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Mpc step planning #1854

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@rmburg rmburg commented May 28, 2025 •
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Why? What?

Fixes #1838

Depends on:

ToDo / Known Issues

  • cleanup
  • verify derivatives (proptest?)
  • do some fuzz testing in behavior sim
  • resolve todo comments
  • Either downgrade dependencies or upgrade rust version in SDK
  • Remove hybrid alignment
  • Remove later clamping layers once we're sure steps are always legal
  • update docs/robotics/motion/step_planning.md
  • evaluate if we want to reimplement the diagonal penalty from the rUNSWift walk volume

Ideas for Next Iterations (Not This PR)

Enzyme

How to Test

observe planned steps (twix), either with a real robot or behavior sim

@github-project-automation github-project-automation bot moved this to Request for Review in Development May 28, 2025
@rmburg rmburg removed this from Development May 28, 2025
@github-project-automation github-project-automation bot moved this to Request for Review in Development May 28, 2025
@rmburg rmburg moved this from Request for Review to In Progress in Development May 28, 2025
@rmburg rmburg force-pushed the mpc-step-planning branch 4 times, most recently from 15404e0 to 2767c21 Compare May 29, 2025 17:34
@rmburg rmburg mentioned this pull request May 30, 2025
Merged
@rmburg rmburg force-pushed the mpc-step-planning branch from bac7076 to cb90156 Compare May 30, 2025 08:50
@rmburg rmburg mentioned this pull request May 30, 2025
Merged
@rmburg rmburg force-pushed the mpc-step-planning branch 2 times, most recently from 7f38182 to d5ad87d Compare May 30, 2025 10:50
@oleflb oleflb assigned rmburg and knoellle and unassigned rmburg May 31, 2025
@rmburg rmburg force-pushed the mpc-step-planning branch 3 times, most recently from da6cfad to 159fcc0 Compare June 4, 2025 14:34
@rmburg rmburg force-pushed the mpc-step-planning branch 4 times, most recently from 0d2c4f0 to 4329b12 Compare June 8, 2025 16:15
@rmburg rmburg force-pushed the mpc-step-planning branch from aa9b798 to 46cb23f Compare June 30, 2025 14:35
@rmburg rmburg force-pushed the mpc-step-planning branch from 7e0304b to ecd7fb6 Compare July 1, 2025 13:58
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cat:Behavior RoboCup 2025 ⚽
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impl MPC Step planning
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@rmburg @knoellle