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Commits on Aug 6, 2021

• Merge branch 'main' of github.com:o-Oscar/erquy into main

  

  Oscar

  committedAug 6, 2021
  3e9883b

• Adding support for maximum PD torque handling directly within erquy. Due to impicit Euler stable PD integration, we do not know a priori the requiered torque per joint. Thus, we need to integrate a…

  

  Oscar

  committedAug 6, 2021
  a8f8294

Commits on Jul 25, 2021

• Update README.md

  o-Oscar

  committedJul 25, 2021
  0a112e0

Commits on Jul 24, 2021

• Update README.md

  o-Oscar

  committedJul 24, 2021
  191bd98

• Update and rename README to README.md

  o-Oscar

  committedJul 24, 2021
  20a2927

• Update README

  o-Oscar

  committedJul 24, 2021
  9f97bcf

Commits on Jul 20, 2021

• Added everything to make this simulator worthy of reinforcement learning

  

  Oscar

  committedJul 20, 2021
  fa810f6

Commits on Jul 1, 2021

• Adding the ability to retrieve the contact impulse. Clean-up of the code.

  

  Boutin Oscar

  committedJul 1, 2021
  b6d6771

• Adding pd control for all joints. Adding the -O3 flag that magically makes everything run 100 times faster git add CMakeLists.txt core/include/erquy.hpp core/include/solver.hpp core/src/erquy.cpp c…

  

  Boutin Oscar

  committedJul 1, 2021
  d331741

• Solver is now a little bit optimised : Only big matrix operation instead of a lot of small ones. Creation of the URDF of IdefX as well as a visual mesh.

  

  Boutin Oscar

  committedJul 1, 2021
  eebe31d

Commits on Jun 27, 2021

• Solver now computes the right friction with constant friction coefficient for all contacts. Algorithm runs very slow compared to what I was expecting. Still no erp support.

  

  Boutin Oscar

  committedJun 27, 2021
  0766fb8

• Gravity now also works for articulated bodies. But their freeflyer have to be a child of an immovable link

  

  Boutin Oscar

  committedJun 27, 2021
  39a0c87

Commits on Jun 26, 2021

• Pgs solver is now able to handle multiple contacts by solving for a given number of steps

  

  Boutin Oscar

  committedJun 26, 2021
  fb2f46d

Commits on Jun 25, 2021

• Everything binds to python. Simulation is starting to work. Only one point of contact (no solver). The jacobian is aligned with the normal of the contact.

  

  Boutin Oscar

  committedJun 25, 2021
  9ac62b9

Commits on Jun 24, 2021

• first ugly commit

  

  Boutin Oscar

  committedJun 24, 2021
  a543be5