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update with latest development #54

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33d02e6
Merge remote-tracking branch 'origin/main' into unit_test_dev
Zichangzhou Sep 18, 2024
43ef567
regroup
Zichangzhou Sep 18, 2024
6d88880
Merge remote-tracking branch 'origin/main' into sys_id_dev
Zichangzhou Sep 18, 2024
b52c8d7
Merge branch 'sys_id_dev' of https://github.com/roahmlab/RAPTOR into …
Zichangzhou Sep 18, 2024
06fb53a
add part of armour code and compile
Cfather Sep 19, 2024
a5b4aa1
add reachset test + redefine armour Bezier curve
Cfather Sep 19, 2024
f025654
update docker and examples
Cfather Sep 20, 2024
395b81a
remove digit modified urdf
Cfather Sep 20, 2024
debcf09
clean up Digit code
Cfather Sep 20, 2024
9f9ef02
Attempted torque validation
ejakovm Sep 22, 2024
eefa5a6
Test runs but does not pass
ejakovm Sep 22, 2024
b26d728
change rotorInertia to armature
Cfather Sep 23, 2024
7bc4eb1
minor update
Cfather Sep 23, 2024
8686b95
Merge pull request #29 from roahmlab/torque-validation
Cfather Sep 23, 2024
b5489d2
simplify 2*PI to M_2_PI
Cfather Sep 23, 2024
9ca459b
change rotorInertia to armature
Cfather Sep 23, 2024
8c8a488
Add files via upload
Cfather Sep 23, 2024
b324429
add interval model torque reachsets test
Cfather Sep 24, 2024
62e66f3
add Armour Optimizer + use M_2_PI
Cfather Sep 25, 2024
50d6c7d
add optimizer
Cfather Sep 27, 2024
af1e941
add double precision version of armour
Cfather Sep 27, 2024
4204294
sys_id_combine , regressorID using pinocchio
Zichangzhou Oct 3, 2024
f581597
Merge branch 'sys_id_dev' of https://github.com/roahmlab/RAPTOR into …
Zichangzhou Oct 3, 2024
3b48cdc
hotfix: digit urdf arm
Cfather Oct 4, 2024
a86cea0
final clean up
Cfather Oct 4, 2024
09672db
Merge pull request #26 from roahmlab/unit_test_dev
Cfather Oct 4, 2024
35d5b0b
clean up 1
Cfather Oct 4, 2024
a6e1f9a
change regressor matrix to be consistent with pinocchio::inertia
Cfather Oct 4, 2024
2407cdd
clean up QR decomposition solver
Cfather Oct 4, 2024
c32425f
clean up friction parameters estimation
Cfather Oct 4, 2024
c32a9e0
add LMI constraints
Cfather Oct 5, 2024
763f2ff
reorganize structure
Cfather Oct 6, 2024
bceb79b
clean up for Luke
Cfather Oct 7, 2024
5677c6c
fix QR decomposition
Cfather Oct 9, 2024
5031c8d
passed test for friction parameters identification
Cfather Oct 9, 2024
8e96fb9
tested base parameter identification
Cfather Oct 10, 2024
08c148e
add hessian for base parameter identification and LMI constraints
Cfather Oct 10, 2024
3636f24
backup
Zichangzhou Oct 15, 2024
392afce
Merge branch 'sys_id_dev' of https://github.com/roahmlab/RAPTOR into …
zichang1234 Oct 15, 2024
aeaac3e
update kinova urdf
Cfather Oct 15, 2024
6197eb7
Merge branch 'sys_id_dev' of https://github.com/Zichangzhou1234/own_s…
zichang1234 Oct 15, 2024
8b9eb97
add Digit sysid example
Cfather Oct 15, 2024
044f6c3
add Digit wholebody sysid during single stance
Cfather Oct 18, 2024
e483b12
add system identification implementation for Digit standing
Cfather Oct 21, 2024
073f0d7
quick clean up
Cfather Oct 21, 2024
a9f9ab1
Merge pull request #30 from roahmlab/sys_id_digit_stand_dev
Cfather Oct 21, 2024
506e289
quick clean up
Cfather Oct 21, 2024
6da2d77
save for merge
zichang1234 Oct 22, 2024
8913e8f
Merge branch 'sys_id_dev' into current-branch
zichang1234 Oct 22, 2024
4d1d5ff
clean up Digit sysid code
Cfather Oct 25, 2024
c7cad54
update kinova urdf and spheres to include camera
Cfather Oct 25, 2024
21c7541
fix spheres on camera
Cfather Oct 25, 2024
04daa66
clean the code
zichang1234 Oct 25, 2024
f5f1f48
