Belle.invdyn.gravity compensation [WIP] [skip ci] #25
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
|
Please resolve the conflicts of this branch with master |
tried to modify franka setup structure for callback finished most structure run franka is messy af moved stuff from dracula need to change urdf and yaml need to test compilation gtg gtg passes tests passes tests pt2 recreated segfault locally modifying things in two dockers tested compiling the code in dracula file not found... commented out multibody dracula since we aren't using it make sure it's actually calling inversedynamics callback added debugging flags does enter while loop fixed external force error trying to see cause of segfault is ext force seeing if eigen::map is giving problem moved out of function added debug lines remapped tau the problem is in the last two lines added two more debug flags runs find all the way to the return statement tried to merge manual give up that still getting eigen errors refactored franka_plan_runner callback callback debug print statements testing tau init testing tau init testing tau init making Eigen::VectorXd integral_error a member variable removing prints to make it faster removing CalcInverseDynamics to see if loop can meet comms requirements removing CalcInverseDynamics to see if loop can meet comms requirements delete print statements add chrono timgin fixed chrono errors cast chrono comment out momap logs trying to make new variable added time flags added time flags made derivative outside find segfault find segfault updated context updated context commented deriv added exception added urdf masses log tau trying tau_ext filtered tau_ext didn't work tau_ext didn't work tau_ext didn't work tau_ext didn't work franka_Test.urdf checked testing gravity calcs testing gravity calcs testing gravity calcs testing gravity calcs testing gravity calcs testing gravity calcs testing gravity calcs testing gravity calcs testing gravity calcs testing gravity calcs added comments including urdf and making new branch to clean up commits checkedout master's franka_0.sh uncommented include headres resolve manual diffs between franka_test.urdf deleted unused comments
BelleL
force-pushed
the
belle.invdyn.gravity_compensation
branch
from
379b62f to
cdc5225
Compare
added 14 commits
August 8, 2019 17:09
…y_compensation # Conflicts: # include/franka_plan_runner.h
tarquasso
reviewed
Aug 9, 2019
| @@ -0,0 +1,474 @@ | |||
| <?xml version="1.0" ?> | |||
There was a problem hiding this comment.
is this urdf at all used? What is useful content in it?
tarquasso
suggested changes
Aug 9, 2019
dmsj
changed the title
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
cleaned up branch of inverseDynamics
adds callback for inverse dynamics control and include comments/doxygen