eus_qp

Features

• QP and optimization library and Euslisp bindings
• Euslisp libraries using optimization

QP and optimization library and Euslisp bindings

• [eus + eiquadprog] (https://github.com/jsk-ros-pkg/jsk_control/blob/master/eus_qp/euslisp/eiquadprog.l)
• [eus + qpoases (eus_qpoases package)] (https://github.com/jsk-ros-pkg/jsk_control/blob/master/eus_qpoases)

Euslisp libraries using optimization

• [Contact optimization] (https://github.com/jsk-ros-pkg/jsk_control/blob/master/eus_qp/euslisp/contact-optimization.l)
  • Calculation function for wrench and torque distribution.
  • Define classes to represent contact
• [Model predictive control] (https://github.com/jsk-ros-pkg/jsk_control/blob/master/eus_qp/euslisp/model-predictive-control.l)
  • MPC base class
  • MPC for COM motion generation
• [CFR and CWC calculation] (https://github.com/jsk-ros-pkg/jsk_control/blob/master/eus_qp/euslisp/cfr-cwc-calculation.l)
  • Calculate functions for CFR (Static or Dynamic COM Feasible Region, ZMP, …) using LP etc
  • Utilities using optimization
• Tests
  • euslisp/test-**.l are samples and tests for above codes.
  • These test codes are tested as rostest in test/test_*.l and test/test_*.test.

Changelog for package eus_qp

0.1.18 (2024-12-09)

0.1.17 (2023-05-28)

0.1.16 (2022-10-27)

• check x::display is available before running graph-view (gnuplot) (#776)
• ptmotiongen: no visualization / print if argument is nil. (#729)
• [optmotiongen] inverse-kinematics for the discrete target (#728)
  • optmotiongen: add test of discrete-kinematics-configuration-task.
  • optmotiongen: update manual.pdf
  • optmotiongen: add manual for discrete target ik.
  • optmotiongen: add sample/sample-sqp-optimization-discrete-kinematics.l
  • optmotiongen: add sample function sample-arm-reach-ik-discrete-raw.
  • optmotiongen: add discrete-kinematics-configuration-task.l
  • optmotiongen: flatten for drawing kin coords list for support discrete-kinematics-configuration-task.
• [optmotiongen] add sample to maximize contact force (#727)
  • optmotiongen: update manual.pdf
  • optmotiongen: add demo-jaxon-hand-force.l
  • optmotiongen: add :wrench-maximize-regular-vector to instant-config-task.
  • optmotiongen: add norm-regular-scale-coeff to instant-config-task.
  • optmotiongen: enable to set nil for print-status-interval and update-viewer-interval.
  • optmotiongen: add sqp-convergence-check and sqp-failure-callback.
  • optmotiongen: enable to set external-wrench-list.
• [optmotiongen] visualize force fix (#722)
• fix for test (#723)
  • optmotiongen: fix and reduce some tests because travis does not finish within 50 min.
  • optmotiongen: fix for visualize contact force in sample-sqp-optimization-trajectory.l.
  • optmotiongen: add functions for visualizing force and moment in playing motion
• [eus_qp/optmotiongen] add target-posture-scale-list argument (#718)
  • optmotiongen: add target-posture-scale-list argument to instant-configuration-task :init method. support to change scale for each posture joint.
• add demo rhp4b reach suitcase instant manip (#715)
• [optmotiongen] fix gravity torque calculation (#714)
  • optmotiongen: update manual.pdf for gravity torque document.
  • optmotiongen: consider fixed link weight to calculate gravity torque. ToDo: The effect for centroid is not considered yet.
  • optmotiongen: update gravity-torque-jacobian calculation and document.
  • optmotiongen: add euslisp/demo/demo-rhp4b-torque-gradient.l
  • optmotiongen: test torque calculation with irtdyna result.
• [optmotiongen] Rebase https://github.com/jsk-ros-pkg/jsk_control/pull/711 (#713)
  • optmotiongen: update manual.pdf for torque gradient update.
  • optmotiongen: update torque gradient calculation (get-contact-torque-jacobian function) and update document.
  • optmotiongen: add sample and test of torque gradient.
• set adjacent regular scale as list format via :adjacent-regular-scale-list argument. add sample for that argument. (#708)
  • optmotiongen: add test of min/max angle of root virtual joint from ik wrapper.
  • optmotiongen: support min/max angle of root virtual joint from ik wrapper.
• set adjacent regular scale as list format via :adjacent-regular-scale-list argument. add sample for that argument. (#708)
• [eus_qp/optmotiongen] support min/max angle of root virtual joint (#709)
  • optmotiongen: add test of min/max angle of root virtual joint from ik wrapper.
  • optmotiongen: support min/max angle of root virtual joint from ik wrapper.
• [eus_qp/optmotiongen] dynamic motion generation with bspline (#705)
  • [eus_qp/optmotiongen/manual] update manual.pdf for bspline-dynamic-configuration-task.
  • [eus_qp/optmotiongen/euslisp/contact-kinematics.l] add look-at-contact class and sample, test for that.
  • [eus_qp/optmotiongen] update sample and test for bspline-dynamic-configuration-task.
  • [eus_qp/optmotiongen/euslisp/demo,sample] move from demo to sample directory.
  • [eus_qp/optmotiongen/euslisp/sample,test] add option to supress graph generation for travis test.
  • [eus_qp/CMakeLists.txt] install optmotiongen directories.

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