Feature/mpc specific simulation setup #531
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- Adding SCS2AvatarMPCSimulation - Adding SCS2AvatarMPCSimulationFactory - Editing MPC specific classes in NadiaMPCSimulation and NadiaMPCSimulationFactory
…Factory. - Changing the class in NadiaMPCSimulationFactory, SCS2AvatarMPCSimulation and SCS2AvatarMPCSimulationFactory.
- Modifying called class name.
Beomyeong
changed the title
- Adding MPC StepgeneratorThread and task
- wbcc thread is added to the controller. But that thread is still empty, do nothing.
…olTask. - Changing the parents class for MPCControllerTaks, MPCEstimatorTaks, MPCStepGeneratorTask and MPCWholeBodyControllerCoreTask to MPCHumanoidRobotControlTask. - boolean of wholebodycontrollercoreRan is added to HumanoidRobotMPCContextData.
…eBodyControllerCoreManager is called in every tick. - HWBCCM is still empty, so it do nothing.
…lver as parent class. - MPCControllerTask, MPCWholeBodyControllerCoreTask is connected to the MPCCrossRobotCommandResolver. But the MPCEstimatorTask is still connected to the CrossRobotCommandResolver. Because, its updates to Master and to local has not been changes.
- This data type will contain the result of the mpcController and will be delivered to MPCWholeBodyControllerCoreThread from MPCControllerThread
…HumanoidRobotMPCContextData. - In HumanoidWholeBodyControllerCoreManager, the desiredMPCControllerOutput is called and then saved into `desiredJointOutput`which is populated into actuator.
Beomyeong
changed the title
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Re-work for whole body MPC specific simulation environment.
This branch works for two things.
WholeBodyControllerCoreThreadis added.Objectives of this branch are
It seems like robot shaking with the same tuning weighs.
Doubt is that computing MPC in controllerThread and populating it in WBCC Thread.
I hope calculating WBCC with MPC controllerOutput in WBCC thread solves this issue.