walking slower when hot by pejotejo · Pull Request #1914 · HULKs/hulk

pejotejo · 2025-07-09T21:07:14Z

Why? What?

to increase stability when the leg joints get hot
#1826

Ideas for Next Iterations (Not This PR)

implement it into Rasmus' StepPlanning

How to Test

let the Nao get hot and look if it still can run fast (it shouldn't)

schluis

Nice work

Co-authored-by: Luis <schluis@posteo.de>

this was easier than correctly rebasing.

commit 2354c81 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu Jul 17 09:40:29 2025 -0300 Fix for vivi commit ca9abfd Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu Jul 17 08:56:46 2025 -0300 Fix breakage commit 1b39e07 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jul 16 19:50:35 2025 -0300 Constify number of steps commit 7b8929d Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jul 16 13:11:41 2025 -0300 Add parameter to disable MPC step planning commit 4ea01c3 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jul 16 12:52:31 2025 -0300 Add proptest config to increase number of samples commit c8a9fde Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jul 16 12:49:36 2025 -0300 Reject proptest samples on test path discontinuities commit 302ffd3 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jul 16 10:48:00 2025 -0300 Move step planning proptest function bodies out of macro commit b64166c Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jul 16 09:21:52 2025 -0300 Fix another timing issue commit f82eeb9 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jul 16 08:22:57 2025 -0300 Remove unused maximum_step_size commit 6b02d1a Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jul 15 19:35:30 2025 -0300 Use `Path` newtype commit f428667 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jul 15 15:50:53 2025 -0300 Re-add PR #1914, which was removed in a rebase this was easier than correctly rebasing. commit 0b41e36 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jul 15 13:36:37 2025 -0300 Move `StepPlanning` out of `step_plan.rs` commit 845fee0 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jul 15 13:04:59 2025 -0300 Add todo comment commit bde6eab Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jul 15 12:48:02 2025 -0300 Tweak target orientation in lost_ball commit bca045f Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jul 15 12:45:09 2025 -0300 Fix searching behavior commit 6801425 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Mon Jul 14 15:54:49 2025 -0300 Add orientation mode parameter to `walk_to_pose` and force kickoff striker to look towards the other field half commit f3ca618 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Mon Jul 14 12:22:28 2025 -0300 Add tolerance field to `OrientationMode` commit 545f04e Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Mon Jul 14 11:13:19 2025 -0300 Reduce path alignment tolerance parameter commit 881a617 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Mon Jul 14 11:10:41 2025 -0300 Remove unneccessary `abs()` commit 258e717 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Mon Jul 14 11:10:12 2025 -0300 Use `OrientationMode::AlignWithPath` in `walk_to_pose` commit e38565d Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Mon Jul 14 11:09:52 2025 -0300 Add proptest for `OrientationMode::AlignWithPath` commit 662e461 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Mon Jul 14 11:08:57 2025 -0300 Fix sign flip in path alignment commit 8d39121 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Mon Jul 14 11:08:29 2025 -0300 Remove unneccessary check commit 6e970c2 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sun Jul 13 02:55:54 2025 +0200 Add `PoseGradient::zeros()` convenience method commit 1cbc956 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sun Jul 13 02:46:28 2025 +0200 Remove duplicate gradient_type module commit 0097adf Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sun Jul 13 02:23:41 2025 +0200 Rework step planner parameters and step clamping commit 4084408 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jul 12 16:23:59 2025 +0200 Move `gradient_type` module to its own file commit fbea8aa Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jul 12 16:04:32 2025 +0200 Use constant for number of variables per step commit 63b95bb Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jul 12 15:59:44 2025 +0200 Move `WalkVolumeExtents` out of `StepPlanningOptimizationParameters` commit e0fdf0d Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jul 12 15:21:05 2025 +0200 Change some magic numbers commit f05a172 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jul 12 14:32:18 2025 +0200 Re-add `OrientationMode::AlignWithPath` commit cafe5e5 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jul 5 14:03:12 2025 +0200 Refactor commit 399e556 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jul 5 13:56:53 2025 +0200 Twix: draw target orientation commit 04f6b7a Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jul 5 13:56:34 2025 +0200 Fix missing struct field commit 3e14df3 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jul 5 13:56:10 2025 +0200 Greedy step plan: Clamp to anatomical constraints commit 3a7bcf0 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jul 5 13:55:26 2025 +0200 Refactor commit cade9df Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jul 5 12:59:36 2025 +0200 Add warm start parameter commit 2c4135b Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jul 2 15:33:56 2025 +0200 Tweak