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Sys id dev#27

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Zichangzhou1234 wants to merge 99 commits intodevelroahmlab/RAPTOR:develfrom sys_id_devroahmlab/RAPTOR:sys_id_devCopy head branch name to clipboard

+13,283-1,295

Commits

Commits on Nov 15, 2024

• Distance calculations

  ejakovm

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• TaperedCapsuleCollision calculates distance correctly

  ejakovm

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Commits on Nov 17, 2024

• add friction & ZMP constraints

  

  Jiyang Wang

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• Tapered capsule collision checking test cases

  ejakovm

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• Moved bimanual tests

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Commits on Nov 18, 2024

• Gradient calculation compiles

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• Gradient matches python implementation for some values

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• Added computation speed test

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• Add gradient implementation

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Commits on Nov 19, 2024

• fix misalignment & offset

  

  Jiyang Wang

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• Changed TCCollision to use fixed size matrix

  ejakovm

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Commits on Nov 22, 2024

• Added arm to arm collision as constraints to armour optimizer

  ejakovm

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• Templated the bimanual constraints to support varying num_factors

  ejakovm

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Commits on Nov 24, 2024

• Made tapered capsule collision more robust to collision edge cases

  ejakovm

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• addressed comments

  

  Jiyang Wang

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Commits on Nov 26, 2024

• Added test case for checking arm collision

  ejakovm

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• Changed structure of tapered capsule storage

  ejakovm

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• Implemented new structure in ArmourOptimizer

  ejakovm

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Commits on Nov 28, 2024

• clean up

  Cfather

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• update Armour pybind wrapper

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• add cmakelists

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• clean up

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• add object properties function

  

  Jiyang Wang

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Commits on Dec 1, 2024

• Fixed segfaults in tapered capsule implementation

  ejakovm

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Commits on Dec 4, 2024

• Improved stability for use with robot arm simulator

  ejakovm

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Commits on Dec 5, 2024

• quick fix for the other constructor in TrajectoryData class

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Commits on Dec 6, 2024

• enhanced interval bound based on first-order derivative

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• quick fix in test script

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• add interval estimation of A and b

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• incorporate sensor noise in trajectory data

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• add downsample to TrajectoryData

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• clean up exciting trajectory generation examples

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Commits on Dec 7, 2024

• minor clean up

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Commits on Dec 9, 2024

• add hessian implementation

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• add sensor noise type for percentage error

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• Merge pull request #42 from roahmlab/interval-torque-dev

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Commits on Dec 10, 2024

• add armour exciting trajectory pybind

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Commits on Dec 11, 2024

• nanobind version of TestEndEffectorParametersIdentification.cpp

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  zichang1234

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• interval bound on theta

  Cfather

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• Merge branch 'sys_id_dev' into interval-bound_dev

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• Merge pull request #43 from roahmlab/interval-bound_dev

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• clean up sysid pybind wrapper

  Cfather

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Commits on Dec 12, 2024

• add time format to TrajectoryData to handle ros nanosecond data

  Cfather

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• further clean up to end effector sysid pybind

  Cfather

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Commits on Dec 13, 2024

• change kinova torque limits + API to change end effector inertial params

  Cfather

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Commits on Dec 14, 2024

• change Log Cholesky parameterization + LDLT decomposition

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• add iterative weight method

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Commits on Dec 15, 2024

• switch to norm instead of squared norm

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• add suction force to dynamics

  

  Jiyang Wang

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• Merge branch 'sys_id_dev' into friction_ZMP

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• Merge pull request #37 from roahmlab/friction_ZMP

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Commits on Dec 16, 2024

• small bug fix + add random sensor noise option

  Cfather

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• merge with friction_ZMP_dev

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Commits on Dec 17, 2024

• fix kinova exciting example

  Cfather

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Commits on Dec 18, 2024

• update kinova urdf with gripper

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Commits on Dec 19, 2024

• Merge suction force constraint into bimanual_dev

  ejakovm

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• Added check to fix case in which tcs occupy the same space

  ejakovm

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• Merged changes that allowed self collision checkig in armour simulation

  ejakovm

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• change cost funciton on ik

  zichang1234

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Commits on Dec 20, 2024

• fixed ik

  zichang1234

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Commits on Dec 21, 2024

• sysid on trajectory segments correctly

  Cfather

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Commits on Dec 26, 2024

• Fixed precision limits producing incorrect negative determinants

  ejakovm

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• Merge branch 'bimanual_dev' of https://github.com/roahmlab/RAPTOR into bimanual_dev

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Commits on Dec 28, 2024

• Merge branch 'sys_id_dev' into bimanual_dev

  Cfather

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• change PZDynamics from rnea to regressor to reduce uncertainty influence

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• change inertial parameter in exciting pybind

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Commits on Dec 29, 2024

• minor update on configuration yaml

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Commits on Dec 30, 2024

• Made storage of tapered capsules more robust using array of pairs of frameIndexes

  ejakovm

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• Changed armour_optimizor to use a sigle loop over a collision list and fixed incorrect radius selection when evaluating collision constraints

  ejakovm

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Commits on Jan 2, 2025

• optimize parsing multiple trajectory files

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Commits on Jan 3, 2025

• minor edit for debugging

  Cfather

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Commits on Jan 5, 2025

• remove rnea in PZDynamics

  Cfather

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• Merge pull request #44 from roahmlab/regressor_pz_dev

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• Merge pull request #45 from roahmlab/sys_id_dev

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• clean up

  Cfather

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• small changes on gradient check thresholds

  Cfather

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Commits on Jan 6, 2025

• update on optimizer logic

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Commits on Jan 7, 2025

• Changed gradient order to match constraint order

  ejakovm

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Commits on Jan 8, 2025

• Self-collision constraints pass armour_example gradient check

  ejakovm

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• Combined PZ slicing from self-collision and obstacle collision checking

  ejakovm

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Commits on Jan 10, 2025

• add collision-avoidance IK

  Cfather

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• refine Armour optimizer

  Cfather

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• clean up the structure

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• Merge branch 'sys_id_dev' into bimanual_dev

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• Merge pull request #36 from roahmlab/bimanual_dev

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• combine the last two tapered capsules

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Commits on Jan 11, 2025

• update dual arm Armour example

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• add dual arm nanobind

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• consider continuous joints in KinovaIKSolver

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Commits on Jan 12, 2025

• first commit of dual arm collision avoidance planner

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Commits on Jan 13, 2025

• first runnable example

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• find feasible solution in a naive scenario

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• better solution after tuning

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• Merge pull request #46 from roahmlab/dual_arm_dev

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• minor update to reachability based planner pybind

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Commits on Jan 15, 2025

• add longer horizon kinova planner pybind

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Commits on Jan 16, 2025

• add minimize jerk cost + fix bug in momentum regressor

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• fix optimality update in safe exciting trajectory generator

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Commits on Jan 20, 2025

• change sqrt norm back to squared norm for sysid

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