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Sys id dev #27

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Sys id dev #27

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Zichangzhou1234
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almost same as ConditionNumberOptimizer only change is

int startCol = (joint_num - 1) * 10; 
const MatX EndeffectorY = ObservationMatrix.middleCols(startCol, 10);

int startCol = (joint_num - 1) * 10; 
const MatX gradEndeffectorY = gradObservationMatrix.middleCols(startCol, 10);

@Cfather Cfather marked this pull request as draft October 4, 2024 17:09
ejakovm and others added 29 commits November 15, 2024 11:40
@ejakovm
Distance calculations
155e729
@ejakovm
TaperedCapsuleCollision calculates distance correctly
c6bbf6e
add friction & ZMP constraints
6a3c491
@ejakovm
Tapered capsule collision checking test cases
71073c5
@ejakovm
Moved bimanual tests
f760b4e
@ejakovm
Gradient calculation compiles
ceea060
@ejakovm
Gradient matches python implementation for some values
d888cdd
@ejakovm
Added computation speed test
f319318
@chiyangW
Add gradient implementation
52e9ae7
fix misalignment & offset
daa3ab2
@ejakovm
Changed TCCollision to use fixed size matrix
21b6948
@ejakovm
Added arm to arm collision as constraints to armour optimizer
9edbef4
@ejakovm
Templated the bimanual constraints to support varying num_factors
6a7bd19
@ejakovm
Made tapered capsule collision more robust to collision edge cases
616fb35
addressed comments
51cf943
@ejakovm
Added test case for checking arm collision
71fed51
@ejakovm
Changed structure of tapered capsule storage
c166a85
@ejakovm
Implemented new structure in ArmourOptimizer
b9e5fbb
@Cfather
clean up
484d92d
@Cfather
update Armour pybind wrapper
6016154
@Cfather
add cmakelists
5dfa44d
@Cfather
clean up
bcd01bb
add object properties function
b5671a4
@ejakovm
Fixed segfaults in tapered capsule implementation
b4c1358
@ejakovm
Improved stability for use with robot arm simulator
d4b0e48
@Cfather
quick fix for the other constructor in TrajectoryData class
37d19bb
@Cfather
enhanced interval bound based on first-order derivative
f7ea367
@Cfather
quick fix in test script
c18e2b3
@Cfather
add interval estimation of A and b
fd70e5c
Cfather and others added 29 commits January 3, 2025 05:33
@Cfather
minor edit for debugging
cfc59d1
@Cfather
remove rnea in PZDynamics
fa30345
@Cfather
Merge pull request #44 from roahmlab/regressor_pz_dev
426ed04 
Compute torque PZ reachsets using regressor instead of rnea
@Cfather
Merge pull request #45 from roahmlab/sys_id_dev
a942218 
Update latest progress in sys_id_dev
@Cfather
clean up
8f9039d
@Cfather
small changes on gradient check thresholds
c339ab8
@Cfather
update on optimizer logic
b551c90
@ejakovm
Changed gradient order to match constraint order
d5605ad
@ejakovm
Self-collision constraints pass armour_example gradient check
6d609cb
@ejakovm
Combined PZ slicing from self-collision and obstacle collision checking
25174f2
@Cfather
add collision-avoidance IK
ff0ab7f
@Cfather
refine Armour optimizer
32344b4
@Cfather
clean up the structure
e9456a2
@Cfather
Merge branch 'sys_id_dev' into bimanual_dev
d25ab55
@Cfather
Merge pull request #36 from roahmlab/bimanual_dev
24f6b93 
Bimanual Constraints Development
@Cfather
combine the last two tapered capsules
95ed16b
@Cfather
update dual arm Armour example
244d012
@Cfather
add dual arm nanobind
56aa706
@Cfather
consider continuous joints in KinovaIKSolver
183b303
@Cfather
first commit of dual arm collision avoidance planner
3a15c81
@Cfather
first runnable example
f0ac584
@Cfather
find feasible solution in a naive scenario
efec287
@Cfather
better solution after tuning
e8ec59f
@Cfather
Merge pull request #46 from roahmlab/dual_arm_dev
d9fd730 
Dual arm collision avoidance in RAPTOR
@Cfather
minor update to reachability based planner pybind
bb2618f
@Cfather
add longer horizon kinova planner pybind
45a8fa2
@Cfather
add minimize jerk cost + fix bug in momentum regressor
91d9fcd
@Cfather
fix optimality update in safe exciting trajectory generator
051cfe4
@Cfather
change sqrt norm back to squared norm for sysid
690a49a
@Cfather Cfather changed the base branch from main to devel January 20, 2025 06:25
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5 participants
@Zichangzhou1234 @Cfather @ejakovm @chiyangW @zichang1234