parameters to fix donking commit 8c4e78e Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jul 2 14:47:16 2025 +0200 Enable walk and target orientation commit 8896449 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jul 2 14:47:00 2025 +0200 Update step planning test scenario commit ff841f5 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jul 2 14:46:00 2025 +0200 Forget previous step plan on support side switch commit 1c02146 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jul 2 13:49:22 2025 +0200 Recycle variables of previous cycle commit b63ef57 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jul 1 15:57:43 2025 +0200 Remove hybrid alignment commit 89197b3 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jul 1 14:21:05 2025 +0200 Verify walk orientation gradient commit a23e161 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jul 1 12:20:07 2025 +0200 Refactor alignment importance scaling commit 4f9c098 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Mon Jun 30 16:42:20 2025 +0200 Remove unused import commit 45aeb33 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Mon Jun 30 16:41:44 2025 +0200 Fix trailing comma commit 5cbd787 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Mon Jun 30 16:33:08 2025 +0200 Don't panic if solver fails commit 913f110 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Mon Jun 30 16:30:18 2025 +0200 Organize step planning cost factors commit 811eacd Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Mon Jun 30 16:11:00 2025 +0200 Fix occasional instability commit bdba3d3 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu Jun 26 16:09:21 2025 +0200 Take direct step to target if possible commit 4054499 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jun 24 17:07:23 2025 +0200 Use `Path` type commit 2271028 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jun 17 18:11:26 2025 +0200 impl endpoints for path commit c0b1d37 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jun 17 18:09:12 2025 +0200 Tiny refactor commit db1fb3a Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jun 17 18:08:54 2025 +0200 Refactor: reuse length impl commit 425d0df Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jun 17 18:07:18 2025 +0200 Add `EndPoints` trait commit c8feaa3 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jun 17 17:04:56 2025 +0200 Tiny refactor commit 666029b Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jun 17 17:01:36 2025 +0200 Remove unused field commit 0cb2e9e Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jun 17 16:50:18 2025 +0200 Remove unused field commit 502fe75 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jun 17 16:45:35 2025 +0200 Optimization: precompute cost function parts commit 0638130 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sun Jun 15 13:42:16 2025 +0200 Add benchmark commit 7b8a304 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sun Jun 15 00:32:24 2025 +0200 Remove unused parameters commit ee65e7f Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jun 14 14:56:20 2025 +0200 Remove `PlannedStep` commit f84afbc Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jun 14 10:10:24 2025 +0200 Update optimization parameters commit 1e85cd6 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jun 14 10:06:07 2025 +0200 Paint 0th step commit 6e6d9e5 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jun 14 09:26:00 2025 +0200 Remove transparency of planned steps commit 1a65756 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jun 14 09:08:51 2025 +0200 Remove unused parameter commit e73609f Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Fri Jun 13 16:25:08 2025 +0200 Fix incorrect step plan drawing (again) commit d8fefd5 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Fri Jun 13 16:24:39 2025 +0200 Tweak demo scenario path commit 3d4f85b Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Fri Jun 13 14:56:55 2025 +0200 Tweak parameters commit 2b49644 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Fri Jun 13 14:46:59 2025 +0200 Normalize gradient commit 97fe5a9 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Fri Jun 13 13:54:39 2025 +0200 Improve mpc demo scenario path commit 0706366 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Fri Jun 13 12:37:22 2025 +0200 Improve step plan drawing commit 26b450a Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Fri Jun 13 12:36:39 2025 +0200 Fix step drawing commit 029e7ef Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Fri Jun 13 00:20:49 2025 +0200 Use OpEn/PANOC solver (WIP!) commit 26e9452 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jun 4 19:08:47 2025 +0200 --wip-- commit fbefdf2 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu Jun 12 23:08:04 2025 +0200 finish implementing planning in normalized steps commit 062de21 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu Jun 12 23:06:46 2025 +0200 Change mpc test scenario to use fixed path commit dbb99d8 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu Jun 12 10:57:44 2025 +0200 --wip-- commit 4a9d916 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Fri Jun 13 11:21:13 2025 +0200 Fix incorrect fake gradient size commit 9b93544 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Fri Jun 13 11:21:02 2025 +0200 Remove `dbg` commit 1f648dd Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Fri Jun 13 11:20:27 2025 +0200 Simulate support foot switch in greedy step plan commit 8718f57 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Fri