Commits · refactoring · Marko Guberina / ur_simple_control · GitLab

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Mar 03, 2025
- commit before merging onto main · a8012183
  m-guberina authored 1 month ago
  
  a8012183
- fixed heron on python3.13 · 7579fb01
  m-guberina authored 1 month ago
  
  7579fb01
- fixed point impedance, added test · 308da5be
  m-guberina authored 1 month ago
  
  308da5be
- refactored drawing · b2ec21d2
  m-guberina authored 1 month ago
  
  b2ec21d2
- in the middle of refactoring drawing demo · 4839d5a9
  m-guberina authored 1 month ago
  
  4839d5a9
Mar 02, 2025
- cart pulling is runnable, but needs some massaging to get going.... · 4dd10343
  m-guberina authored 1 month ago
  4dd10343
- solved a few bugs · 5eb7c8d5
  m-guberina authored 1 month ago
  
  5eb7c8d5
- figured out what was wrong with the qp formulation of inverse kinematics.... · 4cc58d01
  m-guberina authored 1 month ago
  4cc58d01
Mar 01, 2025
- did run dual arm ik ocp, but there's something evil there. removed final... · b71cca7b
  m-guberina authored 1 month ago
  b71cca7b
- mobile yumi pseudoinverse works · 0ee8398f
  m-guberina authored 1 month ago
  
  0ee8398f
- added comments on what's missing · 7dc44706
  m-guberina authored 2 months ago
  
  7dc44706
Feb 28, 2025
- getting real close to FULLY finalize refactoring · 409304aa
  m-guberina authored 2 months ago
  
  409304aa
- single arm and heron is runnable, dual-arm not finished by not break the rest · 757f63f6
  m-guberina authored 2 months ago
  
  757f63f6
Feb 27, 2025
- in the middle of templetizing control loops and putting in dual arm features.... · 8460b284
  m-guberina authored 2 months ago
  8460b284
- moveLDualArm works. not sure if this is the final API form for dual armed... · 8def0648
  m-guberina authored 2 months ago
  8def0648
Feb 26, 2025
- fixed joined path following reference mpc · 342e8a2b
  m-guberina authored 2 months ago
  
  342e8a2b
Feb 24, 2025
- made a hard link to cart pulling technical report here · 5f502bee
  m-guberina authored 2 months ago
  
  5f502bee
Feb 22, 2025
- commiting before making changes to save logs which are not to be plotted · 35ebf77e
  m-guberina authored 2 months ago
  
  35ebf77e
Feb 20, 2025
- disjoint control works. has to be tuned and optimized (bottlenecks are known),... · 23e42bdb
  m-guberina authored 2 months ago
  23e42bdb
Feb 19, 2025
- full body interface and it makes sense. does not break other code by itself.... · fc361ecc
  m-guberina authored 2 months ago
  fc361ecc
- it is time to try separating base and end-effector control. base with mpc as so far, arm just clik · c2d7edca
  m-guberina authored 2 months ago
  
  c2d7edca
- about to attempt templetizing path following via composition · 4a178a45
  m-guberina authored 2 months ago
  
  4a178a45
- ocmit to swith · 046ef99b
  m-guberina authored 2 months ago
  
  046ef99b
Feb 18, 2025
- i have no idea what it going on with these paths. they need to be studied... · 343a5576
  m-guberina authored 2 months ago
  343a5576
Feb 17, 2025
- made the example with reasonable premade path. super weird shit with... · 27aba2e6
  m-guberina authored 2 months ago
  27aba2e6
- more rewriting of evil into hidden, sensible ugliness. next step is to make... · 933ea359
  m-guberina authored 2 months ago
  933ea359
- single ee, just ee path following is ok. the relationship between the base and... · e726b416
  m-guberina authored 2 months ago
  e726b416
- fixed the velocity bounds (missed to update them in ocp). initialization for... · b0672e5b
  m-guberina authored 2 months ago
  b0672e5b
Feb 16, 2025
- bit more rewriting, now debugging initialization · 1e7460fd
  m-guberina authored 2 months ago
  
  1e7460fd
Feb 14, 2025
- optimal control works for single arm. next up is creating the dual arm and... · d01af8b7
  m-guberina authored 2 months ago
  d01af8b7
Feb 13, 2025
- worked on merging different croco ocp's. one abstraction away from looking... · b935f2ac
  m-guberina authored 2 months ago
  b935f2ac
- clik is runnable · 6ee0e887
  m-guberina authored 2 months ago
  
  6ee0e887
Feb 10, 2025
- a lot happened. i think i got the structure for the single arm and... · 582e5e07
  m-guberina authored 2 months ago
  582e5e07
Feb 07, 2025
- n · 4047af9a
  m-guberina authored 2 months ago
  
  4047af9a
- p · b57fe5e3
  m-guberina authored 2 months ago
  
  b57fe5e3
Feb 06, 2025
- need to switch again · e7f4131f
  m-guberina authored 2 months ago
  
  e7f4131f
- i just need to swith to a different branch for a bit · 41afb1a1
  m-guberina authored 2 months ago
  
  41afb1a1
- first commit to refactoring branch. everything will be broken until it isn't,... · 7aeb6719
  m-guberina authored 2 months ago
  7aeb6719
- forgot to add same fix to client_sender, now it's there · 51208548
  m-guberina authored 2 months ago
  
  51208548
- this should fix ctrl-c not killing networking side processes not exiting in... · 3757a5dc
  m-guberina authored 2 months ago
  3757a5dc