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H^2 Team Competition Submission #109

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H^2 Team Competition Submission #109

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HashirZahir
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  1. Num of episodes: 1

Code is in edit_this.py with a helper file custom_utils.py under competition folder.
Code runs using default commands:

cd competition/
python3 getting_started.py --overrides level0.yaml

Team members:
@aoi3142
@huiyulhy
@HashirZahir

CC: @JacopoPan , this is our team's submission. Thank you!

aoi3142 and others added 30 commits September 23, 2022 18:39
@aoi3142
Initial commit for lspb_s_curve
e168e8f
@aoi3142
Time delta btw gates
ead26af
@aoi3142
Decision for whether to flip gate orientation
0183f51
@aoi3142
Slightly shift gate position due to turns
5a95947
@aoi3142
Correct yaw representation
b921aa7
@aoi3142
Reference angular rates
10d5bf3
@aoi3142
Modified mission plan
a60d7d5
@aoi3142
TIme scaling function
73fc7bc
@aoi3142
Commented out shifting of goal
2ecf8af
@aoi3142
Reduce tangent magnitude for start and end
b6c25c4
@aoi3142
Tuned kinematic limits
7ec9089
@aoi3142
Removed extraneous land command
86bfa76
@aoi3142
Quintic polynomial curve fitting for x&y
36fb431
@aoi3142
Streamline function calls for spline
2907a51
@aoi3142
Local planning when actual gate pose known
2dc05c4
@aoi3142
Time scaling for vel, acc, jerk
12398f8
@aoi3142
Modifications for dealing with final endpoint
b3aef4b
@aoi3142
Merge branch 'beta-iros-competition' of https://github.com/utiasDSL/s…
182eb59 
…afe-control-gym into lspb_s_curve
@aoi3142
Move custom functions to custom_utils.py
afb20e2
@aoi3142
Changed z-axis iterpolator to quintic
9a69f59
@HashirZahir
Add initial obstacle avoidance
00496cc
Fix indexing and change to single collision checking
51fac08
Move collision checking out of verbose
fdbdc78
revert motion profile
c3b63d7
@HashirZahir
add obstacle yaml
516b7f4
@aoi3142
SImplify poly functions
fa1fd67
@aoi3142
Obstacle avoidance solved from polynomial
849b9ba
@aoi3142
Slowdown near gate
9b9eab5
@aoi3142
Use numpy for polynomial evaluation
2f8460f
@aoi3142
Comments and slight changes
8a457c9
@JacopoPan JacopoPan added the competition IROS 2022 Safe Robot Learning competition label Oct 17, 2022
@JacopoPan
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@HashirZahir thank you so much, could you let me know if your team has an academic or commercial affiliation as well?

@huiyulhy
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huiyulhy commented Oct 18, 2022 •
edited
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Hi @JacopoPan, our team is taking part without affiliation to any companies or institutions! :)

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4 participants
@HashirZahir @JacopoPan @huiyulhy @aoi3142