Commits · main · Joschua Gosda / master project

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
Jul 12, 2022
- outsourced plots · 8bb8f319
  Joschua Gosda authored 2 years ago
  
  8bb8f319
Jul 03, 2022
- decoupled plottiing and preprocessing · 74795b0c
  Joschua Gosda authored 2 years ago
  
  74795b0c
Jun 07, 2022
- did better force measurement · 99410e07
  Joschua Gosda authored 2 years ago
  
  99410e07
- fixed force meassurement, result was 1 when acutally 5 N were applied · 4505a0ac
  Joschua Gosda authored 2 years ago
  
  4505a0ac
Jun 04, 2022
- tested whole state machine's functionality successfully · 9bb31664
  Joschua Gosda authored 2 years ago
  
  9bb31664
- implementing state machine with additional state: synching start position, backup · c2d1c9dd
  Joschua Gosda authored 2 years ago
  
  c2d1c9dd
- extended logging · bc5c2680
  Joschua Gosda authored 2 years ago
  
  bc5c2680
- fixed bug in blending and tested successfully · 4af86a94
  Joschua Gosda authored 2 years ago
  
  4af86a94
May 31, 2022
- first experimental testruns · 60e613ff
  Joschua Gosda authored 2 years ago
  
  60e613ff
May 30, 2022
- simplification of control with selection matrices and python progressbar · 664e8120
  Joschua Gosda authored 2 years ago
  
  664e8120
May 25, 2022
- successful test run of hybrid control (force contol + moving along planned trajectory · 25db67fb
  Joschua Gosda authored 2 years ago
  
  25db67fb
- 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
- first successful testrun on yumi · e9874ab5
  Joschua Gosda authored 2 years ago
  
  e9874ab5
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
- 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
- outsourced code that is reused to function within /data/get_data.py · 06493a2b
  Joschua Gosda authored 2 years ago
  
  06493a2b
- 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
- found fucking bug -> works now yaygit add python/preprocessing/genPaths.py · de4ff81c
  Joschua Gosda authored 2 years ago
  
  de4ff81c
- 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
- simulation in RS works with my trajectorygit add... · cf3ff973
  Joschua Gosda authored 2 years ago
  
  simulation in RS works with my trajectorygit add abb_egm_pyclient/abb_egm_pyclient/main_program.py preprocessing/genPaths.py taskspace_placement/computeJoints_left.py
  cf3ff973
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
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