on Oct 1, 2025

mpc step planning
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abe8258
taplo fmt
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c063a8b
Nuke `traits::LossField`
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ad9b504
Use parameters instead of hard-coded constants
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78ca812
Move test around
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a060fe1
Organize imports
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7ce622b
Add todo comment
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d3aaf06
undo changes in golden goal
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217a79f
Rename `AlignWithPath` -> `Unspecified` to reflect new semantics
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90b98ef
Refactor: remove `StepPlanningLossField`
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5e744e0
Clean up old comments
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78831bc
Fix failing test
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332f0be
Borrow `Path`
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b42ae07
Borrow `Parameters`
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34acdef
Naming consistency
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203c594
Remove unused variable
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8b5eb0a
Remove another unused variable
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9616603
Add todo comment
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faecf17
Remove outdated comment

knoellle
authored and
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56c08f9
Re-implement customizable walk volume exponents
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3e20399
Remove unused parameters
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e235b6e
Fix parameter path
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7bb1a56
Undo accidental change
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5e2f058
Remove todo comment
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289606f
Remove outdated test comment
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dc535a9
Update todo comment
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16ab3be
Reduce backwards step length
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3a0b79e
Verify path_distance gradient
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3128b29
Add some new gradient types
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03b4218
Pose: use `Angle` for orientation
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62ca8eb
Add more gradient verification tests
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719e60c
Use test_path fn from test_utils module
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35be2f8
Refactor module layout
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9057e04
Update behavior sim scenarios
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35427d2
Fix bugs in target orientation field
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e4f8444
Make learning rate configurable
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e616eb3
Expose current support side and draw soles in twix
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73775b0
Expose step plan cost
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4d37278
Also calculate greedy step plan

knoellle
authored and
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d9e76fc
Remove pub use
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57c4155
Use correct norm for normalizing gradient
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dc98ccc
Fix greedy shit

knoellle
authored and
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7fc5975
Remove `PoseAndSupportFoot` struct
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6fd4e16
Rename variable
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0dd57b2
Simulate support foot switch in greedy step plan
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a9b1127
Remove `dbg`
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9cfe7d4
Fix incorrect fake gradient size
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89e55ee
--wip--
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3e3a5b2
Change mpc test scenario to use fixed path
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189f67b
--wip--
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9b493f3
Use OpEn/PANOC solver (WIP!)
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14b2e8e
Fix step drawing
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5042d2f
Improve step plan drawing
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3220a43
Improve mpc demo scenario path
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bfb0b49
Normalize gradient
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de9f44c
Tweak parameters
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e3bf1cd
Tweak demo scenario path
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e21d5a2
Fix incorrect step plan drawing (again)
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f64c86a
Remove unused parameter
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deb3ba2
Remove transparency of planned steps
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6c735a6
Paint 0th step
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b2757d1
Update optimization parameters
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a935fc3
Remove `PlannedStep`
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04b1531
Remove unused parameters
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0350ec9
Add benchmark
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c84cf4d
Optimization: precompute cost function parts
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456f6b6
Remove unused field
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bc55980
Remove unused field
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299c1b8
Tiny refactor
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70592a0
Add `EndPoints` trait
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2f9aaf5
Refactor: reuse length impl
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7698758
Tiny refactor
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938dee8
impl endpoints for path
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b99dd52
Take direct step to target if possible
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089d2d4
Fix occasional instability
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f1056b5
Organize step planning cost factors
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5009f4b
Don't panic if solver fails
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aa49d6d
Fix trailing comma
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acf5800
Remove unused import
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2d13318
Refactor alignment importance scaling
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c53c5a7
Verify walk orientation gradient
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b314ce7
Remove hybrid alignment
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8b7a9f1
Recycle variables of previous cycle
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4ed9f41
Forget previous step plan on support side switch
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6df3ccd
Update step planning test scenario
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5e13596
Enable walk and target orientation
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5fbfa9b
Tweak parameters to fix donking
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83ba828
Add warm start parameter
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8414a81
Refactor
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94cdf2f
Greedy step plan: Clamp to anatomical constraints
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b6540bd
Fix missing struct field
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ff38d92
Twix: draw target orientation
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4fd7376
Refactor
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85620d6
Re-add `OrientationMode::AlignWithPath`
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9a0fcc5
Change some magic numbers
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1762ddd
Move `WalkVolumeExtents` out of `StepPlanningOptimizationParameters`
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e4889ac
Use constant for number of variables per step
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4e68dee
Move `gradient_type` module to its own file
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013f529
Rework step planner parameters and step clamping
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5fe6957
Remove duplicate gradient_type module
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9108384
Add `PoseGradient::zeros()` convenience method
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ff1c7d3
Remove unneccessary check
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73f5700
Fix sign flip in path alignment
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270ed9e
Add proptest for `OrientationMode::AlignWithPath`
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99ab92e
Use `OrientationMode::AlignWithPath` in `walk_to_pose`
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5551402
Remove unneccessary `abs()`
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e72d88b
Reduce path alignment tolerance parameter
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b103bcd
Add tolerance field to `OrientationMode`
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a046223
Add orientation mode parameter to `walk_to_pose`
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3aa8b13
Fix searching behavior
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0b156e3
Tweak target orientation in lost_ball
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724ccb1
Add todo comment
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f2e1996
Move `StepPlanning` out of `step_plan.rs`
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97bac8a
Re-add PR #1914, which was removed in a rebase
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a17b2fe
Use `Path` newtype
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72b796e
Fix another timing issue
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4751bb8
Move step planning proptest function bodies out of macro
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bed20f0
Reject proptest samples on test path discontinuities
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bed2876
Add proptest config to increase number of samples
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f390952
Add parameter to disable MPC step planning
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0093afe
Constify number of steps
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b05dbbd
Remove todo
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e6d548f
Remove `max_step_size` parameter
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0bf0bc4
Add `Orientation` type
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d9aed33
Consolidate `WrapGradient` and `UnwrapGradient`
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e26ba2f
Move test_path out of cfg(test) gate
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8fbbdab
penalize orientation towards the wrong side of the path
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0c37282
Pin OpEn dependency
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de86133
Remove step_planning_duration
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b6ab5ac
Clamp inside movement without anatomical constraints
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3a4398d
Rename `plan_step` to make intent clearer
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569dd4d
Adress review comments
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b289e06
Remove unnecessary special case for striker walk-in
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826e76d
Remove unused utilities
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31ea2b7
Move test_utils module to its own file
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9b0322b
Organize imports
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f841e51
Refactor: use hybrid alignment distance again
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cb1dc03
Re-implement hybrid alignment for greedy step plan
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740a939
Refactor direct step and fix a few issues
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7d30bb4
Remove leftover comment
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369c6f7
Naming consistency
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6fa8e43
Use methods of `Path` type
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ee9e04f

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Commits

Commits on Oct 1, 2025