Feature/owdy rl #64
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Feature/owdy rl #64
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* enabled initial imu Calib * action input is now a vector * For correct action shape * Correct dimentions for action * removed fail if and added += position cov to cp_noise * wip * removed cp_noise += position_cov * removed initial calib * Removed loop * fix action * added history * full matrix as history * clean up * chol for min-max bounds * varying noise still works * on discrete action space * discrete actions in dummyKF * discrete serow rl --------- Co-authored-by: MichaelMarav <michaelmarav4.gmail.com>
* Fixed the compilation issue by changing the order of includes * added comment to warn user not to change order of includes --------- Co-authored-by: MichaelMarav <michaelmarav4.gmail.com>
* safety checks * parameterize min contact prob * bound check
* Removed unused variable * Initial implementation of serow tests for simulated g1 robot * Runsthe h1 experiments from isaac sim * visualizes the results after running h1_isaac_test executable * added the frames for h1 robot * Changed rotation matrix from base to IMU frame to I(3) * ignoring h1_test & fsc_test build folder + datasets in python/ --------- Co-authored-by: MichaelMarav <michaelmarav4.gmail.com>
* odometry publisher * add base frame getter * centroidal publisher * publish all states * seperation + publish thread * fix bindings * fixes * opts
* adaptive rates * wip * constant rate for Mahony * wip * fixes * Imu measurement buffer * buffer unit test * check times * clean up * fix bindings * merge rdy
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