Pre-publication code review #368
Draft
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…l load an lcm log and print relevant information in the log. It also instantiates the controller in verbose mode, with sampling turned off to rerun the controller for some fixed state.
-Fixed visualizer for 0 additional samples. -Added more verbose pritns in controller. -Added verbose prints to lcs-preprocessor to print signed distance between the specific witness points.
…n the goal is too close. Also added corresponding params. - Added a flag (at_least_predict_first_planned_trajectory_knot) to at least predict to have the ee started from knot_point(1) of the previous plan during replanning.
…oning execution trajectory building
… to angular velocity.
…ommit's 'fix' was misled, confirmed this implementation with visualization)
…round contacts now use 6 spheres instead of caps.
… well. Visualizing the object curr plans with colours to inspect orientation plan.
…ag in the sampling_params.yaml file for simulation while computing costs for better accuracy. - Added peripheral changes to be able to add/update the 6 contact lcs in each test_c3_object. - Lcm log reader now reads the c3 intermediates as well. - Added verbosity flag to c3 solve function to print out the z and delta solutions at each admm step to study the agreement at each step.
…t c3 plan to be penalized to match the previous c3 plan from the curr ee location. This is to make sure we're not computing the 'U' portion of the cost for the current sample differently from how we're computing it for the other samples.
…tead of from the zeroth time step as this was resulting in the Qp failure for when the end effector was below that height at the beginning of the solve resulting in it essentially trying to impose both the x_[0] = x0 constraint and the x_[0] >= min_z_height constraint, both of which cannot be true simultaneously.
…crete variable update and forced publish. Accordingly made the specific outputcc3solcurrplan function public in the controller.
…d up log_loader to properly offset time into log.
…heir matching input messages if any.
…mation to debug timing related issues.
… stored the first message it received after being cleared and never replaced them with newer messages. This fix makes the buffer size bigger and ensures that the latest message is picked up before clearing the buffer. RobotLocomotion/drake#15234 details this issue and the PR on main #366
…ion sender and sample costs senders.
…c3_controller files - to be tested in hardware.
…on the fly so we don't need to use multiple models for visualization only.
…systems. Also using the generic sender for all previously SIMO systems.
…tput the lcm message from controller output port except sample buffer sender.
…ems. Moved joint_traj generator and c3_mode visualizer to sampling c3 since they are only used by our examples. Moved franka-state_translator to sampling_c3 since it is only used by the franka_bridge_drivers.
…a file separate from c3_options.h
…ments out of the dairlib folder.
… to /workspace/diagrams/{DEMO_NAME}.
…if you build using bazelisk instead of bazel.
… for now while drake_models external repo is still an issue.
…ake without any breaking changes.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This is the code implementing the sampling based C3 algorithm. The most relevant files include:
This change is