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

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dmsj wants to merge 31 commits intomasterfrom

dmsj.rebase.belle.invdyn.gravity_compensation

Commits on Oct 13, 2019

rough structure of inversedynamics

BelleL
authored and
dmsj
committed
cleaned up and builds
dmsj
committed
making gains non-zero
dmsj
committed
adding URDF which actually has masses
dmsj
committed
running inverse dynamics by default
Dexai
committed
Merge branch 'dmsj.rebase.belle.invdyn.gravity_compensation' of github.com:DexaiRobotics/drake-franka-driver into dmsj.rebase.belle.invdyn.gravity_compensation
Dexai
committed
trying to fix up urdf with masses
dmsj
committed
adding gravity
dmsj
committed
setting gains to 0
dmsj
committed
fixing types
dmsj
committed
typo
dmsj
committed
adding in gain and using ID
dmsj
committed
adding franka joint impedance call back
dmsj
committed
fixing includes [skip ci]
dmsj
committed
attempt at display [skip ci]
dmsj
committed
prev commit worked! adding integral term. [skip ci]
dmsj
committed
reducing i_gains by 10x. prev was unstable. [skip ci]
dmsj
committed
adding err read out [skip ci]
dmsj
committed
changing convergence criteria to maxCoeff [skip ci]
dmsj
committed
zeroing i_gain and increasing k_gains [skip ci]
dmsj
committed
re-enabling i_gains
dmsj
committed
changing to a cartesian imedance control law [skip ci]
dmsj
committed
changing to a cartesian imedance control law [skip ci]
dmsj
committed
typo [skip ci]
dmsj
committed
getting correct actual pose [skip ci]
dmsj
committed
maybe right? [skip ci]
dmsj
committed
try the transform [skip ci]
dmsj
committed
builds [skip ci]
Dexai
committed
trying EE [skip ci]
dmsj
committed
hackage. [skip ci]
dmsj
committed
before getting more analytic [skip ci]
dmsj
committed

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

rough structure of inversedynamics [WIP] [skip ci]#32
dmsj wants to merge 31 commits intomasterfrom
dmsj.rebase.belle.invdyn.gravity_compensation

Commits on Oct 13, 2019

rough structure of inversedynamics

cleaned up and builds

making gains non-zero

adding URDF which actually has masses

running inverse dynamics by default

Merge branch 'dmsj.rebase.belle.invdyn.gravity_compensation' of github.com:DexaiRobotics/drake-franka-driver into dmsj.rebase.belle.invdyn.gravity_compensation

trying to fix up urdf with masses

adding gravity

setting gains to 0

fixing types

typo

adding in gain and using ID

adding franka joint impedance call back

fixing includes [skip ci]

attempt at display [skip ci]

prev commit worked! adding integral term. [skip ci]

reducing i_gains by 10x. prev was unstable. [skip ci]

adding err read out [skip ci]

changing convergence criteria to maxCoeff [skip ci]

zeroing i_gain and increasing k_gains [skip ci]

re-enabling i_gains

changing to a cartesian imedance control law [skip ci]

changing to a cartesian imedance control law [skip ci]

typo [skip ci]

getting correct actual pose [skip ci]

maybe right? [skip ci]

try the transform [skip ci]

builds [skip ci]

trying EE [skip ci]

hackage. [skip ci]

before getting more analytic [skip ci]