Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Forceful manipulation #2

Open
wants to merge 32 commits into
base: master
Choose a base branch
from
Open

Forceful manipulation #2

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
32 commits
Select commit Hold shift + click to select a range
852d800
moved over real panda stuff
Jun 2, 2022
8d757e0
added official meshes and panda urdf
Jun 2, 2022
4a2fd28
panda kinematics updates, urdf updates
Jun 2, 2022
1017900
added utilities problems and primitives for bi panda
Jun 5, 2022
50a88ac
runs poorly
Jun 5, 2022
7c2c6e2
revert urdf, update primitives, running better, still ofset from pick
Jun 5, 2022
45f5751
got pddlstream working with bi-panda
Jun 6, 2022
d9a5146
added utils for extended arm problem
Jun 6, 2022
ac0efd7
added joint force setting starting to set up for bi-manual panda
Jun 7, 2022
c4c5a33
urdf updates, set up place to tray task
Jun 9, 2022
fae0b7d
working with collisions, ignoring collisions for blocks other than wh…
Jun 13, 2022
f2df073
setting up functions for torqu limit awareness
Jun 13, 2022
03ed595
naive intelligent place working ignoring collisions
Jun 23, 2022
3547713
reconfig controller working
Jul 9, 2022
1c2f9a3
set up bin problem, set up baseline, problems with end goal placement…
Jul 17, 2022
0e474e1
added extended workspace rearangement for mobile robot
Jul 17, 2022
fb53b7c
more robust, broken trying to make traj more smooth
Jul 22, 2022
484e8b6
updating
Aug 3, 2022
0da4e89
fixed sticky tray
Aug 4, 2022
dc200a7
baseline working?
Aug 6, 2022
6522fdf
testing moving the closer with a closer starting config
LiamMZ Aug 8, 2022
bc5642a
refactored to sample random y_distance for pre-determined range
LiamMZ Aug 24, 2022
d4baada
commiting 70 percent success moving on
LiamMZ Sep 1, 2022
23ff7ca
committing last working torque
LiamMZ Sep 18, 2022
326eedb
commiting motion updates
LiamMZ Sep 18, 2022
87c14ba
forces accounting for torque, all planners calculate naive vel and accel
LiamMZ Sep 20, 2022
31a48ff
set up new torque and dynamics fns
LiamMZ Oct 9, 2022
75f03f6
rrt* and dynamics updates
Oct 14, 2022
8265b7d
improvements
Oct 19, 2022
1aafcad
updates
Oct 22, 2022
3765cb8
anuj rne impl working, min-jerk working
Nov 11, 2022
3f91f37
got hiro sim working
LiamMZ Nov 15, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
20 changes: 20 additions & 0 deletions models/bi_panda/basket.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,20 @@
<robot name="none">
<link name="none">
<visual>
<origin rpy="1.57 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/visual/basket.obj" />
</geometry>
</visual>
<collision>
<geometry>
<box size="0.981866 1.000000 0.821304" />
</geometry>
</collision>

<inertial>
<mass value="0.0" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
</robot>
Loading