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Inverse kinematics #29

Merged
merged 33 commits into from
Feb 16, 2024
Merged

Inverse kinematics #29

merged 33 commits into from
Feb 16, 2024

Commits on Nov 27, 2023

  1. Implement Jacobian pseudo-inverse IK

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    LemonPi committed Nov 27, 2023
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  2. Return end effector FK from jacobian calculation

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    LemonPi committed Nov 27, 2023
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  3. Damp jacobian calculation and use solve instead for massive speedup

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    LemonPi committed Nov 27, 2023
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  4. Handle multiple goals in parallel

    @LemonPi
    LemonPi committed Nov 27, 2023
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  5. Replace sphere with cone

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    LemonPi committed Nov 27, 2023
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  6. Parameterize damping parameter (lambda * identity usually)

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    LemonPi committed Nov 27, 2023
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  7. Add early stopping on any configuration convergence

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    LemonPi committed Nov 27, 2023
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  8. Implement backtracking line search

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    LemonPi committed Nov 27, 2023
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  9. Implement no-improvement based early termination

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    LemonPi committed Nov 27, 2023
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  10. Move masking function out of loop

    @LemonPi
    LemonPi committed Nov 27, 2023
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  11. Remove masking that wasn't speeding up the whole process

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    LemonPi committed Nov 27, 2023
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  12. Early termination for line search

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    LemonPi committed Nov 27, 2023
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  13. Track iterations in IK results

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    LemonPi committed Nov 27, 2023
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  14. Ignore non-remaining problems in line search

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    LemonPi committed Nov 27, 2023
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  15. Add function to clean transform3d history and composition

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    LemonPi committed Nov 27, 2023
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  16. Fix parameter passing to jacobian calculation

    @LemonPi
    LemonPi committed Nov 27, 2023
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  17. Improve no improvement early stopping criteria

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    LemonPi committed Nov 27, 2023
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  18. Remove unnecessary method

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    LemonPi committed Nov 27, 2023
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Commits on Jan 30, 2024

  1. Ignore nan values when plotting

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    LemonPi committed Jan 30, 2024
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Commits on Feb 2, 2024

  1. Sample goal poses from feasible goals instead of random ones

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    LemonPi committed Feb 2, 2024
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Commits on Feb 12, 2024

  1. Add install dependency

    @LemonPi
    LemonPi committed Feb 12, 2024
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  2. Remove unused imports and global defines

    @LemonPi
    LemonPi committed Feb 12, 2024
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  3. Document damped least squares

    @LemonPi
    LemonPi committed Feb 12, 2024
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  4. Add SVD based IK solver

    @LemonPi
    LemonPi committed Feb 12, 2024
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  5. Compare orientations in quaternion space to avoid discontinuities 

    Greatly improve convergence rate and total success chance
    @LemonPi
    LemonPi committed Feb 12, 2024
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Commits on Feb 14, 2024

  1. Add install dependency

    @LemonPi
    LemonPi committed Feb 14, 2024
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  2. Add test dependency

    @LemonPi
    LemonPi committed Feb 14, 2024
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  3. Add test dependency

    @LemonPi
    LemonPi committed Feb 14, 2024
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  4. Ignore mujoco-menagerie when running tests

    @LemonPi
    LemonPi authored Feb 14, 2024
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  5. Remove unused test dependency

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    LemonPi committed Feb 14, 2024
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  6. Fix pytest ignore

    @LemonPi
    LemonPi authored Feb 14, 2024
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Commits on Feb 16, 2024

  1. Default IK test to not visualize to avoid blocking in pytest

    @LemonPi
    LemonPi committed Feb 16, 2024
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  2. Enforce optionality of mujoco

    @LemonPi
    LemonPi committed Feb 16, 2024
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