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Manifold optimization on cable robot kinodynamics problem #363

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Manifold optimization on cable robot kinodynamics problem #363

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Commits on Apr 6, 2021

  1. animated plotting of tracking example

    @gchenfc
    gchenfc committed Apr 6, 2021
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  2. faster simulation

    @gchenfc
    gchenfc committed Apr 6, 2021
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  3. a little refactoring

    @gchenfc
    gchenfc committed Apr 6, 2021
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  4. unit test easier priors adding functions

    @gchenfc
    gchenfc committed Apr 6, 2021
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  5. values-based priors functions

    @gchenfc
    gchenfc committed Apr 6, 2021
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  6. bug fix for some reason

    @gchenfc
    gchenfc committed Apr 6, 2021
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  7. move cdpr controller ilqr part 1

    @gchenfc
    gchenfc committed Apr 6, 2021
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  8. move cdpr controller ilqr part 2

    @gchenfc
    gchenfc committed Apr 6, 2021
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  9. unit test for a tension distribution conroller

    @gchenfc
    gchenfc committed Apr 6, 2021
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  10. tension distribution controller - not quite working yet

    @gchenfc
    gchenfc committed Apr 6, 2021
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Commits on Apr 8, 2021

  1. Merge branch 'master' into feature/cablerobot-ilqr 

    keyformatter updates
    @gchenfc
    gchenfc committed Apr 8, 2021
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  2. PriorFactorVector6 - use gtd verison

    @gchenfc
    gchenfc committed Apr 8, 2021
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  3. paint parsing unit test

    @gchenfc
    gchenfc committed Apr 8, 2021
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Commits on Apr 11, 2021

  1. paint file parsing works

    @gchenfc
    gchenfc committed Apr 11, 2021
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  2. fix boolean parsing

    @gchenfc
    gchenfc committed Apr 11, 2021
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  3. begin trajectory tracking script

    @gchenfc
    gchenfc committed Apr 11, 2021
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Commits on Apr 12, 2021

  1. clean up ipython notebook

    @gchenfc
    gchenfc committed Apr 12, 2021
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  2. working simulation with iros logo

    @gchenfc
    gchenfc committed Apr 12, 2021
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  3. Pott09's mid-tension iLQR

    @gchenfc
    gchenfc committed Apr 12, 2021
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  4. refactor plotting

    @gchenfc
    gchenfc committed Apr 12, 2021
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  5. expose more options to python notebook

    @gchenfc
    gchenfc committed Apr 12, 2021
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  6. Merge branch 'master' into feature/cablerobot-ilqr 

    get KeyFormatter printing
    @gchenfc
    gchenfc committed Apr 12, 2021
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Commits on Apr 13, 2021

  1. unit test for local feedback gains

    @gchenfc
    gchenfc committed Apr 13, 2021
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  2. expand unit test to include twist and feedforward terms

    @gchenfc
    gchenfc committed Apr 13, 2021
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Commits on Apr 14, 2021

  1. sequential elimination that preserves ordering in bayes net

    @gchenfc
    gchenfc committed Apr 14, 2021
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  2. block elimination

    @gchenfc
    gchenfc committed Apr 14, 2021
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  3. reduce copy-pasta in EliminateSequential

    @gchenfc
    gchenfc committed Apr 14, 2021
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Commits on Apr 19, 2021

  1. preliminary gains calculation

    @gchenfc
    gchenfc committed Apr 19, 2021
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  2. feedforward calculation for gains

    @gchenfc
    gchenfc committed Apr 19, 2021
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Commits on Apr 20, 2021

  1. repackage controller gains with ff terms

    @gchenfc
    gchenfc committed Apr 20, 2021
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  2. bugfix in unit test: set "median" tension to 0

    @gchenfc
    gchenfc committed Apr 20, 2021
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  3. unit test gains using infinite horizon approximation

    @gchenfc
    gchenfc committed Apr 20, 2021
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  4. full IROS trajectory with iLQR

    @gchenfc
    gchenfc committed Apr 20, 2021
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  5. format comment line in customwrap.cpp

    @gchenfc
    gchenfc committed Apr 20, 2021
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Commits on Apr 21, 2021

  1. minor plotting improvements

    @gchenfc
    gchenfc committed Apr 21, 2021
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  2. iros trajectory - higher framerate

    @gchenfc
    gchenfc committed Apr 21, 2021
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  3. id/fd were flip flopped

    @gchenfc
    gchenfc committed Apr 21, 2021
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  4. update cdpr unit test with correct ID/FD and inertia 

    ID/FD should be lddot <-> torque, rather than TwistAccel <-> torque
    @gchenfc
    gchenfc committed Apr 21, 2021
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  5. python side of ID/FD with joint angles and winch inertia

    @gchenfc
    gchenfc committed Apr 21, 2021
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Commits on Apr 22, 2021

  1. winch factor

    @gchenfc
    gchenfc committed Apr 22, 2021
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  2. cable acceleration factor unit test

    @gchenfc
    gchenfc committed Apr 22, 2021
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  3. CableAccelFactor passes unit test for simplified 

    case without any rotation
    @gchenfc
    gchenfc committed Apr 22, 2021
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  4. wrap WinchFactor and CableAccelerationFactor