Jun 13 11:19:50 2025 +0200 Rename variable commit 309da15 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Fri Jun 13 00:46:24 2025 +0200 Remove `PoseAndSupportFoot` struct commit 5a96d97 Author: Konrad Nölle <konrad@familie-noelle.de> Date: Thu Jun 12 23:46:12 2025 +0200 Fix greedy shit commit c49e278 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu Jun 12 22:31:40 2025 +0200 Use correct norm for normalizing gradient commit fb5d22e Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu Jun 12 10:56:53 2025 +0200 Fix lint commit df50ecf Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jun 11 19:16:37 2025 +0200 Remove pub use commit fbeb131 Author: Konrad Nölle <konrad@familie-noelle.de> Date: Wed Jun 11 22:43:43 2025 +0200 Also calculate greedy step plan commit 6af646f Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jun 11 19:02:40 2025 +0200 Expose step plan cost commit 30d1f0b Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jun 11 19:01:28 2025 +0200 Expose current support side and draw soles in twix commit 705f4cc Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jun 11 18:58:13 2025 +0200 Make learning rate configurable commit e407b2e Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jun 11 17:14:32 2025 +0200 Fix bugs in target orientation field commit b3bf169 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jun 11 17:10:15 2025 +0200 Update behavior sim scenarios commit 89ac6cb Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sun Jun 8 18:15:39 2025 +0200 Refactor module layout commit b540b0f Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sun Jun 8 17:54:38 2025 +0200 Use test_path fn from test_utils module commit a01a47c Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sun Jun 8 17:14:38 2025 +0200 Add more gradient verification tests commit 36070b0 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sun Jun 8 15:12:59 2025 +0200 Pose: use `Angle` for orientation commit 230281c Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sun Jun 8 15:04:32 2025 +0200 Add some new gradient types commit ed1d274 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jun 7 12:58:16 2025 +0200 Verify path_distance gradient commit db94bdb Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jun 7 13:22:37 2025 +0200 Reduce backwards step length commit f73548c Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jun 4 17:49:59 2025 +0200 Update todo comment commit b5f6186 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jun 4 17:36:31 2025 +0200 Remove outdated test comment commit 1c73ae6 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jun 4 17:08:48 2025 +0200 Remove todo comment commit 695fa1c Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jun 4 17:07:52 2025 +0200 Undo accidental change commit c73e367 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jun 4 15:39:10 2025 +0200 Fix parameter path commit decdd53 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jun 4 15:30:07 2025 +0200 Remove unused parameters commit fe75907 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat May 31 16:39:45 2025 +0200 Re-implement customizable walk volume exponents commit 838304b Author: Konrad Nölle <konrad@familie-noelle.de> Date: Sat May 31 12:55:22 2025 +0200 Remove outdated comment commit b32009e Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat May 31 12:28:57 2025 +0200 Add todo comment commit 487a4ac Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat May 31 12:17:35 2025 +0200 Remove another unused variable commit c07fd15 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat May 31 12:05:01 2025 +0200 Remove unused variable commit 3276bc2 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Fri May 30 11:55:33 2025 +0200 Naming consistency commit feffde9 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu May 29 19:50:19 2025 +0200 Borrow `Parameters` commit 3d14b41 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu May 29 19:47:23 2025 +0200 Make `Path` borrow its segments commit d5040eb Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu May 29 19:34:14 2025 +0200 Fix failing test commit 7ab0a4b Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu May 29 19:27:31 2025 +0200 Clean up old comments commit 4e8c083 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu May 29 19:25:56 2025 +0200 Refactor: remove `StepPlanningLossField` commit d6f69a7 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu May 29 18:37:12 2025 +0200 Rename `AlignWithPath` -> `Unspecified` to reflect new semantics commit b99c734 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu May 29 18:28:03 2025 +0200 undo changes in golden goal commit da602f5 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu May 29 17:38:15 2025 +0200 Add todo comment commit 73df475 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu May 29 17:24:56 2025 +0200 Organize imports commit b9fafe7 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu May 29 17:21:10 2025 +0200 Move test around commit 6e269c3 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu May 29 17:04:10 2025 +0200 Use parameters instead of hard-coded constants commit efb9746 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu May 29 14:41:49 2025 +0200 Nuke `traits::LossField` commit 4c97d51 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu May 29 12:42:55 2025 +0200 taplo fmt commit e471097 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Mon Jan 27 00:45:31 2025 +0100 mpc step planning