Merge branch 'sys_id_dev' of https://github.com/roahmlab/RAPTOR into …
zichang1234 Oct 25, 2024
38bbe79
udpate the exciting effector with define the start pos and vel
zichang1234 Oct 27, 2024
0374d53
end_effector exciting trajectory data
Zichangzhou Oct 27, 2024
979a42d
end_effector exciting trajectory data
Zichangzhou Oct 27, 2024
1f86286
remove all the csv
Zichangzhou Oct 28, 2024
2dd3630
Merge branch 'sys_id_dev' into armour_dev_double
Cfather Oct 28, 2024
365a306
Merge pull request #31 from roahmlab/armour_dev_double
Cfather Oct 28, 2024
5c785cf
udpate gripper spheres
Cfather Oct 29, 2024
10f99e8
minor update to kinova obstacle avoidance
Cfather Oct 29, 2024
b434cf2
cvxpy on end effector
zichang1234 Oct 31, 2024
acd2274
add Costs folder + remove model_double
Cfather Nov 1, 2024
81aa2e6
add regressor condition number as costs
Cfather Nov 2, 2024
d38fa98
parallelize RegressorInverseDynamics using openmp
Cfather Nov 2, 2024
a823daa
change back to Model instead of ModePtl<double>
Cfather Nov 2, 2024
8f68d4c
fix inverse dynamics hessian + minimize torque cost
Cfather Nov 4, 2024
2b89127
Merge pull request #32 from roahmlab/armour_update
Cfather Nov 4, 2024
51d56c4
update tests
Cfather Nov 4, 2024
653f508
add more arithmetic to PZ + use std::sqrt and std::abs
Cfather Nov 8, 2024
7703cb1
change PZsparse reduce strategy
Cfather Nov 8, 2024
1ca863a
pass reachable set test
Cfather Nov 9, 2024
9c8a41a
clean up
Cfather Nov 9, 2024
480bf88
clean up PZDynamics and ArmourOptimizer
Cfather Nov 10, 2024
3780e34
sample eigenvalues of inertia matrix online
Cfather Nov 10, 2024
1f0c411
clean up pinocchio::Data
Cfather Nov 10, 2024
7c5901b
remove cosqe and sinqe in PZsparse
Cfather Nov 10, 2024
1a966d4
Merge pull request #35 from roahmlab/armour_update_dev
Cfather Nov 11, 2024
e583b8f
remove limits in RobotInfo + add model uncertainty in PZDynamics
Cfather Nov 11, 2024
6b48807
add access to friction cone PZs and ZMP PZs
Cfather Nov 11, 2024
19712b0
add Armour nanobind wrapper
Cfather Nov 12, 2024
f0d7e31
sample eigenvalues in ParameterizedTrajectories
Cfather Nov 12, 2024
d943d38
add momentum regressor excitinng trajectory optimizer
Cfather Nov 13, 2024
eb13d48
Armour constraints + exciting trajectory generation using momentum re…
Cfather Nov 14, 2024
155e729
Distance calculations
ejakovm Nov 15, 2024
c6bbf6e
TaperedCapsuleCollision calculates distance correctly
ejakovm Nov 15, 2024
6a3c491
add friction & ZMP constraints
Nov 17, 2024
71073c5
Tapered capsule collision checking test cases
ejakovm Nov 17, 2024
f760b4e
Moved bimanual tests
ejakovm Nov 17, 2024
ceea060
Gradient calculation compiles
ejakovm Nov 18, 2024
d888cdd
Gradient matches python implementation for some values
ejakovm Nov 18, 2024
f319318
Added computation speed test
ejakovm Nov 18, 2024
52e9ae7
Add gradient implementation
chiyangW Nov 18, 2024
f1151d3
add Costs cmake
Cfather Nov 18, 2024
57d9c60
update README
Cfather Nov 19, 2024
daa3ab2
fix misalignment & offset
Nov 19, 2024
21b6948
Changed TCCollision to use fixed size matrix
ejakovm Nov 19, 2024
9edbef4
Added arm to arm collision as constraints to armour optimizer
ejakovm Nov 22, 2024
6a7bd19
Templated the bimanual constraints to support varying num_factors
ejakovm Nov 22, 2024
616fb35
Made tapered capsule collision more robust to collision edge cases
ejakovm Nov 24, 2024
51cf943
addressed comments
Nov 24, 2024
71fed51
Added test case for checking arm collision
ejakovm Nov 26, 2024
c166a85
Changed structure of tapered capsule storage
ejakovm Nov 26, 2024
7c2f1e4
improve speed of inverse dynamics regressor
Cfather Nov 26, 2024
b9e5fbb
Implemented new structure in ArmourOptimizer
