Add more logging features to WholeBodyTrajectoryController (!65) · Merge requests · Software / ArmarX / Skills / Control · GitLab

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Open Tobias Gröger requested to merge feature/WholeBodyTrajectoryController-improvement into main 9 months ago

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Tobias Gröger assigned to @utetg_groeger 9 months ago

assigned to @utetg_groeger
Tobias Gröger added 3 commits 9 months ago
added 3 commits

fbe42b1d - Add WholeBodyTrajectoryController to cmake config

ad96804b - Fix ConfigurableNJoinControllerBase

76cf2755 - Update WholeBodyTrajectoryControllerConfig for torso support and torque control

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Tobias Gröger added 1 commit 9 months ago
added 1 commit

dd2200ea - Update WholeBodyTrajectory and move to own header

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Tobias Gröger added 1 commit 9 months ago
added 1 commit

bf3c92f6 - Adjust namespace of trajectory

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Tobias Gröger added 2 commits 9 months ago
added 2 commits

ba01554f - Fix controller default config

70dda329 - Copy WholeBodyTrajectoryController into WholeBodyTrajectoryTorqueController

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Tobias Gröger added 2 commits 9 months ago
added 2 commits

e863b92d - adding joint space impedance controller

a8d7e13c - Merge branch 'feature/joint-space-impedance-controller' into...

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Tobias Gröger added 1 commit 9 months ago
added 1 commit

82dc8b80 - Log even more data

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Tobias Gröger added 1 commit 9 months ago
added 1 commit

f148157b - Increase logging frequency, get wheel information through ClassMemberInformation

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Tobias Gröger added 1 commit 9 months ago
added 1 commit

5990bf8a - Fix ImpedanceController, implement clamping

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Tobias Gröger added 1 commit 9 months ago
added 1 commit

9b6bf32d - Torso joint debug data

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Fabian Reister added 2 commits 9 months ago
added 2 commits

ee0e4622 - WB TrajController: using torso (untested)

d0dae38c - Merge branch 'feature/WholeBodyTrajectoryController-improvement' of...

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Tobias Gröger added 4 commits 9 months ago
added 4 commits

443926e6 - Add JointSpaceImpedanceController to cmake, slight change interface

89cbe34c - Add impedance controller config to aron

ca903598 - Implement impedance controller

41946a26 - Add torso debug logging

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Fabian Reister added 2 commits 9 months ago
added 2 commits

7f1ce52e - updating controller

de2e9327 - Merge branch 'feature/WholeBodyTrajectoryController-improvement' of...

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Tobias Gröger added 1 commit 9 months ago
added 1 commit

e7cecfdf - Fix torso joint SensorValue, save debug data in additional task

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Tobias Gröger added 1 commit 9 months ago
added 1 commit

659299a7 - Fix TorqueController

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Tobias Gröger added 1 commit 9 months ago
added 1 commit

e3dc74d0 - Print impedance control parameters

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Tobias Gröger added 1 commit 9 months ago
added 1 commit

f600e06e - Parameters for impedance controller

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Tobias Gröger added 3 commits 9 months ago
added 3 commits

0841fad3 - Introduce common base class for WholeBodyTrajectoryController

44766e60 - Adjust namespace

438247cd - Use vector in impedance controller config

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Tobias Gröger added 1 commit 9 months ago
added 1 commit

3e773b9e - Some cleanup + commenting

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Tobias Gröger added 1 commit 9 months ago
added 1 commit

f86cbbd5 - Fix bug with initialization order

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