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Control Barrier Functions #1

Merged
merged 63 commits into from
May 12, 2024
Merged

Control Barrier Functions #1

merged 63 commits into from
May 12, 2024

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domrachev03
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@domrachev03
feat: barrier init
1395d56
@domrachev03
feat: position barrier init
522bfdd
@domrachev03
feat: configuration (joint) barrier
15fc97f
@domrachev03
refactor: leading whitespace in barriers folder
72e3035
@domrachev03
feat: add barriers support to solve_ik.py
04202e6
@domrachev03
fix: solve_ik compatability fixes
859e4d5
@domrachev03
fix: minor code debug and refactoring
44e919d
@domrachev03
feat: updating safe policy in barrier
7a24e9a
@domrachev03
example: ur5 with cbf init
1c82bb5
@domrachev03
feat: compute_save_policy abstract method
01491fa
@domrachev03
example: copy shapes file to cbf folder
043c590
@domrachev03
fix: remove dt term from cost (because other terms does not use it)
ba3f0dc
@domrachev03
example: the best cbf behaviour yet
e0f74e2
@domrachev03
feat: update solve_ik
5534c8f
@domrachev03
fix: refactor compute_qp_objective in barrier.py
cdc3b80
@domrachev03
fix: transfering position jacobian from local to world aligned frame
17872fb
@domrachev03
fix: isinstance for gain
a7e6f67
@domrachev03
fix: remove debugging print
964e81e
@domrachev03
fix: configuration barrier fix
40d2b19
@domrachev03
feat: optional disabling of position limits
0d13b08
@domrachev03
example: add position CBF to ur5 example
9cba01c
@domrachev03
fix: remove mask variable from position barrier as redundant
197c22b
@domrachev03
feat: body spherical self-collision barrier
7998520
@domrachev03
example: yumi example
8948015
@domrachev03
feat: full self-collision barrier init
0f94a6c
@domrachev03
example: baxter example
472e78b
@domrachev03
revert: remove hpp-fcl self-collision code (moved to separate branch)
1b22d8a
@domrachev03
refactor: ruff format
63b7963
domrachev03 and others added 29 commits May 11, 2024 00:15
@domrachev03
chore: add sphere object in meshcat shapes
0ef506f
@domrachev03
example: adapt yumi example for shifted collision sphere origin
b85f352
@simeon-ned
docstrings and notes
e876f35
@domrachev03
example: yumi example with creating new frames
0287f34
@domrachev03
Revert "feat: shift point for spherical body collision avoidance barr…
22798c8 
…ier"

This reverts commit 5859354.
@simeon-ned
new doc strings
b839445
@domrachev03
Merge remote-tracking branch 'refs/remotes/origin/feat/cbf' into feat…
573c8f3 
…/cbf
@domrachev03
refactor: CBF -> Barrier in names
60089e0
@domrachev03
docs: fix documentation
05c3770
@domrachev03
fix: remove temporary file from git
105e43c
@domrachev03
refactor: examples/cbfs -> examples/barriers
5cd638f
@simeon-ned
modified spherical barrier
5a27be2
@simeon-ned
Merge branch 'feat/cbf' of github.com:domrachev03/pink into feat/cbf
e8254f6
@simeon-ned
fixed typo in docs
36363d5
@domrachev03
refactor: frame -> frames in BodySphericalBarrier
2d9eddb
@domrachev03
example: ipynb with theory and main results
20b2ab6
@domrachev03
Merge remote-tracking branch 'refs/remotes/origin/feat/cbf' into feat…
9aac262 
…/cbf
@domrachev03
feat: argumant to optionally not open visualization
9e1cf96
@domrachev03
example: disable running simulation in browser in ipynb example
8636ecc
@domrachev03
chore: update changelog.md
820059d
@domrachev03
refactor: tuple -> Tuple for version compatibility
80259a9
@domrachev03
refactor: refactoring for pipeline
9a2f657
@domrachev03
refactor: mypy types fixes
f75d5b1
@domrachev03
refactor: attempt to fix documentation pipeline
e9d53cb
@simeon-ned
changed examples, renamed cbfs to barriers
08dad1b
@domrachev03
example: fix & beautify barrier examples
a9a0373
@domrachev03
fix: relaxing constraints in yumi example
a1940ea
@simeon-ned
added references and videos
1f94b75
@simeon-ned
fixed references
426e5e1
@domrachev03 domrachev03 merged commit 8be9307 into main May 12, 2024
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2 participants
@domrachev03 @simeon-ned