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Whole Body Self Collision Barrier #94

Merged
merged 102 commits into from
Jul 22, 2024
Merged

Whole Body Self Collision Barrier #94

merged 102 commits into from
Jul 22, 2024

Commits on May 30, 2024

  1. draft for com task

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  2. draft for com task

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    simeon-ned committed May 30, 2024
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  3. added docstrings for com task

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    simeon-ned committed May 30, 2024
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Commits on May 31, 2024

  1. draft for com task

    @simeon-ned @domrachev03
    simeon-ned authored and domrachev03 committed May 31, 2024
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  2. draft for com task

    @simeon-ned @domrachev03
    simeon-ned authored and domrachev03 committed May 31, 2024
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  3. added docstrings for com task

    @simeon-ned @domrachev03
    simeon-ned authored and domrachev03 committed May 31, 2024
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Commits on Jun 23, 2024

  1. feat: self collision barrier init

    @domrachev03
    domrachev03 committed Jun 23, 2024
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  2. feat: two iiwa urdf model

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    domrachev03 committed Jun 23, 2024
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  3. feat: move collision updates to configuration file

    @domrachev03
    domrachev03 committed Jun 23, 2024
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  4. example: kuka self-collision example init

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    domrachev03 committed Jun 23, 2024
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  5. hotfix: fix typo

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    domrachev03 committed Jun 23, 2024
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  6. fix: calculate collisions w.r.t. parent frame, not joint

    @domrachev03
    domrachev03 committed Jun 23, 2024
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Commits on Jun 24, 2024

  1. Merge branch 'stephane-caron:main' into feature/com_task

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    domrachev03 authored Jun 24, 2024
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  2. fix: working barriers (both approaches)

    @domrachev03
    domrachev03 committed Jun 24, 2024
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  3. fix: preformance optimization

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    domrachev03 committed Jun 24, 2024
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  4. docs: documantation of self_collision_barrier

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    domrachev03 committed Jun 24, 2024
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  5. docs: configuration and example

    @domrachev03
    domrachev03 committed Jun 24, 2024
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  6. Update README.md

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    domrachev03 authored Jun 24, 2024
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  7. refactor: autorefactoring & mypy refactoring

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    domrachev03 committed Jun 24, 2024
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  8. chore: update CHANGELOG.md

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    domrachev03 committed Jun 24, 2024
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  9. refactor: remove completed TODO

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    domrachev03 committed Jun 24, 2024
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Commits on Jun 25, 2024

  1. example: time-varying trajectory for kuka example

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    domrachev03 committed Jun 25, 2024
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  2. Update README.md

    @domrachev03
    domrachev03 authored Jun 25, 2024
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  3. feat: taking dim closest collisions

    @domrachev03
    domrachev03 committed Jun 25, 2024
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  4. format: autoformatting

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    domrachev03 committed Jun 25, 2024
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  5. Merge branch 'feat/hpp_fcl_barrier' of https://github.com/domrachev03… 

    …/pink into feat/hpp_fcl_barrier
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  6. refactor: use Optional in typing

    @domrachev03
    domrachev03 committed Jun 25, 2024
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  7. fix: attempt to fix documentation

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    domrachev03 committed Jun 25, 2024
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  8. fix: documentation fix

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    domrachev03 committed Jun 25, 2024
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  9. fix: documentation fix

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    domrachev03 committed Jun 25, 2024
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  10. hotfix: return configuration limits

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    domrachev03 committed Jun 25, 2024
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Commits on Jun 26, 2024

  1. tuned g1 example

    @simeon-ned
    simeon-ned committed Jun 26, 2024
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  2. tuned g1 example

    @simeon-ned
    simeon-ned committed Jun 26, 2024
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  3. Merge branch 'feature/com_task' of github.com:domrachev03/pink into f… 

    …eature/com_task
    @simeon-ned
    simeon-ned committed Jun 26, 2024
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  4. removed outdated go2 com example

    @simeon-ned
    simeon-ned committed Jun 26, 2024
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  5. minor renaming in com repr

    @simeon-ned
    simeon-ned committed Jun 26, 2024
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  6. added optional argument to ignore limits in solve

    @simeon-ned
    simeon-ned committed Jun 26, 2024
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  7. added optional argument to ignore limits in solve

    @simeon-ned
    simeon-ned committed Jun 26, 2024
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  8. refactor: autoformatting

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    domrachev03 committed Jun 26, 2024
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  9. test: test com task

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    domrachev03 committed Jun 26, 2024
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  10. test: add test on limit ignorance

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    domrachev03 committed Jun 26, 2024
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  11. refactor: autorefacotring

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    domrachev03 committed Jun 26, 2024
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Commits on Jun 27, 2024

  1. chore: update CHANGELOG.md

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    domrachev03 committed Jun 27, 2024
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  2. Update credentials 

    Co-authored-by: Stéphane Caron <[email protected]>
    @domrachev03 @stephane-caron
    domrachev03 and stephane-caron authored Jun 27, 2024
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  3. example: fix example

    @domrachev03
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  4. refactor: remove redundant np.array copies

    @domrachev03
    domrachev03 committed Jun 27, 2024
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  5. chore: fix README.md

    @domrachev03
    domrachev03 committed Jun 27, 2024
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  6. refactor: rework configuration.py

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    domrachev03 committed Jun 27, 2024
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  7. refactor: refactor the self-collision barrier

    @domrachev03
    domrachev03 committed Jun 27, 2024
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  8. feat: move collision pair processing to utils

