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Cable Robot Updates#331

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gchenfc wants to merge 77 commits intomasterborglab/GTDynamics:masterfrom feature/gerry/cdprwinchborglab/GTDynamics:feature/gerry/cdprwinchCopy head branch name to clipboard

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Commits

Commits on Apr 6, 2021

• animated plotting of tracking example

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• faster simulation

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• a little refactoring

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• unit test easier priors adding functions

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• values-based priors functions

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• bug fix for some reason

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• move cdpr controller ilqr part 1

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• move cdpr controller ilqr part 2

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• unit test for a tension distribution conroller

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• tension distribution controller - not quite working yet

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Commits on Apr 8, 2021

• Merge branch 'master' into feature/cablerobot-ilqr

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• PriorFactorVector6 - use gtd verison

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• paint parsing unit test

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Commits on Apr 11, 2021

• paint file parsing works

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• fix boolean parsing

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• begin trajectory tracking script

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Commits on Apr 12, 2021

• clean up ipython notebook

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• working simulation with iros logo

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• Pott09's mid-tension iLQR

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• refactor plotting

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• expose more options to python notebook

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• Merge branch 'master' into feature/cablerobot-ilqr

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Commits on Apr 13, 2021

• unit test for local feedback gains

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• expand unit test to include twist and feedforward terms

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Commits on Apr 14, 2021

• sequential elimination that preserves ordering in bayes net

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• block elimination

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• reduce copy-pasta in EliminateSequential

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Commits on Apr 19, 2021

• preliminary gains calculation

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• feedforward calculation for gains

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Commits on Apr 20, 2021

• repackage controller gains with ff terms

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• bugfix in unit test: set "median" tension to 0

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• unit test gains using infinite horizon approximation

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• full IROS trajectory with iLQR

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• format comment line in customwrap.cpp

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Commits on Apr 21, 2021

• minor plotting improvements

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• iros trajectory - higher framerate

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• id/fd were flip flopped

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• update cdpr unit test with correct ID/FD and inertia

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• python side of ID/FD with joint angles and winch inertia

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Commits on Apr 22, 2021

• winch factor

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• cable acceleration factor unit test

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• CableAccelFactor passes unit test for simplified

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• wrap WinchFactor and CableAccelerationFactor

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• create and wrap TensionKey

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• cdpr with winch inertia passes unit tests :)

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• update sim and iLQR to pass unit tests

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• fix torque real values and plotting

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• add functions to visualize gains

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Commits on Apr 26, 2021

• update "zeroValues" to include joint accel and tension

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• write out gains to .h file

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Commits on May 5, 2021

• switch to ATL painting and make EE mass more realistic

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• add raw trajectories to source control (git lfs)

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Commits on Aug 26, 2021

• Merge branch 'master' into feature/gerry/cdprwinch

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Commits on Aug 28, 2021

• WIP: fix some unit tests:

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• remove debug statements

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• WIP: bugfix in gtsam python wrapper: see branch:

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• WIP: cdpr_planar (post gtsam bugfix)

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• WIP: cdpr_planar_sim (post gtsam bugfix)

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• WIP: cdpr_controller_tension_dist (post gtsam bugfix)

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• WIP: cdpr_controller_ilqr (post gtsam bugfix)

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Commits on Aug 29, 2021

• cleanup

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• parameter tweaking

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Commits on Sep 7, 2021

• minor refactoring

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• initial code: per-stroke optimization

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Commits on Sep 8, 2021

• optimize utils.InitValues

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• iLQR "initial guess" - doesn't help that much

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• make iLQR way faster by using less strict optim params

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• update stroke tracking

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• comments and easier running from command line

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Commits on Oct 3, 2021

• LQR-style plots for ICRA paper

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Commits on Oct 21, 2021

• fix - don't need "intermediate control variables" - must have had a typo before

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Commits on Jan 12, 2022

• Merge branch 'master' into feature/gerry/cdprwinch

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• Fix merge issues related to:

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• clean up large data-file diffs

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• fix controller docstrings

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• leftover merge fixes

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Commits on Jun 3, 2022

• minor syntax updates

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