Integrate Invariant State Estimator into Framework - #1413

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lucaslibshutz wants to merge 91 commits into

new-state-estimator

Commits on Jun 29, 2026

Commits on Jun 30, 2026

Commits on Jul 1, 2026

add invariant filter to sim testing
lucaslibshutz
committed
1365c4e
add logic for IMU and CoM
lucaslibshutz
committed
60081d6
add ground truth roll comparison
lucaslibshutz
committed
645b280

Commits on Jul 2, 2026

fixed foot switch logic, estimator works for basic walking
lucaslibshutz
committed
c193bf2
ready to test on robot
lucaslibshutz
committed
ccdc364
Merge branch 'develop' into new-state-estimator
lucaslibshutz
committed
99bfa93
fix frozen state behavior (should)
lucaslibshutz
committed
5057aaa
Merge branch 'develop' into new-state-estimator
lucaslibshutz
committed
212c7e6
start adding files for IMU alpha filter tie in
lucaslibshutz
committed
bb5a3c2

Commits on Jul 3, 2026

alpha complementary filter finsihed
lucaslibshutz
committed
4f6e5fe
alpha complementary filter finished
lucaslibshutz
committed
85cdb73
Merge remote-tracking branch 'origin/new-estimator/joint-level-fixes' into new-estimator/joint-level-fixes
lucaslibshutz
committed
fb3660a
added alpha filter pre-filter file
lucaslibshutz
committed
958ff90
first version of pre-filter framework
lucaslibshutz
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7ea0e73
pre-filter framework implemented, time to test
lucaslibshutz
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569e5a3
add none option to joint filter
lucaslibshutz
committed
fd2c79b

Commits on Jul 6, 2026

selectability for joint switch implementation now
lucaslibshutz
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67f4c7f
starting work on joint KF implementation
lucaslibshutz
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eee283a
joint KF should be finished, time to test
lucaslibshutz
committed
c9ffc34
stop garbage buildup, fix SEK3_Utils to pre-alloc
lucaslibshutz
committed
3ee4418
Merge branch 'develop' into new-estimator/joint-level-fixes
Alexander OCU
committed
51e906a
bias not returning possible fix
lucaslibshutz
committed
312d59d

Commits on Jul 7, 2026

attempt to fix ethercat error
lucaslibshutz
committed
0946616
fix unused imports
lucaslibshutz
committed
5e2520a
add NaN guard to joint filter
lucaslibshutz
committed
8861583
scs2 charts and yo variables added
lucaslibshutz
committed
2d48313
more scs2 fixes
lucaslibshutz
committed
0012c8e
add config file and global inekf tuning vars
Alexander OCU
committed
c8d8086

Commits on Jul 8, 2026

add mass matrix implementation and tests
lucaslibshutz
committed
275430d
attempt 1 at fixing unstable problem
lucaslibshutz
committed
8533e0e
added charts that work
ihmc-rosie
committed
5b8307c
add YoVariables for NIS
lucaslibshutz
committed
faa2deb
process noise change via schur complement
lucaslibshutz
committed
1ad2154
new joint KF maybe
lucaslibshutz
committed
cd982c9
tuned invariant filter for WBC
ihmc-rosie
committed
c067844

Commits on Jul 9, 2026

filter divergence possible fix, v2
lucaslibshutz
committed
83e5aff
add debugging message for singular inversion
lucaslibshutz
committed
877ea68

Commits on Jul 10, 2026

add noise injection to IMUs
lucaslibshutz
committed
0e81a2b
revert noise values, lower joint noise floor
lucaslibshutz
committed
d861029
add gravity update
lucaslibshutz
committed
b6dc400
clamp biases as possible fix
lucaslibshutz
committed
b9b67b1
Merge branch 'develop' into new-estimator/joint-level-fixes
ihmc-rosie
committed
c7cc22c
add per-joint alpha fixes
lucaslibshutz
committed
1e70d13
update alpha values to scale
lucaslibshutz
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6aeca3e
try reverting to original
ihmc-rosie
committed
1a01d23
trust pitch less
lucaslibshutz
committed
d1fc64d

Commits on Jul 12, 2026

Merge remote-tracking branch 'origin/develop' into new-estimator/joint-level-fixes
Alexander OCU
committed
9404e8d
gravity/pitch possible fix
lucaslibshutz
committed
3740ea6

Commits on Jul 13, 2026

add relevant tests for gravity fix
lucaslibshutz
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207bd07
raw gravity fallback with test
lucaslibshutz
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c367faf
add sensor noise params
lucaslibshutz
committed
f84a65b

Commits on Jul 14, 2026

add joint KF as default and first try with changing variances
ihmc-rosie
committed
5d6b6e8
EKF config for SCS2 with more stuff
Alexander OCU
committed
eeb58ae

Commits on Jul 15, 2026

add encoder measurement model
lucaslibshutz
committed
f30d631

Commits on Jul 16, 2026

added a convenience function (#1396)

rjgriffin42
authored and
lucaslibshutz
committed
3dd14dd
add more NIS yoVars for debug
lucaslibshutz
committed
9688e3b
debug YoVariables and wiring
lucaslibshutz
committed
88d8e34
added a convenience function (#1396)

rjgriffin42
authored and
lucaslibshutz
committed
355d530
add more NIS yoVars for debug
lucaslibshutz
committed
503141c
add reseed flag, time to test
lucaslibshutz
committed
45c1cb9
add new layout for oscillation debug
lucaslibshutz
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844ef26
add filter for 12Hz osc
lucaslibshutz
committed
75a111b
add low pass filter
lucaslibshutz
committed
b942ea0
Merge remote-tracking branch 'origin/develop' into new-estimator/joint-debug
ihmc-rosie
committed
fc8d2e7
add velocity selector
lucaslibshutz
committed
f4c43e6
fix multi thread enum and add osc debug config
ihmc-rosie
committed
05b96aa

Commits on Jul 17, 2026

Commits on Aug 4, 2026

test suite map added
lucaslibshutz
committed
3e1566d
Merge branch 'develop' into new-estimator/joint-debug
lucaslibshutz
committed
99e5100
Merge branch 'new-estimator/joint-debug' into new-estimator/joint-level-fixes
lucaslibshutz
committed
3cb3125

Commits on Aug 6, 2026

fix build issues
ihmc-rosie
committed
d2f7200

Commits on Aug 7, 2026

change names of packages to conform to SnakeCase
lucaslibshutz
committed
dce1b39

Commits on Aug 10, 2026

small fixes for code running quicker
lucaslibshutz
committed
d04178b
axis3D changes and comment label
lucaslibshutz
committed
0afc90d
Take gravity from the robot process instead of hard-coding it in the InEKF
lucaslibshutz
committed
d514f28
Merge branch 'develop' into new-state-estimator
Beomyeong
authored
5ffc030
fun lil easter egg
lucaslibshutz
committed
caf9357
Merge branch 'new-state-estimator' into new-estimator/inekf-gravity
lucaslibshutz
authored
91cba4e
Merge pull request #1417 from ihmcrobotics/new-estimator/inekf-gravity
lucaslibshutz
authored
6736d52