commit ca9abfd Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu Jul 17 08:56:46 2025 -0300 Fix breakage commit 1b39e07 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jul 16 19:50:35 2025 -0300 Constify number of steps commit 7b8929d Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jul 16 13:11:41 2025 -0300 Add parameter to disable MPC step planning commit 4ea01c3 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jul 16 12:52:31 2025 -0300 Add proptest config to increase number of samples commit c8a9fde Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jul 16 12:49:36 2025 -0300 Reject proptest samples on test path discontinuities commit 302ffd3 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jul 16 10:48:00 2025 -0300 Move step planning proptest function bodies out of macro commit b64166c Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jul 16 09:21:52 2025 -0300 Fix another timing issue commit f82eeb9 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jul 16 08:22:57 2025 -0300 Remove unused maximum_step_size commit 6b02d1a Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jul 15 19:35:30 2025 -0300 Use `Path` newtype commit f428667 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jul 15 15:50:53 2025 -0300 Re-add PR #1914, which was removed in a rebase this was easier than correctly rebasing. commit 0b41e36 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jul 15 13:36:37 2025 -0300 Move `StepPlanning` out of `step_plan.rs` commit 845fee0 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jul 15 13:04:59 2025 -0300 Add todo comment commit bde6eab Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jul 15 12:48:02 2025 -0300 Tweak target orientation in lost_ball commit bca045f Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jul 15 12:45:09 2025 -0300 Fix searching behavior commit 6801425 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Mon Jul 14 15:54:49 2025 -0300 Add orientation mode parameter to `walk_to_pose` and force kickoff striker to look towards the other field half commit f3ca618 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Mon Jul 14 12:22:28 2025 -0300 Add tolerance field to `OrientationMode` commit 545f04e Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Mon Jul 14 11:13:19 2025 -0300 Reduce path alignment tolerance parameter commit 881a617 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Mon Jul 14 11:10:41 2025 -0300 Remove unneccessary `abs()` commit 258e717 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Mon Jul 14 11:10:12 2025 -0300 Use `OrientationMode::AlignWithPath` in `walk_to_pose` commit e38565d Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Mon Jul 14 11:09:52 2025 -0300 Add proptest for `OrientationMode::AlignWithPath` commit 662e461 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Mon Jul 14 11:08:57 2025 -0300 Fix sign flip in path alignment commit 8d39121 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Mon Jul 14 11:08:29 2025 -0300 Remove unneccessary check commit 6e970c2 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sun Jul 13 02:55:54 2025 +0200 Add `PoseGradient::zeros()` convenience method commit 1cbc956 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sun Jul 13 02:46:28 2025 +0200 Remove duplicate gradient_type module commit 0097adf Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sun Jul 13 02:23:41 2025 +0200 Rework step planner parameters and step clamping commit 4084408 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jul 12 16:23:59 2025 +0200 Move `gradient_type` module to its own file commit fbea8aa Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jul 12 16:04:32 2025 +0200 Use constant for number of variables per step commit 63b95bb Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jul 12 15:59:44 2025 +0200 Move `WalkVolumeExtents` out of `StepPlanningOptimizationParameters` commit e0fdf0d Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jul 12 15:21:05 2025 +0200 Change some magic numbers commit f05a172 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jul 12 14:32:18 2025 +0200 Re-add `OrientationMode::AlignWithPath` commit cafe5e5 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jul 5 14:03:12 2025 +0200 Refactor commit 399e556 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jul 5 13:56:53 2025 +0200 Twix: draw target orientation commit 04f6b7a Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jul 5 13:56:34 2025 +0200 Fix missing struct field commit 3e14df3 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jul 5 13:56:10 2025 +0200 Greedy step plan: Clamp to anatomical constraints commit 3a7bcf0 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jul 5 13:55:26 2025 +0200 Refactor commit cade9df Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jul 5 12:59:36 2025 +0200 Add warm start parameter commit 2c4135b Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jul 2 15:33:56 2025 +0200 Tweak parameters to fix donking commit 8c4e78e Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jul 2 14:47:16 2025 +0200 Enable walk and target orientation commit 8896449 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jul 2 14:47:00 2025 +0200 Update step planning test scenario commit ff841f5 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jul 2 14:46:00 2025 +0200 