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rough structure of inversedynamics [WIP] [skip ci] #32

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rough structure of inversedynamics [WIP] [skip ci] #32

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c46020c
rough structure of inversedynamics
BelleL Jul 19, 2019
67e31c6
cleaned up and builds
dmsj Oct 13, 2019
11065d7
making gains non-zero
dmsj Oct 13, 2019
fce7d92
adding URDF which actually has masses
dmsj Oct 13, 2019
aaaa0cf
running inverse dynamics by default
Oct 13, 2019
f69f6c5
Merge branch 'dmsj.rebase.belle.invdyn.gravity_compensation' of githu…
Oct 13, 2019
923619a
trying to fix up urdf with masses
dmsj Oct 13, 2019
c32f7f1
adding gravity
dmsj Oct 13, 2019
898e7dc
setting gains to 0
dmsj Oct 13, 2019
220337f
fixing types
dmsj Oct 13, 2019
295cd70
typo
dmsj Oct 13, 2019
fc44a1e
adding in gain and using ID
dmsj Oct 13, 2019
460aecd
adding franka joint impedance call back
dmsj Oct 13, 2019
7c02edf
fixing includes [skip ci]
dmsj Oct 13, 2019
a83317e
attempt at display [skip ci]
dmsj Oct 13, 2019
4413b33
prev commit worked! adding integral term. [skip ci]
dmsj Oct 13, 2019
ac8c3ba
reducing i_gains by 10x. prev was unstable. [skip ci]
dmsj Oct 13, 2019
2efe04c
adding err read out [skip ci]
dmsj Oct 13, 2019
820e56e
changing convergence criteria to maxCoeff [skip ci]
dmsj Oct 13, 2019
db1798c
zeroing i_gain and increasing k_gains [skip ci]
dmsj Oct 13, 2019
6f015d9
re-enabling i_gains
dmsj Oct 13, 2019
14080ce
changing to a cartesian imedance control law [skip ci]
dmsj Oct 13, 2019
0f6aa93
changing to a cartesian imedance control law [skip ci]
dmsj Oct 13, 2019
14142e7
typo [skip ci]
dmsj Oct 13, 2019
3553c10
getting correct actual pose [skip ci]
dmsj Oct 13, 2019
eb1ed69
maybe right? [skip ci]
dmsj Oct 13, 2019
7518e3e
try the transform [skip ci]
dmsj Oct 13, 2019
863ff77
builds [skip ci]
Oct 13, 2019
c6b3301
trying EE [skip ci]
dmsj Oct 13, 2019
7002cb9
hackage. [skip ci]
dmsj Oct 13, 2019
ec2afff
before getting more analytic [skip ci]
dmsj Oct 13, 2019
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