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Forceful manipulation #2

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Forceful manipulation #2

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LiamMZ
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@LiamMZ LiamMZ commented Oct 14, 2022

Important files to look at

  • panda_primitives_v2.py
    • get_dynamics_fn_v3() (this is rukig)
    • get_torque_limits_not_exceded_test_v3() (this is RNE)
    • get_torque_limits_not_exceded_test_v2() (this is the robot dynamics fn)
    • get_ik_fn_force_aware()
  • pybullet_tools/utils.py
  • panda_utils.py
  • panda_force_aware/run.py

lmerzhoffmeister and others added 28 commits June 2, 2022 10:42
moved over real panda stuff
852d800
added official meshes and panda urdf
8d757e0
panda kinematics updates, urdf updates
4a2fd28
added utilities problems and primitives for bi panda
1017900
runs poorly
50a88ac
revert urdf, update primitives, running better, still ofset from pick
7c2c6e2
got pddlstream working with bi-panda
45f5751
added utils for extended arm problem
d9a5146
added joint force setting starting to set up for bi-manual panda
ac0efd7
urdf updates, set up place to tray task
c4c5a33
working with collisions, ignoring collisions for blocks other than wh…
fae0b7d 
…en in collision with other blocks
setting up functions for torqu limit awareness
f2df073
naive intelligent place working ignoring collisions
03ed595
reconfig controller working
3547713
set up bin problem, set up baseline, problems with end goal placement…
1c2f9a3 
… and reconfig
added extended workspace rearangement for mobile robot
0e474e1
more robust, broken trying to make traj more smooth
fb53b7c
updating
484e8b6
fixed sticky tray
0da4e89
baseline working?
dc200a7
@LiamMZ
testing moving the closer with a closer starting config
6522fdf
@LiamMZ
refactored to sample random y_distance for pre-determined range
bc5642a
@LiamMZ
commiting 70 percent success moving on
d4baada
@LiamMZ
committing last working torque
23ff7ca
@LiamMZ
commiting motion updates
326eedb
@LiamMZ
forces accounting for torque, all planners calculate naive vel and accel
87c14ba
@LiamMZ
set up new torque and dynamics fns
31a48ff
rrt* and dynamics updates
75f03f6
@LiamMZ LiamMZ requested a review from a-nooj October 14, 2022 19:33
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