Forget previous step plan on support side switch commit 1c02146 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jul 2 13:49:22 2025 +0200 Recycle variables of previous cycle commit b63ef57 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jul 1 15:57:43 2025 +0200 Remove hybrid alignment commit 89197b3 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jul 1 14:21:05 2025 +0200 Verify walk orientation gradient commit a23e161 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jul 1 12:20:07 2025 +0200 Refactor alignment importance scaling commit 4f9c098 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Mon Jun 30 16:42:20 2025 +0200 Remove unused import commit 45aeb33 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Mon Jun 30 16:41:44 2025 +0200 Fix trailing comma commit 5cbd787 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Mon Jun 30 16:33:08 2025 +0200 Don't panic if solver fails commit 913f110 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Mon Jun 30 16:30:18 2025 +0200 Organize step planning cost factors commit 811eacd Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Mon Jun 30 16:11:00 2025 +0200 Fix occasional instability commit bdba3d3 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu Jun 26 16:09:21 2025 +0200 Take direct step to target if possible commit 4054499 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jun 24 17:07:23 2025 +0200 Use `Path` type commit 2271028 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jun 17 18:11:26 2025 +0200 impl endpoints for path commit c0b1d37 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jun 17 18:09:12 2025 +0200 Tiny refactor commit db1fb3a Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jun 17 18:08:54 2025 +0200 Refactor: reuse length impl commit 425d0df Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jun 17 18:07:18 2025 +0200 Add `EndPoints` trait commit c8feaa3 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jun 17 17:04:56 2025 +0200 Tiny refactor commit 666029b Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jun 17 17:01:36 2025 +0200 Remove unused field commit 0cb2e9e Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jun 17 16:50:18 2025 +0200 Remove unused field commit 502fe75 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Tue Jun 17 16:45:35 2025 +0200 Optimization: precompute cost function parts commit 0638130 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sun Jun 15 13:42:16 2025 +0200 Add benchmark commit 7b8a304 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sun Jun 15 00:32:24 2025 +0200 Remove unused parameters commit ee65e7f Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jun 14 14:56:20 2025 +0200 Remove `PlannedStep` commit f84afbc Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jun 14 10:10:24 2025 +0200 Update optimization parameters commit 1e85cd6 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jun 14 10:06:07 2025 +0200 Paint 0th step commit 6e6d9e5 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jun 14 09:26:00 2025 +0200 Remove transparency of planned steps commit 1a65756 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jun 14 09:08:51 2025 +0200 Remove unused parameter commit e73609f Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Fri Jun 13 16:25:08 2025 +0200 Fix incorrect step plan drawing (again) commit d8fefd5 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Fri Jun 13 16:24:39 2025 +0200 Tweak demo scenario path commit 3d4f85b Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Fri Jun 13 14:56:55 2025 +0200 Tweak parameters commit 2b49644 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Fri Jun 13 14:46:59 2025 +0200 Normalize gradient commit 97fe5a9 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Fri Jun 13 13:54:39 2025 +0200 Improve mpc demo scenario path commit 0706366 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Fri Jun 13 12:37:22 2025 +0200 Improve step plan drawing commit 26b450a Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Fri Jun 13 12:36:39 2025 +0200 Fix step drawing commit 029e7ef Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Fri Jun 13 00:20:49 2025 +0200 Use OpEn/PANOC solver (WIP!) commit 26e9452 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jun 4 19:08:47 2025 +0200 --wip-- commit fbefdf2 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu Jun 12 23:08:04 2025 +0200 finish implementing planning in normalized steps commit 062de21 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu Jun 12 23:06:46 2025 +0200 Change mpc test scenario to use fixed path commit dbb99d8 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu Jun 12 10:57:44 2025 +0200 --wip-- commit 4a9d916 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Fri Jun 13 11:21:13 2025 +0200 Fix incorrect fake gradient size commit 9b93544 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Fri Jun 13 11:21:02 2025 +0200 Remove `dbg` commit 1f648dd Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Fri Jun 13 11:20:27 2025 +0200 Simulate support foot switch in greedy step plan commit 8718f57 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Fri Jun 13 11:19:50 2025 +0200 Rename variable commit 309da15 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Fri Jun 13 00:46:24 2025 +0200 Remove `PoseAndSupportFoot` struct commit 