ejakovm Nov 26, 2024
1cf2811
add momentum regressor
Cfather Nov 27, 2024
3c677e5
Merge pull request #38 from roahmlab/regressor_derivative_dev
Cfather Nov 27, 2024
484d92d
clean up
Cfather Nov 28, 2024
6016154
update Armour pybind wrapper
Cfather Nov 28, 2024
5dfa44d
add cmakelists
Cfather Nov 28, 2024
bcd01bb
clean up
Cfather Nov 28, 2024
b5671a4
add object properties function
Nov 28, 2024
57a04ed
add template to Spatial functions
Cfather Nov 28, 2024
6f88d8e
fix Vec6 and Mat6 names
Cfather Nov 28, 2024
7135e04
add trajectory data that read trajectories from file
Cfather Nov 28, 2024
420769d
update Trajectories README
Cfather Nov 28, 2024
67e0724
Merge pull request #39 from roahmlab/sys_id_dev
Cfather Nov 29, 2024
f89748d
add interval regressor inverse dynamics
Cfather Dec 1, 2024
b4c1358
Fixed segfaults in tapered capsule implementation
ejakovm Dec 1, 2024
327e29b
add interval momentum regressor
Cfather Dec 2, 2024
5db3b69
make regressors in the same derived class
Cfather Dec 2, 2024
81011f6
Merge pull request #40 from roahmlab/interval_grad_dev
Cfather Dec 2, 2024
fe7b10b
fix Armour in the case that there are no obstacles
Cfather Dec 2, 2024
c108b38
end_effector_moment_regressor
zichang1234 Dec 4, 2024
0313e80
remove momentum regressor in exctiting trajectory generation
Cfather Dec 4, 2024
73fe7b0
code clean up
Cfather Dec 4, 2024
99d8ae2
Merge branch 'sys_id_dev' into sys_id_end_test
Cfather Dec 4, 2024
c711c84
Merge pull request #41 from roahmlab/sys_id_end_test
Cfather Dec 4, 2024
d4b0e48
Improved stability for use with robot arm simulator
ejakovm Dec 4, 2024
37d19bb
quick fix for the other constructor in TrajectoryData class
Cfather Dec 5, 2024
f7ea367
enhanced interval bound based on first-order derivative
Cfather Dec 6, 2024
c18e2b3
quick fix in test script
Cfather Dec 6, 2024
fd70e5c
add interval estimation of A and b
Cfather Dec 6, 2024
dd5cca6
incorporate sensor noise in trajectory data
Cfather Dec 6, 2024
f78ee39
add downsample to TrajectoryData
Cfather Dec 6, 2024
b33eefd
clean up exciting trajectory generation examples
Cfather Dec 6, 2024
007c4e6
minor clean up
Cfather Dec 7, 2024
8fa1571
add hessian implementation
Cfather Dec 9, 2024
7fb0c08
add sensor noise type for percentage error
Cfather Dec 9, 2024
7a48080
Merge pull request #42 from roahmlab/interval-torque-dev
Cfather Dec 9, 2024
b60340a
add armour exciting trajectory pybind
Cfather Dec 10, 2024
e1848e7
nanobind version of TestEndEffectorParametersIdentification.cpp
zichang1234 Dec 11, 2024
574678d
interval bound on theta
Cfather Dec 11, 2024
1755e51
Merge branch 'sys_id_dev' into interval-bound_dev
Cfather Dec 11, 2024
40dccc6
Merge pull request #43 from roahmlab/interval-bound_dev
Cfather Dec 11, 2024
4073bcf
clean up sysid pybind wrapper
Cfather Dec 11, 2024
1f25bc5
add time format to TrajectoryData to handle ros nanosecond data
Cfather Dec 12, 2024
7da4fe1
further clean up to end effector sysid pybind
Cfather Dec 12, 2024
d43a812
change kinova torque limits + API to change end effector inertial params
Cfather Dec 13, 2024
c612c2b
change Log Cholesky parameterization + LDLT decomposition
Cfather Dec 14, 2024
8035338
add iterative weight method
Cfather Dec 14, 2024
7381d94
switch to norm instead of squared norm
Cfather Dec 15, 2024
483df0d
add suction force to dynamics
Dec 15, 2024
c9c67c7
Merge branch 'sys_id_dev' into friction_ZMP
Cfather Dec 15, 2024
bbe6e73
Merge pull request #37 from roahmlab/friction_ZMP
Cfather Dec 15, 2024
2de4eb3
small bug fix + add random sensor noise option
Cfather Dec 16, 2024
29d6a2f
merge with friction_ZMP_dev
Cfather Dec 16, 2024
