Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add Forward Dynamics computation via ABA #51

Draft
wants to merge 31 commits into
base: main
Choose a base branch
from
Draft

Add Forward Dynamics computation via ABA #51

wants to merge 31 commits into from

Commits on Dec 12, 2023

  1. Add first version of ABA implementation

    @flferretti
    flferretti committed Dec 12, 2023
    Configuration menu
    Copy the full SHA
    f1c4fa6 View commit details
    Browse the repository at this point in the history

  2. Update tests

    @flferretti
    flferretti committed Dec 12, 2023
    Configuration menu
    Copy the full SHA
    e24ddb7 View commit details
    Browse the repository at this point in the history

  3. Update variables name in ABA

    @flferretti
    flferretti committed Dec 12, 2023
    Configuration menu
    Copy the full SHA
    6981667 View commit details
    Browse the repository at this point in the history

  4. Add forward_dynamics in computations

    @flferretti
    flferretti committed Dec 12, 2023
    Configuration menu
    Copy the full SHA
    3e79a86 View commit details
    Browse the repository at this point in the history

  5. Update tests

    @flferretti
    flferretti committed Dec 12, 2023
    Configuration menu
    Copy the full SHA
    1259756 View commit details
    Browse the repository at this point in the history

  6. Fix ABA in core. 

    Note: We should consider the possibility to use a reduced kinematic tree.
    @flferretti
    flferretti committed Dec 12, 2023
    Configuration menu
    Copy the full SHA
    eb9e6f6 View commit details
    Browse the repository at this point in the history

  7. Fix computations

    @flferretti
    flferretti committed Dec 12, 2023
    Configuration menu
    Copy the full SHA
    111c83e View commit details
    Browse the repository at this point in the history

  8. Add abstractions for solving linear systems

    @flferretti
    flferretti committed Dec 12, 2023
    Configuration menu
    Copy the full SHA
    3088164 View commit details
    Browse the repository at this point in the history

  9. Add floating_base field

    @flferretti
    flferretti committed Dec 12, 2023
    Configuration menu
    Copy the full SHA
    ab5023b View commit details
    Browse the repository at this point in the history

  10. Overwrite __eq__ dunder

    @flferretti
    flferretti committed Dec 12, 2023
    Configuration menu
    Copy the full SHA
    e148da1 View commit details
    Browse the repository at this point in the history

  11. Fix typos and finalize ABA

    @flferretti
    flferretti committed Dec 12, 2023
    Configuration menu
    Copy the full SHA
    3c2de13 View commit details
    Browse the repository at this point in the history

Commits on Jan 4, 2024

  1. Add base velocity as input

    @flferretti
    flferretti committed Jan 4, 2024
    Configuration menu
    Copy the full SHA
    80c7757 View commit details
    Browse the repository at this point in the history

Commits on Jan 12, 2024

  1. Reduce model tree

    @flferretti
    flferretti committed Jan 12, 2024
    Configuration menu
    Copy the full SHA
    8568e17 View commit details
    Browse the repository at this point in the history

  2. Use reduce model in ABA

    @flferretti
    flferretti committed Jan 12, 2024
    Configuration menu
    Copy the full SHA
    241750f View commit details
    Browse the repository at this point in the history

Commits on Jan 17, 2024

  1. Add inverse function in spatial math

    @flferretti
    flferretti committed Jan 17, 2024
    Configuration menu
    Copy the full SHA
    eda6cd3 View commit details
    Browse the repository at this point in the history

  2. Update tree transform and parent array calculation

    @flferretti
    flferretti committed Jan 17, 2024
    Configuration menu
    Copy the full SHA
    de550d9 View commit details
    Browse the repository at this point in the history

  3. Return SpatialMath object in ABA

    @flferretti
    flferretti committed Jan 17, 2024
    Configuration menu
    Copy the full SHA
    e4a2c4a View commit details
    Browse the repository at this point in the history

  4. Update tests

    @flferretti
    flferretti committed Jan 17, 2024
    Configuration menu
    Copy the full SHA
    a9d1b16 View commit details
    Browse the repository at this point in the history

Commits on Jan 18, 2024

  1. Update tree reduction

    @flferretti
    flferretti committed Jan 18, 2024
    Configuration menu
    Copy the full SHA
    874c16c View commit details
    Browse the repository at this point in the history

Commits on Jan 19, 2024

  1. Update model reduction logic

    @flferretti
    flferretti committed Jan 19, 2024
    Configuration menu
    Copy the full SHA
    01533b6 View commit details
    Browse the repository at this point in the history

Commits on Jan 31, 2024

  1. Merge branch 'ami-iit:main' into aba

    @flferretti
    flferretti authored Jan 31, 2024
    Configuration menu
    Copy the full SHA
    e0c75ff View commit details
    Browse the repository at this point in the history

Commits on Feb 20, 2024

  1. Add vee operator

    @flferretti
    flferretti committed Feb 20, 2024
    Configuration menu
    Copy the full SHA
    e053633 View commit details
    Browse the repository at this point in the history

  2. Make StdJoint and StdLink hashable

    @flferretti
    flferretti committed Feb 20, 2024
    Configuration menu
    Copy the full SHA
    e7d2f3e View commit details
    Browse the repository at this point in the history

  3. Add method to get the joint list

    @flferretti
    flferretti committed Feb 20, 2024
    Configuration menu
    Copy the full SHA
    71995ac View commit details
    Browse the repository at this point in the history

Commits on Mar 6, 2024

  1. Tree merging logic and update type hints

    @Giulero
    Giulero committed Mar 6, 2024
    Configuration menu
    Copy the full SHA
    431687e View commit details
    Browse the repository at this point in the history

  2. Refactor model.py to use type hints and improve code readability

    @Giulero
    Giulero committed Mar 6, 2024
    Configuration menu
    Copy the full SHA
    6a983c6 View commit details
    Browse the repository at this point in the history

Commits on Mar 7, 2024

  1. Fixing joint update

    @Giulero
    Giulero committed Mar 7, 2024
    Configuration menu
    Copy the full SHA
    a1f4ba2 View commit details
    Browse the repository at this point in the history

  2. Refactor chain calculation in Model class

    @Giulero
    Giulero committed Mar 7, 2024
    Configuration menu
    Copy the full SHA
    6191da9 View commit details
    Browse the repository at this point in the history

Commits on Mar 8, 2024

  1. Cleanup commits

    @Giulero
    Giulero committed Mar 8, 2024
    Configuration menu
    Copy the full SHA
    924da1f View commit details
    Browse the repository at this point in the history

  2. Commented out code for lumping links

    @Giulero
    Giulero committed Mar 8, 2024
    Configuration menu
    Copy the full SHA
    6c1b74d View commit details
    Browse the repository at this point in the history

  3. Fix target check in Model class

    @Giulero
    Giulero committed Mar 8, 2024
    Configuration menu
    Copy the full SHA
    72a24b1 View commit details
    Browse the repository at this point in the history