5a96d97 Author: Konrad Nölle <konrad@familie-noelle.de> Date: Thu Jun 12 23:46:12 2025 +0200 Fix greedy shit commit c49e278 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu Jun 12 22:31:40 2025 +0200 Use correct norm for normalizing gradient commit fb5d22e Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu Jun 12 10:56:53 2025 +0200 Fix lint commit df50ecf Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jun 11 19:16:37 2025 +0200 Remove pub use commit fbeb131 Author: Konrad Nölle <konrad@familie-noelle.de> Date: Wed Jun 11 22:43:43 2025 +0200 Also calculate greedy step plan commit 6af646f Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jun 11 19:02:40 2025 +0200 Expose step plan cost commit 30d1f0b Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jun 11 19:01:28 2025 +0200 Expose current support side and draw soles in twix commit 705f4cc Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jun 11 18:58:13 2025 +0200 Make learning rate configurable commit e407b2e Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jun 11 17:14:32 2025 +0200 Fix bugs in target orientation field commit b3bf169 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jun 11 17:10:15 2025 +0200 Update behavior sim scenarios commit 89ac6cb Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sun Jun 8 18:15:39 2025 +0200 Refactor module layout commit b540b0f Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sun Jun 8 17:54:38 2025 +0200 Use test_path fn from test_utils module commit a01a47c Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sun Jun 8 17:14:38 2025 +0200 Add more gradient verification tests commit 36070b0 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sun Jun 8 15:12:59 2025 +0200 Pose: use `Angle` for orientation commit 230281c Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sun Jun 8 15:04:32 2025 +0200 Add some new gradient types commit ed1d274 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jun 7 12:58:16 2025 +0200 Verify path_distance gradient commit db94bdb Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat Jun 7 13:22:37 2025 +0200 Reduce backwards step length commit f73548c Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jun 4 17:49:59 2025 +0200 Update todo comment commit b5f6186 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jun 4 17:36:31 2025 +0200 Remove outdated test comment commit 1c73ae6 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jun 4 17:08:48 2025 +0200 Remove todo comment commit 695fa1c Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jun 4 17:07:52 2025 +0200 Undo accidental change commit c73e367 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jun 4 15:39:10 2025 +0200 Fix parameter path commit decdd53 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Wed Jun 4 15:30:07 2025 +0200 Remove unused parameters commit fe75907 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat May 31 16:39:45 2025 +0200 Re-implement customizable walk volume exponents commit 838304b Author: Konrad Nölle <konrad@familie-noelle.de> Date: Sat May 31 12:55:22 2025 +0200 Remove outdated comment commit b32009e Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat May 31 12:28:57 2025 +0200 Add todo comment commit 487a4ac Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat May 31 12:17:35 2025 +0200 Remove another unused variable commit c07fd15 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Sat May 31 12:05:01 2025 +0200 Remove unused variable commit 3276bc2 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Fri May 30 11:55:33 2025 +0200 Naming consistency commit feffde9 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu May 29 19:50:19 2025 +0200 Borrow `Parameters` commit 3d14b41 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu May 29 19:47:23 2025 +0200 Make `Path` borrow its segments commit d5040eb Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu May 29 19:34:14 2025 +0200 Fix failing test commit 7ab0a4b Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu May 29 19:27:31 2025 +0200 Clean up old comments commit 4e8c083 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu May 29 19:25:56 2025 +0200 Refactor: remove `StepPlanningLossField` commit d6f69a7 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu May 29 18:37:12 2025 +0200 Rename `AlignWithPath` -> `Unspecified` to reflect new semantics commit b99c734 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu May 29 18:28:03 2025 +0200 undo changes in golden goal commit da602f5 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu May 29 17:38:15 2025 +0200 Add todo comment commit 73df475 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu May 29 17:24:56 2025 +0200 Organize imports commit b9fafe7 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu May 29 17:21:10 2025 +0200 Move test around commit 6e269c3 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu May 29 17:04:10 2025 +0200 Use parameters instead of hard-coded constants commit efb9746 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu May 29 14:41:49 2025 +0200 Nuke `traits::LossField` commit 4c97d51 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Thu May 29 12:42:55 2025 +0200 taplo fmt commit e471097 Author: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com> Date: Mon Jan 27 00:45:31 2025 +0100 mpc step planning