b813697
fix kinova exciting example
Cfather Dec 17, 2024
e46db2c
update kinova urdf with gripper
Cfather Dec 18, 2024
7110168
Merge suction force constraint into bimanual_dev
ejakovm Dec 19, 2024
ec35616
Added check to fix case in which tcs occupy the same space
ejakovm Dec 19, 2024
ac2705c
Merged changes that allowed self collision checkig in armour simulation
ejakovm Dec 19, 2024
ef63f70
change cost funciton on ik
zichang1234 Dec 19, 2024
192244f
fixed ik
zichang1234 Dec 20, 2024
2c34e7f
sysid on trajectory segments correctly
Cfather Dec 21, 2024
0039f6f
Fixed precision limits producing incorrect negative determinants
ejakovm Dec 26, 2024
26fe79b
Merge branch 'bimanual_dev' of https://github.com/roahmlab/RAPTOR int…
ejakovm Dec 26, 2024
c00c76d
Merge branch 'sys_id_dev' into bimanual_dev
Cfather Dec 28, 2024
c1326bb
change PZDynamics from rnea to regressor to reduce uncertainty influence
Cfather Dec 28, 2024
fbe5d2f
change inertial parameter in exciting pybind
Cfather Dec 28, 2024
ce202e0
minor update on configuration yaml
Cfather Dec 29, 2024
1745658
Made storage of tapered capsules more robust using array of pairs of …
ejakovm Dec 30, 2024
27d455b
Changed armour_optimizor to use a sigle loop over a collision list an…
ejakovm Dec 30, 2024
03fab70
optimize parsing multiple trajectory files
Cfather Jan 2, 2025
cfc59d1
minor edit for debugging
Cfather Jan 3, 2025
fa30345
remove rnea in PZDynamics
Cfather Jan 5, 2025
426ed04
Merge pull request #44 from roahmlab/regressor_pz_dev
Cfather Jan 5, 2025
a942218
Merge pull request #45 from roahmlab/sys_id_dev
Cfather Jan 5, 2025
8f9039d
clean up
Cfather Jan 5, 2025
c339ab8
small changes on gradient check thresholds
Cfather Jan 5, 2025
b551c90
update on optimizer logic
Cfather Jan 6, 2025
d5605ad
Changed gradient order to match constraint order
ejakovm Jan 7, 2025
6d609cb
Self-collision constraints pass armour_example gradient check
ejakovm Jan 8, 2025
25174f2
Combined PZ slicing from self-collision and obstacle collision checking
ejakovm Jan 8, 2025
ff0ab7f
add collision-avoidance IK
Cfather Jan 10, 2025
32344b4
refine Armour optimizer
Cfather Jan 10, 2025
e9456a2
clean up the structure
Cfather Jan 10, 2025
d25ab55
Merge branch 'sys_id_dev' into bimanual_dev
Cfather Jan 10, 2025
24f6b93
Merge pull request #36 from roahmlab/bimanual_dev
Cfather Jan 10, 2025
95ed16b
combine the last two tapered capsules
Cfather Jan 10, 2025
244d012
update dual arm Armour example
Cfather Jan 11, 2025
56aa706
add dual arm nanobind
Cfather Jan 11, 2025
183b303
consider continuous joints in KinovaIKSolver
Cfather Jan 11, 2025
3a15c81
first commit of dual arm collision avoidance planner
Cfather Jan 12, 2025
f0ac584
first runnable example
Cfather Jan 13, 2025
efec287
find feasible solution in a naive scenario
Cfather Jan 13, 2025
e8ec59f
better solution after tuning
Cfather Jan 13, 2025
d9fd730
Merge pull request #46 from roahmlab/dual_arm_dev
Cfather Jan 13, 2025
bb2618f
minor update to reachability based planner pybind
Cfather Jan 13, 2025
45a8fa2
add longer horizon kinova planner pybind
Cfather Jan 15, 2025
91d9fcd
add minimize jerk cost + fix bug in momentum regressor
Cfather Jan 16, 2025
051cfe4
fix optimality update in safe exciting trajectory generator
Cfather Jan 16, 2025
690a49a
change sqrt norm back to squared norm for sysid
Cfather Jan 20, 2025
ce730ec
simplify memory reallocation in end effector identification
Cfather Jan 22, 2025
91bd73f
bugfix: initialize to zero in momentum regressor
Cfather Jan 24, 2025
d063d3f
add inverse dynamics system identification
Cfather Jan 28, 2025
1ae1135
remove LMI constraints related code