    @gchenfc
    gchenfc committed Apr 22, 2021
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  5. create and wrap TensionKey

    @gchenfc
    gchenfc committed Apr 22, 2021
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  6. cdpr with winch inertia passes unit tests :) 

    (and squashed a bug ;) )
    @gchenfc
    gchenfc committed Apr 22, 2021
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  7. update sim and iLQR to pass unit tests

    @gchenfc
    gchenfc committed Apr 22, 2021
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  8. fix torque real values and plotting

    @gchenfc
    gchenfc committed Apr 22, 2021
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  9. add functions to visualize gains

    @gchenfc
    gchenfc committed Apr 22, 2021
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Commits on Apr 26, 2021

  1. update "zeroValues" to include joint accel and tension

    @gchenfc
    gchenfc committed Apr 26, 2021
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  2. write out gains to .h file

    @gchenfc
    gchenfc committed Apr 26, 2021
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Commits on May 5, 2021

  1. switch to ATL painting and make EE mass more realistic

    @gchenfc
    gchenfc committed May 5, 2021
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  2. add raw trajectories to source control (git lfs)

    @gchenfc
    gchenfc committed May 5, 2021
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Commits on Aug 26, 2021

  1. Merge branch 'master' into feature/gerry/cdprwinch

    @gchenfc
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Commits on Aug 28, 2021

  1. WIP: fix some unit tests: 

    cdpr_planar, cdpr_planar_sim, and cdpr_controller_tension_dist all passing now
    @gchenfc
    gchenfc committed Aug 28, 2021
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  2. remove debug statements

    @gchenfc
    gchenfc committed Aug 28, 2021
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  3. WIP: bugfix in gtsam python wrapper: see branch: 

    bugfix/gerry/python_jacobianfactor_rtti
Be sure to manually set linearSolverType to QR, or use the MyLMParams()
function in utils, or else the optimizer won't work properly.
    @gchenfc
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  4. WIP: cdpr_planar (post gtsam bugfix)

    @gchenfc
    gchenfc committed Aug 28, 2021
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  5. WIP: cdpr_planar_sim (post gtsam bugfix)

    @gchenfc
    gchenfc committed Aug 28, 2021
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  6. WIP: cdpr_controller_tension_dist (post gtsam bugfix)

    @gchenfc
    gchenfc committed Aug 28, 2021
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  7. WIP: cdpr_controller_ilqr (post gtsam bugfix)

    @gchenfc
    gchenfc committed Aug 28, 2021
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Commits on Aug 29, 2021

  1. cleanup

    @gchenfc
    gchenfc committed Aug 29, 2021
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  2. parameter tweaking

    @gchenfc
    gchenfc committed Aug 29, 2021
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Commits on Sep 7, 2021

  1. minor refactoring

    @gchenfc
    gchenfc committed Sep 7, 2021
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  2. initial code: per-stroke optimization

    @gchenfc
    gchenfc committed Sep 7, 2021
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Commits on Sep 8, 2021

  1. optimize utils.InitValues

    @gchenfc
    gchenfc committed Sep 8, 2021
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  2. iLQR "initial guess" - doesn't help that much

    @gchenfc
    gchenfc committed Sep 8, 2021
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  3. make iLQR way faster by using less strict optim params

    @gchenfc
    gchenfc committed Sep 8, 2021
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  4. update stroke tracking

    @gchenfc
    gchenfc committed Sep 8, 2021
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  5. comments and easier running from command line

    @gchenfc
    gchenfc committed Sep 8, 2021
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Commits on Oct 3, 2021

  1. LQR-style plots for ICRA paper

    @gchenfc
    gchenfc committed Oct 3, 2021
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Commits on Oct 21, 2021

  1. fix - don't need "intermediate control variables" - must have had a t… 

    …ypo before
    @gchenfc
    gchenfc committed Oct 21, 2021
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Commits on Jan 12, 2022

  1. Merge branch 'master' into feature/gerry/cdprwinch

    @gchenfc
    gchenfc committed Jan 12, 2022
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  2. Fix merge issues related to: 

    * Key functions are no longer internal
* values functions remove "Double" template parameter
    @gchenfc
    gchenfc committed Jan 12, 2022
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  3. clean up large data-file diffs

    @gchenfc
    gchenfc committed Jan 12, 2022
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  4. fix controller docstrings

    @gchenfc
    gchenfc committed Jan 12, 2022
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  5. leftover merge fixes

    @gchenfc
    gchenfc committed Jan 12, 2022
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Commits on Jun 3, 2022

  1. minor syntax updates

    @gchenfc
    gchenfc committed Jun 3, 2022
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Commits on Aug 26, 2022

  1. cable robot kinodynamics with manifold (unfinished)

    @gchenfc
    gchenfc committed Aug 26, 2022
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  2. Merge branch 'feature/gerry/cdprwinch' into feature/manifold_optimize… 

    …r_cablerobot_kinodynamics
    @gchenfc
    gchenfc committed Aug 26, 2022
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  3. manifold cable robot kinodynamics working

    @gchenfc
    gchenfc committed Aug 26, 2022
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  4. random fixes

    @gchenfc
    gchenfc committed Aug 26, 2022
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