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Commits on Aug 29, 2024

• Merge branch 'UM-ARM-Lab:master' into add-ik-test-cases

  StoneT2000

  authored
  bdb1853

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• Fix ur5 URDF pathing

  LemonPi

  committed
  f661187

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• more tests

  StoneT2000

  committed
  6a4e8e9

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• Update test_inverse_kinematics.py

  StoneT2000

  committed
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Commits on Aug 28, 2024

• Add UR5 FK test case

  LemonPi

  committed
  1582d67

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• Correct name of tree print function

  LemonPi

  committed
  5288100

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• Move serial chain testing to separate file

  LemonPi

  committed
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• Pretty tree print for frames

  LemonPi

  committed
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• Add wx250s robot for testing

  LemonPi

  committed
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Commits on Aug 21, 2024

• Add IK animation and visualize IK for parallel goals and configs

  LemonPi

  committed
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Commits on Jul 12, 2024

• Ensure IK solutions are deterministic given random seed

  LemonPi

  committed
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Commits on Jun 28, 2024

• Add quaternion angular distance and slerp

  LemonPi

  committed
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Commits on Feb 16, 2024

• Default IK test to not visualize to avoid blocking in pytest

  LemonPi

  committed
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Commits on Feb 12, 2024

• Remove unused imports and global defines

  LemonPi

  committed
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Commits on Feb 2, 2024

• Sample goal poses from feasible goals instead of random ones

  LemonPi

  committed
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Commits on Nov 27, 2023

• Improve no improvement early stopping criteria

  LemonPi

  committed
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• Add function to clean transform3d history and composition

  LemonPi

  committed
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• Ignore non-remaining problems in line search

  LemonPi

  committed
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• Remove masking that wasn't speeding up the whole process

  LemonPi

  committed
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• Implement no-improvement based early termination

  LemonPi

  committed
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• Implement backtracking line search

  LemonPi

  committed
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• Add early stopping on any configuration convergence

  LemonPi

  committed
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• Replace sphere with cone

  LemonPi

  committed
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• Handle multiple goals in parallel

  LemonPi

  committed
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• Damp jacobian calculation and use solve instead for massive speedup

  LemonPi

  committed
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• Return end effector FK from jacobian calculation

  LemonPi

  committed
  2a8a653

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• Implement Jacobian pseudo-inverse IK

  LemonPi

  committed
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Commits on Nov 20, 2023

• fix test

  

  Peter

  committed
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• make mujoco required

  

  Peter

  committed
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• change how we test for quaternion equality

  

  Peter

  committed
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Commits on Nov 16, 2023

• add test to address review

  

  Peter

  committed
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Commits on Nov 8, 2023

• fix handling of batched inputs for serial chains and add new test

  

  Peter

  committed
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Commits on Nov 3, 2023

• address review comments

  

  Peter

  committed
  81f2caf

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• fix timing test

  

  Peter

  committed
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Commits on Nov 2, 2023

• remove C++ for portability/compatibility

  

  Peter

  committed
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