    @domrachev03
    domrachev03 committed Jun 27, 2024
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  9. refactor: autoformatting

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    domrachev03 committed Jun 27, 2024
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Commits on Jun 30, 2024

  1. added safety_break to joints limits

    @simeon-ned
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  2. added safety_break to joints limits

    @simeon-ned
    simeon-ned committed Jun 30, 2024
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  3. removed unnecesarry copy, added changelog

    @simeon-ned
    simeon-ned committed Jun 30, 2024
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  4. integration test for com task

    @simeon-ned
    simeon-ned committed Jun 30, 2024
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  5. integration test for com task

    @simeon-ned
    simeon-ned committed Jun 30, 2024
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  6. reworked doc strings

    @simeon-ned
    simeon-ned committed Jun 30, 2024
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  7. fixed typo in CHANGELOG

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    simeon-ned committed Jun 30, 2024
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Commits on Jul 2, 2024

  1. Update CHANGELOG.md 

    Co-authored-by: Stéphane Caron <[email protected]>
    @simeon-ned @stephane-caron
    simeon-ned and stephane-caron authored Jul 2, 2024
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  2. Update CHANGELOG.md 

    Co-authored-by: Stéphane Caron <[email protected]>
    @simeon-ned @stephane-caron
    simeon-ned and stephane-caron authored Jul 2, 2024
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  3. Update pink/configuration.py 

    Co-authored-by: Stéphane Caron <[email protected]>
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    simeon-ned and stephane-caron authored Jul 2, 2024
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  4. Update pink/solve_ik.py 

    Co-authored-by: Stéphane Caron <[email protected]>
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    simeon-ned and stephane-caron authored Jul 2, 2024
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  5. Update pink/configuration.py 

    Co-authored-by: Stéphane Caron <[email protected]>
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    simeon-ned and stephane-caron authored Jul 2, 2024
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  6. Update pink/configuration.py 

    Co-authored-by: Stéphane Caron <[email protected]>
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    simeon-ned and stephane-caron authored Jul 2, 2024
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  7. fixed minor typos, refeormated

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Commits on Jul 3, 2024

  1. Merge pull request stephane-caron#96 from domrachev03/feature/com_task 

    CoM task and optional joint limit check
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    stephane-caron authored Jul 3, 2024
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Commits on Jul 7, 2024

  1. feat: self collision barrier init

    @domrachev03
    domrachev03 committed Jul 7, 2024
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  2. feat: two iiwa urdf model

    @domrachev03
    domrachev03 committed Jul 7, 2024
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  3. feat: move collision updates to configuration file

    @domrachev03
    domrachev03 committed Jul 7, 2024
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  4. example: kuka self-collision example init

    @domrachev03
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  5. hotfix: fix typo

    @domrachev03
    domrachev03 committed Jul 7, 2024
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  6. fix: calculate collisions w.r.t. parent frame, not joint

    @domrachev03
    domrachev03 committed Jul 7, 2024
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  7. fix: working barriers (both approaches)

    @domrachev03
    domrachev03 committed Jul 7, 2024
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  8. fix: preformance optimization

    @domrachev03
    domrachev03 committed Jul 7, 2024
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  9. docs: documantation of self_collision_barrier

    @domrachev03
    domrachev03 committed Jul 7, 2024
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  10. docs: configuration and example

    @domrachev03
    domrachev03 committed Jul 7, 2024
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  11. Update README.md

    @domrachev03
    domrachev03 committed Jul 7, 2024
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  12. refactor: autorefactoring & mypy refactoring

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    domrachev03 committed Jul 7, 2024
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  13. chore: update CHANGELOG.md

    @domrachev03
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  14. refactor: remove completed TODO

    @domrachev03
    domrachev03 committed Jul 7, 2024
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  15. example: time-varying trajectory for kuka example

    @domrachev03
    domrachev03 committed Jul 7, 2024
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  16. feat: taking dim closest collisions

    @domrachev03
    domrachev03 committed Jul 7, 2024
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  17. format: autoformatting

    @domrachev03
    domrachev03 committed Jul 7, 2024
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  18. Update README.md

    @domrachev03
    domrachev03 committed Jul 7, 2024
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  19. refactor: use Optional in typing

    @domrachev03
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  20. fix: attempt to fix documentation

    @domrachev03
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  21. fix: documentation fix

    @domrachev03
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  22. fix: documentation fix

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  23. Update credentials 

    Co-authored-by: Stéphane Caron <[email protected]>
    @domrachev03 @stephane-caron
    domrachev03 and stephane-caron committed Jul 7, 2024
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  24. example: fix example

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  25. refactor: remove redundant np.array copies

    @domrachev03
    domrachev03 committed Jul 7, 2024
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  26. chore: fix README.md

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  27. refactor: rework configuration.py

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  28. refactor: refactor the self-collision barrier

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  29. feat: move collision pair processing to utils

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  30. refactor: autoformatting

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  31. Merge branch 'feat/hpp_fcl_barrier' of https://github.com/domrachev03… 

    …/pink into feat/hpp_fcl_barrier
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  32. example: rewrite kuka example with pin.appendModel

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  33. test: unit tests for configuration, self collision barrier, and utils

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Commits on Jul 22, 2024

  1. Update pink/barriers/self_collision_barrier.py

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  2. Update pink/configuration.py

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  3. Update examples/barriers/README.md

    @stephane-caron
    stephane-caron authored Jul 22, 2024
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