this was easier than correctly rebasing.

* mpc step planning * taplo fmt * Nuke `traits::LossField` * Use parameters instead of hard-coded constants * Move test around * Organize imports * Add todo comment * undo changes in golden goal * Rename `AlignWithPath` -> `Unspecified` to reflect new semantics * Refactor: remove `StepPlanningLossField` * Clean up old comments * Fix failing test * Borrow `Path` * Borrow `Parameters` * Naming consistency * Remove unused variable * Remove another unused variable * Add todo comment * Remove outdated comment * Re-implement customizable walk volume exponents * Remove unused parameters * Fix parameter path * Undo accidental change * Remove todo comment * Remove outdated test comment * Update todo comment * Reduce backwards step length * Verify path_distance gradient * Add some new gradient types * Pose: use `Angle` for orientation * Add more gradient verification tests * Use test_path fn from test_utils module * Refactor module layout * Update behavior sim scenarios * Fix bugs in target orientation field * Make learning rate configurable * Expose current support side and draw soles in twix * Expose step plan cost * Also calculate greedy step plan * Remove pub use * Use correct norm for normalizing gradient * Fix greedy shit * Remove `PoseAndSupportFoot` struct * Rename variable * Simulate support foot switch in greedy step plan * Remove `dbg` * Fix incorrect fake gradient size * --wip-- * Change mpc test scenario to use fixed path * --wip-- * Use OpEn/PANOC solver (WIP!) * Fix step drawing * Improve step plan drawing * Improve mpc demo scenario path * Normalize gradient * Tweak parameters * Tweak demo scenario path * Fix incorrect step plan drawing (again) * Remove unused parameter * Remove transparency of planned steps * Paint 0th step * Update optimization parameters * Remove `PlannedStep` * Remove unused parameters * Add benchmark * Optimization: precompute cost function parts * Remove unused field * Remove unused field * Tiny refactor * Add `EndPoints` trait * Refactor: reuse length impl * Tiny refactor * impl endpoints for path * Take direct step to target if possible * Fix occasional instability * Organize step planning cost factors * Don't panic if solver fails * Fix trailing comma * Remove unused import * Refactor alignment importance scaling * Verify walk orientation gradient * Remove hybrid alignment * Recycle variables of previous cycle * Forget previous step plan on support side switch * Update step planning test scenario * Enable walk and target orientation * Tweak parameters to fix donking * Add warm start parameter * Refactor * Greedy step plan: Clamp to anatomical constraints * Fix missing struct field * Twix: draw target orientation * Refactor * Re-add `OrientationMode::AlignWithPath` * Change some magic numbers * Move `WalkVolumeExtents` out of `StepPlanningOptimizationParameters` * Use constant for number of variables per step * Move `gradient_type` module to its own file * Rework step planner parameters and step clamping * Remove duplicate gradient_type module * Add `PoseGradient::zeros()` convenience method * Remove unneccessary check * Fix sign flip in path alignment * Add proptest for `OrientationMode::AlignWithPath` * Use `OrientationMode::AlignWithPath` in `walk_to_pose` * Remove unneccessary `abs()` * Reduce path alignment tolerance parameter * Add tolerance field to `OrientationMode` * Add orientation mode parameter to `walk_to_pose` and force kickoff striker to look towards the other field half * Fix searching behavior * Tweak target orientation in lost_ball * Add todo comment * Move `StepPlanning` out of `step_plan.rs` * Re-add PR #1914, which was removed in a rebase this was easier than correctly rebasing. * Use `Path` newtype * Fix another timing issue * Move step planning proptest function bodies out of macro * Reject proptest samples on test path discontinuities * Add proptest config to increase number of samples * Add parameter to disable MPC step planning * Constify number of steps * Remove todo * Remove `max_step_size` parameter * Add `Orientation` type * Consolidate `WrapGradient` and `UnwrapGradient` * Move test_path out of cfg(test) gate Otherwise, it could not be used across crate boundaries and in external benches/tests. * penalize orientation towards the wrong side of the path * Pin OpEn dependency * Remove step_planning_duration * Clamp inside movement without anatomical constraints * Rename `plan_step` to make intent clearer * Adress review comments * Remove unnecessary special case for striker walk-in * Remove unused utilities * Move test_utils module to its own file * Organize imports * Refactor: use hybrid alignment distance again * Re-implement hybrid alignment for greedy step plan * Refactor direct step and fix a few issues Before, direct step was not working for the greedy step planner * Remove leftover comment * Naming consistency * Use methods of `Path` type --------- Co-authored-by: Konrad Nölle <konrad@familie-noelle.de>

