 jazz
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546e5b425a
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robot takes 3 steps and falls after 3rd step
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2026-08-04 05:28:14 -05:00 |
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jazz
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05e0e87336
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revert density back to 1k
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2026-08-04 05:27:55 -05:00 |
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jazz
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cf80fd8676
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reduce density of torso from 1000kg per cubic meter to 900
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2026-08-04 03:52:46 -05:00 |
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jazz
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bcebb9a8a1
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fix crazy bouncing for real this time
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2026-08-04 02:03:41 -05:00 |
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jazz
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7e5d8e6abb
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reduce excessive bounce
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2026-08-04 01:25:28 -05:00 |
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jazz
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a57926171a
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W1: takes one step and kinda shuffles the other foot forward without falling
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2026-08-04 00:58:36 -05:00 |
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jazz
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83831522c6
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progress on W1
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2026-08-02 23:26:20 -05:00 |
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jazz
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ee44223553
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change Frictional Force -> Coefficient of Static Friction to 1.0 and Coefficient of Dynamic Friction to 0.75 on the SPCs of both feet
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2026-08-02 23:25:24 -05:00 |
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jazz
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928efb8a3e
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decrease feet SPC Stiffness from 1e9 to 1e7
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2026-08-01 03:59:55 -05:00 |
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jazz
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a4389f6f46
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W1 wip
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2026-07-31 18:07:39 -05:00 |
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jazz
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f366b52002
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fix incorrect comment
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2026-07-31 16:46:38 -05:00 |
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jazz
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d1630edc1b
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add dat/EX_bend.m
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2026-07-28 13:26:36 -05:00 |
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jazz
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4582078078
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add scope to right knee
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2026-07-28 13:26:29 -05:00 |
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jazz
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908b55f6d9
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start EX_idle.m
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2026-07-28 03:58:58 -05:00 |
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jazz
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501d251bae
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consistent naming scheme for hip joint components
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2026-07-28 03:20:00 -05:00 |
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jazz
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0d84e5c1f9
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correct Joint X in t1b/Fullsys_LeftHip/SYS_LeftHip
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2026-07-28 03:18:14 -05:00 |
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jazz
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0768ca9943
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change stop time to 30 sec
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2026-07-28 03:03:25 -05:00 |
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jazz
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cdf29220be
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add dat/EX_blank.m
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2026-07-28 02:17:55 -05:00 |
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jazz
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099069d8eb
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move crouching example to dat/EX_crouch.m
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2026-07-28 02:15:58 -05:00 |
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jazz
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86a1d24df9
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compact layout t1b
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2026-07-28 02:15:39 -05:00 |
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jazz
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3af111e2ff
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successfully make the robot crouch
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2026-07-27 16:11:10 -05:00 |
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jazz
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febb2cd045
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reduce starting height to prevent bounce
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2026-07-27 15:27:04 -05:00 |
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jazz
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585e44ffc5
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zero the joint position tracks again. im lost
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2026-07-27 01:14:38 -05:00 |
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jazz
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0fa0e65c0d
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knee bend failed attempt 1
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2026-07-26 23:53:53 -05:00 |
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jazz
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5ea0f7062b
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add .autosave files to gitignore
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2026-07-26 23:09:15 -05:00 |
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jazz
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70a91b1afa
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improve commentary in Limbs2.m
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2026-07-26 23:01:59 -05:00 |
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jazz
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ca876342d9
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integrate ankle subsystems
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2026-07-26 02:39:42 -05:00 |
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jazz
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fa69516ee2
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shave off unused dof + label dof
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2026-07-26 02:36:05 -05:00 |
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jazz
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3ea91c1dd0
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mark movement directions for hip joints
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2026-07-25 20:07:23 -05:00 |
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jazz
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257e70c46d
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add binary forgotten in prev commit
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2026-07-25 19:56:32 -05:00 |
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jazz
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a5203df3d9
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attempt full actuation for t1b hips
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2026-07-25 19:56:17 -05:00 |
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jazz
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637d7a6b1c
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start Limbs2.m
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2026-07-25 19:56:03 -05:00 |
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jazz
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86f08607ae
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wip joint work
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2026-07-21 13:40:41 -05:00 |
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jazz
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d537286655
