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Aug 16, 2022
- final · d140500b
  Joschua Gosda authored 2 years ago
  
  d140500b
Jul 20, 2022
- force control plots v1 · 8ece398c
  Joschua Gosda authored 2 years ago
  
  8ece398c
Jun 04, 2022
- fixed bug in blending and tested successfully · 4af86a94
  Joschua Gosda authored 2 years ago
  
  4af86a94
Jun 03, 2022
- extended code by blending function, needs testing whether working correctly · e6646cff
  Joschua Gosda authored 2 years ago
  
  e6646cff
May 30, 2022
- simplification of control with selection matrices and python progressbar · 664e8120
  Joschua Gosda authored 2 years ago
  
  664e8120
May 25, 2022
- disabled drift compensation in force controlled axis · 14609483
  Joschua Gosda authored 2 years ago
  
  14609483
May 23, 2022
- successful force control on yumi · b1d5285d
  Joschua Gosda authored 2 years ago
  
  b1d5285d
May 20, 2022
- IK FOR BOTH ARMS WORK · 001da246
  Joschua Gosda authored 2 years ago
  
  001da246
- cleared all pointers from function arguments · cb132a06
  Joschua Gosda authored 2 years ago
  
  cb132a06
May 19, 2022
- major code reorganization · 1472e6f0
  Joschua Gosda authored 2 years ago
  
  1472e6f0
- basic class based interface · d5b3fab7
  Joschua Gosda authored 2 years ago
  
  d5b3fab7
- tried handing over shared model ptr directly but cannot be given to python cuz of its type · 009273bf
  Joschua Gosda authored 2 years ago
  
  009273bf
- changed to pybind class based approach but still does not work with 2 pointers · 94522de8
  Joschua Gosda authored 2 years ago
  
  94522de8
May 18, 2022
- pointer solution works :D · 0d013db7
  Joschua Gosda authored 2 years ago
  
  0d013db7
- pointer solution · 903dce34
  Joschua Gosda authored 2 years ago
  
  903dce34
- outsource parsing model to another function · 2efcc262
  Joschua Gosda authored 2 years ago
  
  2efcc262
May 17, 2022
- checking execution time -> it is too long, parsing takes a lot of time :( · 0caaa445
  Joschua Gosda authored 2 years ago
  
  0caaa445
- improve data management · e6bbac10
  Joschua Gosda authored 2 years ago
  
  e6bbac10
- repo cleanup · 5f55cecb
  Joschua Gosda authored 2 years ago
  
  5f55cecb
- cleaned up folder structure · 0703e1ce
  Joschua Gosda authored 2 years ago
  
  0703e1ce
May 16, 2022
- everything works now, but there is a bug in genpaths.py · 4e1ca799
  Joschua Gosda authored 2 years ago
  
  4e1ca799
May 13, 2022
- extended code for right arm: adapt urdf file, ik · 70960005
  Joschua Gosda authored 2 years ago
  
  70960005
May 12, 2022
- code cleanup and introduced option to choose right arm · 5b993cf2
  Joschua Gosda authored 2 years ago
  
  5b993cf2
- IK works OMG · 4fa169a8
  Joschua Gosda authored 2 years ago
  
  4fa169a8
- rotation matrices match, euler angles to rot matrix is correct · fcac1a32
  Joschua Gosda authored 2 years ago
  
  fcac1a32
- implemented how euler angles map to rotation matrix and reverse · 3039fae4
  Joschua Gosda authored 2 years ago
  
  3039fae4
May 11, 2022
- fuck orientation · fe26acd5
  Joschua Gosda authored 2 years ago
  
  fe26acd5
- found problem with angles, solution would be using quaternions · f88a21ed
  Joschua Gosda authored 2 years ago
  
  f88a21ed
- IK works perfectly if orientation are set manually to fixed values in gpm.cpp · 68e80503
  Joschua Gosda authored 2 years ago
  
  68e80503
May 10, 2022
- backup demo · c52b5f77
  Joschua Gosda authored 2 years ago
  
  c52b5f77
- yay IK shows wing profile without drift compensation · fc7c9138
  Joschua Gosda authored 2 years ago
  
  fc7c9138
May 09, 2022
- ik becomes unstable after a few iterations, start position 0.3 0.2 0.2 · d78daf93
  Joschua Gosda authored 2 years ago
  
  d78daf93
- successfully ran IK with generated trajectory transformed into taskspace of yumi · dca880c7
  Joschua Gosda authored 2 years ago
  
  dca880c7
May 06, 2022
- save... · 6116062f
  Joschua Gosda authored 2 years ago
  
  6116062f
- placed traj in workspace & trying to suppress c++ function to print · e34e03fc
  Joschua Gosda authored 2 years ago
  
  e34e03fc
May 05, 2022
- modified urdf files to match end effector in robot studio and updating cad files · a340e0a6
  Joschua Gosda authored 2 years ago
  
  a340e0a6
Apr 28, 2022
- bindings workgit add requirements.txt ../c++/CMakeLists.txt · b7d43612
  Joschua Gosda authored 2 years ago
  
  b7d43612
Apr 25, 2022
- updated README · 5b50daf5
  Joschua Gosda authored 2 years ago
  
  5b50daf5
Apr 24, 2022
- started cad adapter and arduino code · 95b5e4a6
  Joschua Gosda authored 2 years ago
  
  95b5e4a6
Apr 23, 2022
- implemented manipulability gradient + made gpm function pretty · 21d0d84e
  Joschua Gosda authored 2 years ago
  
  21d0d84e