Cfather Feb 3, 2025
a9259c3
Merge pull request #47 from roahmlab/sys_id_dev
Cfather Feb 3, 2025
8138076
add acceleration limits
Cfather Feb 3, 2025
7c6410e
Merge pull request #48 from roahmlab/sys_id_dev
Cfather Feb 3, 2025
dbf05f0
add unitree g1 description
Cfather Feb 3, 2025
50ed3c2
first commit on Unitree-G1
Cfather Feb 4, 2025
3e21f5b
add trajectory terminal constraint to exciting trajectory generation …
Cfather Feb 7, 2025
a4800b7
G1 example run
Cfather Feb 7, 2025
e5d1831
add minimize power cost
Cfather Feb 7, 2025
feb8364
create minimize initial vel and acc cost and integrate into g1 and Talos
Cfather Feb 7, 2025
4879185
update Digit example
Cfather Feb 10, 2025
b0d10cd
Merge pull request #49 from roahmlab/unitree_g1_dev
Cfather Feb 12, 2025
f41dd84
update part of README
Cfather Feb 12, 2025
7f1d725
Update the rest of the READMEs except the ones in Example folder
Cfather Feb 12, 2025
f64ea96
Rename stuff and update README in Kinova examples
Cfather Feb 13, 2025
a46bb31
bugfix in DynamicsConstraints in walking robots + fix arm positions f…
Cfather Feb 14, 2025
c7cb701
clean up all walking robot code and update README for migration
Cfather Feb 14, 2025
1570522
refine README in Coding
Cfather Feb 18, 2025
ecb7545
add timing in Optimizer class
Cfather Feb 20, 2025
0cf2abc
remove regroup matrix and clean up exciting trajectory generator
Cfather Feb 25, 2025
6d72f33
consistent constraints in both excit traj examples + more README for …
Cfather Feb 25, 2025
95f7f3a
add README to system identification folder
Cfather Feb 26, 2025
604cd5a
Merge pull request #50 from roahmlab/exciting_traj_clean_up
Cfather Feb 26, 2025
898627a
Final revision of READMEs
Cfather Feb 26, 2025
6550c17
refine final joint positions for continuous joints in Kinova
Cfather Mar 17, 2025
fc867c4
initialize python scripts for Digit
Cfather Mar 17, 2025
f717ea4
refine Digit multiple step example
Cfather Mar 17, 2025
fcda4b5
add README to Digit related python scripts
Cfather Mar 18, 2025
b85327e
add python scripts for end effector identification
Cfather Mar 21, 2025
11681dc
add ARMOUR python example script
Cfather Mar 21, 2025
e122168
add kinova longer horizon planner python script
Cfather Mar 22, 2025
0ec9077
clean up ;;
Cfather Apr 2, 2025
0816055
update ompl from 1.6 to 1.7
Cfather Apr 3, 2025
b52936e
update kinova urdf
Cfather Apr 4, 2025
0fddb50
update Kinova python scripts
Cfather Apr 6, 2025
b5863b1
final clean up README
Cfather Apr 7, 2025
7cb3048
add link to python scripts in README
Cfather Apr 7, 2025
e536dfa
Merge pull request #53 from roahmlab/python_visual_dev
Cfather Apr 7, 2025
8a3158f
an improved higher order forward kinematics derivatives strategy with…
Cfather Apr 15, 2025
fbd1c81
use recursive to compute forward kinematics
Cfather Apr 16, 2025
6bed995
quick fix
Cfather Apr 16, 2025
0124cc7
Merge pull request #56 from roahmlab/faster_fk_dev
Cfather Apr 16, 2025
7d73143
bugfix
Cfather May 11, 2025
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17 changes: 13 additions & 4 deletions .gitignore
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Expand Up @@ -35,18 +35,27 @@
*.asv
*.mat

*.csv
.vscode/
build/
data/
data_safecopy/
Examples/Kinova/SystemIdentification/ExcitingTrajectories/data/

test_oracle.py

docker/HSL.zip
*.zip
docker/pardiso/
HSL/

Examples/Digit/singlestep_optimization_settings.yaml
Examples/Digit-modified/singlestep_optimization_settings.yaml

test_nanobind_planner.py
test_nanobind_planner.py

backup/

*.png
*.lic
*.tar
*.tar.bz2

*.pyc
3 changes: 0 additions & 3 deletions .gitmodules
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