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im not really sure
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2026-07-20 03:45:57 -05:00 |
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jazz
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be9116c67d
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give Limbs1.m single leg's worth of position data
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2026-07-20 02:09:15 -05:00 |
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jazz
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654bd178b0
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individualize limb return values
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2026-07-19 20:55:39 -05:00 |
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jazz
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65daaf7c9e
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all joints now controlled by rudimentary PID
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2026-07-16 06:21:56 -05:00 |
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jazz
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9862b4830d
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pid and joints n stuff
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2026-07-14 13:51:11 -05:00 |
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jazz
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30997b56dc
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add lkneeExample.m
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2026-07-07 13:52:59 -05:00 |
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jazz
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958c43cce1
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random junk
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2026-07-07 13:49:27 -05:00 |
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jazz
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b2fa557197
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experimenting with inputs (t1a)
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2026-07-04 16:31:02 -05:00 |
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jazz
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52c30aceac
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clean up t1a subsystems
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2026-07-04 15:58:59 -05:00 |
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jazz
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be1a183b3b
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create t1a with subsystems for hips, knees, ankles
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2026-07-04 15:51:02 -05:00 |
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jazz
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9b25e82086
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single sine wave controls hips and knees; kness now both bend in right direction
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2026-07-04 14:19:10 -05:00 |
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jazz
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a9ab1dc446
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Match KneeL to KneeR by changing Resolution Frame to Base
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2026-07-04 14:09:06 -05:00 |
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jazz
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518b13005b
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more weird seizure stuff + try to fix joint directions
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2026-07-04 05:05:53 -05:00 |
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jazz
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24534328a9
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progress: knees and hips bend to the side
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2026-07-04 04:39:30 -05:00 |
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jazz
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f2e89fbb10
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progress: knees move and then robot falls into ground
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2026-07-04 04:36:14 -05:00 |
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jazz
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0bf96af924
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robot feet now collide with ground correctly, changed ctrl+e solver to daessc, max step size 1e-4, fiddled with SCF stiffness values, made ground thicker to avoid the evil peanut butter quicksand ground problem
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2026-06-30 04:10:40 -05:00 |
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jazz
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8f296affd2
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add gravity without collision
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2026-06-29 14:45:27 -05:00 |
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jazz
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a6a11cdd83
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6-DOF joint positions Torso 11 meters above World Frame
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2026-06-29 03:25:17 -05:00 |
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jazz
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bf598e9d06
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modifications in class
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2026-06-24 11:11:16 -05:00 |
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jazz
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b160360174
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corrected joint offsets and block offsets
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2026-06-22 21:18:43 -05:00 |
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jazz
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3ba4dc5695
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wrongly placed joint offsets
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2026-06-22 20:06:33 -05:00 |
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jazz
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2628737254
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improvement hopefully
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2026-06-22 19:36:18 -05:00 |
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jazz
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c02e6fbba6
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i need to sleep look at the offsets more later
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2026-06-21 04:58:21 -05:00 |
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jazz
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8756e23e5e
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add offset for torso
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2026-06-21 04:21:17 -05:00 |
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jazz
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484dfced40
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double area of ground
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2026-06-21 02:13:05 -05:00 |
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jazz
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55dea4392b
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rearrange connections between torso/ground/solver/rigid transform
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2026-06-21 02:12:05 -05:00 |
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jazz
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c9df67ab7e
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colors
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2026-06-21 00:33:52 -05:00 |
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jazz
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b1c82a92c6
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add Solver Configuration Block to t1
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2026-06-16 14:50:23 -05:00 |
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jazz
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0b9e4eb6c6
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create connections in t1
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2026-06-16 14:44:46 -05:00 |
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jazz
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1541616733
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add world+ground
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2026-06-16 14:17:39 -05:00 |
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jazz
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fa6af9654d
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start t1 attempt 1
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2026-06-16 13:53:16 -05:00 |
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jazz
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a7c0df6103
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smnew
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2026-06-15 22:11:30 -05:00 |
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jazz
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9ae9b0d7e7
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initial commit
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2026-06-11 18:38:09 -05:00 |
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