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Introduction of Barriers, Position barrier #87

Merged
merged 108 commits into from
May 29, 2024
Merged

Introduction of Barriers, Position barrier #87

merged 108 commits into from
May 29, 2024

Commits on May 2, 2024

  1. feat: barrier init

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  2. feat: position barrier init

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Commits on May 3, 2024

  1. feat: configuration (joint) barrier

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  2. refactor: leading whitespace in barriers folder

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  3. feat: add barriers support to solve_ik.py

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  4. fix: solve_ik compatability fixes

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  5. fix: minor code debug and refactoring

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  6. feat: updating safe policy in barrier

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  7. example: ur5 with cbf init

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Commits on May 4, 2024

  1. feat: compute_save_policy abstract method

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  2. example: copy shapes file to cbf folder

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  3. fix: remove dt term from cost (because other terms does not use it)

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Commits on May 5, 2024

  1. example: the best cbf behaviour yet

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  2. feat: update solve_ik

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  3. fix: refactor compute_qp_objective in barrier.py

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Commits on May 6, 2024

  1. fix: transfering position jacobian from local to world aligned frame

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  2. fix: isinstance for gain

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  3. fix: remove debugging print

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  4. fix: configuration barrier fix

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  5. feat: optional disabling of position limits

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  6. example: add position CBF to ur5 example

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  7. fix: remove mask variable from position barrier as redundant

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  8. feat: body spherical self-collision barrier

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  9. example: yumi example

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Commits on May 9, 2024

  1. feat: full self-collision barrier init

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  2. example: baxter example

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Commits on May 10, 2024

  1. revert: remove hpp-fcl self-collision code (moved to separate branch)

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  2. refactor: ruff format

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  3. CICD: create pipeline for building gh pages from feat/cbf branch

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  4. docs: add barriers to documentation

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  5. docs: fix documentation

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  6. docs: yet another attempt to fix documentation

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  7. docs: kill me

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  8. feat: shift point for spherical body collision avoidance barrier

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  9. chore: add sphere object in meshcat shapes

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  10. example: adapt yumi example for shifted collision sphere origin

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Commits on May 11, 2024

  1. docstrings and notes

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  2. example: yumi example with creating new frames

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  3. Revert "feat: shift point for spherical body collision avoidance barr… 

    …ier"

This reverts commit 5859354.
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  4. new doc strings

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  5. Merge remote-tracking branch 'refs/remotes/origin/feat/cbf' into feat… 

    …/cbf
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  6. refactor: CBF -> Barrier in names

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  7. docs: fix documentation

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  8. fix: remove temporary file from git

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  9. refactor: examples/cbfs -> examples/barriers

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  10. modified spherical barrier

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  11. Merge branch 'feat/cbf' of github.com:domrachev03/pink into feat/cbf

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  12. fixed typo in docs

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  13. refactor: frame -> frames in BodySphericalBarrier

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  14. example: ipynb with theory and main results

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  15. Merge remote-tracking branch 'refs/remotes/origin/feat/cbf' into feat… 

    …/cbf
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  16. feat: argumant to optionally not open visualization

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  17. example: disable running simulation in browser in ipynb example

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  18. chore: update changelog.md

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  19. refactor: tuple -> Tuple for version compatibility

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  20. refactor: refactoring for pipeline

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  21. refactor: mypy types fixes

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  22. refactor: attempt to fix documentation pipeline

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Commits on May 12, 2024

  1. changed examples, renamed cbfs to barriers

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  2. example: fix & beautify barrier examples

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  3. fix: relaxing constraints in yumi example

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  4. added references and videos

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  5. fixed references

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  6. Merge pull request #1 from domrachev03/feat/cbf 

    Control Barrier Functions
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  7. Merge branch 'stephane-caron:main' into main

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  8. chore: remove assets folder and prepare README.md for inserting video… 

    …s here
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  9. Update examples/barriers/README.md

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  10. Update examples/barriers/README.md

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Commits on May 15, 2024

  1. fixed floating base, go2 example

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  2. fixed floating base, go2 example

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  3. Update README.md

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  4. Added video to README.md

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  5. Fixed video README.md

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  6. refactor: autorefacroting

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  7. fix: p_min and p_max simultaneously in position barrier

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  8. Merge pull request #2 from domrachev03/fix/hessian_nq 

    Hessian of barriers, position limits and go2 example
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  9. remove all functionality unrelated to PR

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  10. feat: add exception for no limit provided

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  11. fix: default radius is changed to 0

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  12. fix: proper position gain update

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  13. fix: barrier representation

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  14. tests: unit tests for barrier and position barrier

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  15. test: modify general barrier tests and add solve_ik tests with barriers

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  16. docs: tests docstrings

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Commits on May 16, 2024

  1. fix: remove & change files for PR

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  2. fix: adapt changelog and revert changes in visualization.py

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Commits on May 18, 2024

  1. Chore: GO2 -> Go2 

    Co-authored-by: Stéphane Caron <[email protected]>
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  2. refactor: refactor examples

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  3. refactor: additional examples refactor

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  4. chore: copyright information in barriers init

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  5. chore: copyright information & documentation fix

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  6. Reference to class kappa function 

    Co-authored-by: Stéphane Caron <[email protected]>
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  7. refactor: class_k_fn -> gain_function

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  8. chore: remove noqa tags

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  9. refactor: rename & rewrite safe_policy as safe_displacement

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  10. chore: remove information about new version from changelog.md

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  11. refactor: update __repr__ method of barrier

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  12. test: update barrier representation test

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  13. refactor: pos_jac -> pos_jacobian_in_frame/world

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Commits on May 23, 2024

  1. fix: wrong multiplier in barriers cost

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  2. example: relax ur5 example to avoid configuration error

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  3. fix: docstring fix

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  4. refactor: autorefactoring

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Commits on May 27, 2024

  1. chore: add link to CBF theory

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  2. refactor: documentation fix

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  3. Merge branch 'pr/position_barrier' of https://github.com/domrachev03/… 

    …pink into pr/position_barrier
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  4. refactor: autorefactoring

    @domrachev03
    domrachev03 committed May 27, 2024
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Commits on May 29, 2024

  1. fix: adding minus to c term in barrier objective

    @domrachev03
    domrachev03 committed May 29, 2024
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