add temperature hysteresis for lower walk speed

4e20327

pejotejo added this to Development Jul 9, 2025

pejotejo added cat:MotionPlanning cat:Walking RoboCup 2025 ⚽ labels Jul 9, 2025

github-project-automation Bot moved this to Request for Review in Development Jul 9, 2025

add explaination for hysteresis

be039e7

pejotejo force-pushed the reduce-walking-speed branch from fa152fe to be039e7 Compare July 9, 2025 21:31

pejotejo mentioned this pull request Jul 9, 2025

Reduce walking speed when hot #1826

Closed

pejotejo enabled auto-merge July 9, 2025 21:52

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schluis requested changes Jul 10, 2025

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Comment thread crates/control/src/motion/step_planner.rs Outdated

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Comment thread crates/control/src/motion/step_planner.rs Outdated

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pejotejo and others added 2 commits July 12, 2025 13:06

Update Temperature Range

e45f2db

Co-authored-by: Luis <schluis@posteo.de>

switch expect to wrap_err for teperatures and currentminimier

58f1505

pejotejo force-pushed the reduce-walking-speed branch from ad9904b to 58f1505 Compare July 13, 2025 17:01

oleflb requested changes Jul 13, 2025

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Comment thread crates/control/src/motion/step_planner.rs Outdated

move questionmark

39a6a80

oleflb previously approved these changes Jul 13, 2025

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pejotejo enabled auto-merge July 13, 2025 17:17

schmidma requested changes Jul 13, 2025

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Comment thread crates/energy_optimization/src/current_minimizer.rs Outdated

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pejotejo dismissed stale reviews from schluis and oleflb via 0c7713d July 13, 2025 18:50

pejotejo force-pushed the reduce-walking-speed branch 2 times, most recently from 1aa2734 to 319baf2 Compare July 13, 2025 18:58

revert to expect

f7fa215

pejotejo force-pushed the reduce-walking-speed branch from 319baf2 to f7fa215 Compare July 13, 2025 19:05

pejotejo added 2 commits July 13, 2025 21:47

refactor max stepsize into function and make it more readable

8f676c6

expect grammatics

3e40828

schmidma approved these changes Jul 13, 2025

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pejotejo added this pull request to the merge queue Jul 13, 2025

Merged via the queue into HULKs:main with commit 13c5eee Jul 13, 2025
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pejotejo deleted the reduce-walking-speed branch July 13, 2025 20:02

github-project-automation Bot moved this from Request for Review to Done in Development Jul 13, 2025

rmburg added a commit to rmburg/hulk that referenced this pull request Jul 15, 2025

Re-add PR HULKs#1914, which was removed in a rebase

6f9ec76

this was easier than correctly rebasing.

rmburg added a commit to rmburg/hulk that referenced this pull request Jul 15, 2025

Re-add PR HULKs#1914, which was removed in a rebase

30666bf

this was easier than correctly rebasing.

rmburg added a commit to rmburg/hulk that referenced this pull request Jul 16, 2025

Re-add PR HULKs#1914, which was removed in a rebase

e84290d

this was easier than correctly rebasing.

rmburg added a commit to rmburg/hulk that referenced this pull request Jul 16, 2025

Re-add PR HULKs#1914, which was removed in a rebase

4446e29

this was easier than correctly rebasing.

rmburg added a commit to rmburg/hulk that referenced this pull request Jul 16, 2025

Re-add PR HULKs#1914, which was removed in a rebase

f428667

this was easier than correctly rebasing.

rmburg added a commit to rmburg/hulk that referenced this pull request Jul 17, 2025

Re-add PR HULKs#1914, which was removed in a rebase

537c9be

this was easier than correctly rebasing.

rmburg added a commit to rmburg/hulk that referenced this pull request Jul 17, 2025

Re-add PR HULKs#1914, which was removed in a rebase

431f7b6

this was easier than correctly rebasing.

rmburg added a commit to rmburg/hulk that referenced this pull request Jul 20, 2025

Re-add PR HULKs#1914, which was removed in a rebase

6cb38ad

this was easier than correctly rebasing.

rmburg added a commit to rmburg/hulk that referenced this pull request Jul 27, 2025

Re-add PR HULKs#1914, which was removed in a rebase

9ae15c3

this was easier than correctly rebasing.

rmburg added a commit to rmburg/hulk that referenced this pull request Jul 27, 2025

Re-add PR HULKs#1914, which was removed in a rebase

be0fd38

this was easier than correctly rebasing.

rmburg added a commit to rmburg/hulk that referenced this pull request Aug 14, 2025

Re-add PR HULKs#1914, which was removed in a rebase

9987f84

this was easier than correctly rebasing.

rmburg added a commit to rmburg/hulk that referenced this pull request Aug 16, 2025

Re-add PR HULKs#1914, which was removed in a rebase

8e3c6f3

this was easier than correctly rebasing.

rmburg added a commit to rmburg/hulk that referenced this pull request Oct 1, 2025

Re-add PR HULKs#1914, which was removed in a rebase

a17b2fe

this was easier than correctly rebasing.

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walking slower when hot - #1914

walking slower when hot#1914
pejotejo merged 8 commits into
HULKs:mainfrom
pejotejo:reduce-walking-speed

pejotejo commented Jul 9, 2025

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pejotejo commented Jul 9, 2025

Why? What?

Ideas for Next Iterations (Not This PR)

How to Test

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