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Forceful manipulation#2

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LiamMZ wants to merge 32 commits intomasterHIRO-group/pybullet-planning:masterfrom forceful-manipulationHIRO-group/pybullet-planning:forceful-manipulationCopy head branch name to clipboard

+610,263-49

Commits

Commits on Jun 2, 2022

• moved over real panda stuff

  

  lmerzhoffmeister

  committed
  852d800

• added official meshes and panda urdf

  

  lmerzhoffmeister

  committed
  8d757e0

• panda kinematics updates, urdf updates

  

  lmerzhoffmeister

  committed
  4a2fd28

Commits on Jun 5, 2022

• added utilities problems and primitives for bi panda

  

  lmerzhoffmeister

  committed
  1017900

• runs poorly

  

  lmerzhoffmeister

  committed
  50a88ac

• revert urdf, update primitives, running better, still ofset from pick

  

  lmerzhoffmeister

  committed
  7c2c6e2

Commits on Jun 6, 2022

• got pddlstream working with bi-panda

  

  lmerzhoffmeister

  committed
  45f5751

• added utils for extended arm problem

  

  lmerzhoffmeister

  committed
  d9a5146

Commits on Jun 7, 2022

• added joint force setting starting to set up for bi-manual panda

  

  lmerzhoffmeister

  committed
  ac0efd7

Commits on Jun 9, 2022

• urdf updates, set up place to tray task

  

  lmerzhoffmeister

  committed
  c4c5a33

Commits on Jun 13, 2022

• working with collisions, ignoring collisions for blocks other than when in collision with other blocks

  

  lmerzhoffmeister

  committed
  fae0b7d

• setting up functions for torqu limit awareness

  

  lmerzhoffmeister

  committed
  f2df073

Commits on Jun 23, 2022

• naive intelligent place working ignoring collisions

  

  lmerzhoffmeister

  committed
  03ed595

Commits on Jul 9, 2022

• reconfig controller working

  

  lmerzhoffmeister

  committed
  3547713

Commits on Jul 17, 2022

• set up bin problem, set up baseline, problems with end goal placement and reconfig

  

  lmerzhoffmeister

  committed
  1c2f9a3

• added extended workspace rearangement for mobile robot

  

  lmerzhoffmeister

  committed
  0e474e1

Commits on Jul 22, 2022

• more robust, broken trying to make traj more smooth

  

  lmerzhoffmeister

  committed
  fb53b7c

Commits on Aug 3, 2022

• updating

  

  lmerzhoffmeister

  committed
  484e8b6

Commits on Aug 4, 2022

• fixed sticky tray

  

  lmerzhoffmeister

  committed
  0da4e89

Commits on Aug 6, 2022

• baseline working?

  

  lmerzhoffmeister

  committed
  dc200a7

Commits on Aug 8, 2022

• testing moving the closer with a closer starting config

  LiamMZ

  committed
  6522fdf

Commits on Aug 24, 2022

• refactored to sample random y_distance for pre-determined range

  LiamMZ

  committed
  bc5642a

Commits on Sep 1, 2022

• commiting 70 percent success moving on

  LiamMZ

  committed
  d4baada

Commits on Sep 18, 2022

• committing last working torque

  LiamMZ

  committed
  23ff7ca

• commiting motion updates

  LiamMZ

  committed
  326eedb

Commits on Sep 20, 2022

• forces accounting for torque, all planners calculate naive vel and accel

  LiamMZ

  committed
  87c14ba

Commits on Oct 9, 2022

• set up new torque and dynamics fns

  LiamMZ

  committed
  31a48ff

Commits on Oct 14, 2022

• rrt* and dynamics updates

  

  lmerzhoffmeister

  committed
  75f03f6

Commits on Oct 19, 2022

• improvements

  

  lmerzhoffmeister

  committed
  8265b7d

Commits on Oct 22, 2022

• updates

  

  lmerzhoffmeister

  committed
  1aafcad

Commits on Nov 11, 2022

• anuj rne impl working, min-jerk working

  

  lmerzhoffmeister

  committed
  3765cb8

Commits on Nov 15, 2022

• got hiro sim working

  LiamMZ

  committed
  3f91f37