Mark iii dvrk#17

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TomShkurti wants to merge 54 commits intocwru-robotics:masterfrom

HutEight:Mark_III_dvrk

Commits on Feb 7, 2018

played with the demo
HMS Prince of Wales
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fixed primatic offsets
HMS Prince of Wales
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Commits on Feb 8, 2018

testing Jacobian IK addon
HMS Prince of Wales
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Commits on Feb 9, 2018

fixed Jacobian IK
HMS Prince of Wales
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Commits on Feb 13, 2018

adding fwd test main
Will
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corrected prismatic offsets
Will
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Commits on Feb 14, 2018

good magic numbers in the fwd kinematics
Will
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Commits on Feb 19, 2018

fixed all DH2 params
Will
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Commits on Feb 20, 2018

fixing the .99 factor
Will
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Commits on Mar 19, 2018

updates from 20180319
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Commits on Apr 10, 2018

slight changes
HMS Prince of Wales
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fixed the frozen bug
HMS Prince of Wales
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cleanup
HMS Prince of Wales
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added wrapper that conforms to old format
HMS Prince of Wales
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Commits on May 19, 2018

removed adjustments
HMS Prince of Wales
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Commits on Jun 4, 2018

removed the couts
HutEight
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Commits on Jun 18, 2018

modified from surgical computer
Will
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fixed small bug
HutEight
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PSM2 dh params
Will
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Commits on Jul 13, 2018

fixing bugs
Will
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Commits on Jul 14, 2018

adding tests
HutEight
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Commits on Jul 15, 2018

added debugging markers
HMS Prince of Wales
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Commits on Jul 16, 2018

starting to write Mk2
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testing..
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a few lines
HMS Prince of Wales
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Commits on Jul 19, 2018

major refit
HutEight
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Commits on Jul 20, 2018

changed test
HutEight
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added IK tasks
HMS Prince of Wales
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some changes
HMS Prince of Wales
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debugging
HutEight
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Commits on Jul 21, 2018

added new test
HutEight
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Commits on Jul 22, 2018

added test and completed debugging
HutEight
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Commits on Jul 23, 2018

added adjustments for frozen fncs
HutEight
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added from tests
Will
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added more printouts
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Commits on Jul 24, 2018

dir change
HutEight
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Commits on Jul 25, 2018

removed useless lines
HutEight
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Commits on Jul 30, 2018

added new yaml
Will
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added new tests
HutEight
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Commits on Aug 1, 2018

tested new DH fix
HutEight
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added new yaml
HutEight
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Commits on Aug 6, 2018

modified psm1 dh
HutEight
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Commits on Aug 11, 2018

psm2 yaml
HutEight
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added j2 scale factor
HMS Prince of Wales
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Commits on Aug 13, 2018

updated from latest test
HutEight
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added joint 1 scale factor and new test result
HutEight
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Commits on Aug 22, 2018

added from home
HutEight
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Commits on Oct 29, 2018

MK 3 upgrades
HutEight
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MKIII calibration
HutEight
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Commits on Nov 5, 2018

testing DH 5 params
HutEight
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Commits on Nov 12, 2018

fixed kinematics issues
HutEight
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Commits on Nov 13, 2018

corrected yaml
HutEight
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corrected psm2 yaml
HutEight
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Commits on Nov 19, 2018

added new calibration results
HutEight
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