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trunk

Mono Color

• b2b87a2fac add knee graphs trunk jazz 2026-08-06 11:26:46 -05:00
• 4675c5a518 W1 gets into position, duckwalks a bit, and then stands up straight jazz 2026-08-06 04:22:09 -05:00
• aec544f291 takes a couple steps and returns to crouch-stand without fall jazz 2026-08-06 04:06:06 -05:00
• 546e5b425a robot takes 3 steps and falls after 3rd step jazz 2026-08-04 05:28:14 -05:00
• 05e0e87336 revert density back to 1k jazz 2026-08-04 05:27:55 -05:00
• cf80fd8676 reduce density of torso from 1000kg per cubic meter to 900 jazz 2026-08-04 03:52:46 -05:00
• bcebb9a8a1 fix crazy bouncing for real this time jazz 2026-08-04 02:03:41 -05:00
• 7e5d8e6abb reduce excessive bounce jazz 2026-08-04 01:25:28 -05:00
• a57926171a W1: takes one step and kinda shuffles the other foot forward without falling jazz 2026-08-04 00:58:36 -05:00
• 83831522c6 progress on W1 jazz 2026-08-02 23:26:20 -05:00
• ee44223553 change Frictional Force -> Coefficient of Static Friction to 1.0 and Coefficient of Dynamic Friction to 0.75 on the SPCs of both feet jazz 2026-08-02 23:25:24 -05:00
• 928efb8a3e decrease feet SPC Stiffness from 1e9 to 1e7 jazz 2026-08-01 03:59:55 -05:00
• a4389f6f46 W1 wip jazz 2026-07-31 18:07:39 -05:00
• f366b52002 fix incorrect comment jazz 2026-07-31 16:46:38 -05:00
• d1630edc1b add dat/EX_bend.m jazz 2026-07-28 13:26:36 -05:00
• 4582078078 add scope to right knee jazz 2026-07-28 13:26:29 -05:00
• 908b55f6d9 start EX_idle.m jazz 2026-07-28 03:58:58 -05:00
• 501d251bae consistent naming scheme for hip joint components jazz 2026-07-28 03:20:00 -05:00
• 0d84e5c1f9 correct Joint X in t1b/Fullsys_LeftHip/SYS_LeftHip jazz 2026-07-28 03:18:14 -05:00
• 0768ca9943 change stop time to 30 sec jazz 2026-07-28 03:03:25 -05:00
• cdf29220be add dat/EX_blank.m jazz 2026-07-28 02:17:55 -05:00
• 099069d8eb move crouching example to dat/EX_crouch.m jazz 2026-07-28 02:15:58 -05:00
• 86a1d24df9 compact layout t1b jazz 2026-07-28 02:15:39 -05:00
• 3af111e2ff successfully make the robot crouch jazz 2026-07-27 16:11:10 -05:00
• febb2cd045 reduce starting height to prevent bounce jazz 2026-07-27 15:27:04 -05:00
• 585e44ffc5 zero the joint position tracks again. im lost jazz 2026-07-27 01:14:38 -05:00
• 0fa0e65c0d knee bend failed attempt 1 jazz 2026-07-26 23:53:53 -05:00
• 5ea0f7062b add .autosave files to gitignore jazz 2026-07-26 23:09:15 -05:00
• 70a91b1afa improve commentary in Limbs2.m jazz 2026-07-26 23:01:59 -05:00
• ca876342d9 integrate ankle subsystems jazz 2026-07-26 02:39:42 -05:00
• fa69516ee2 shave off unused dof + label dof jazz 2026-07-26 02:36:05 -05:00
• 3ea91c1dd0 mark movement directions for hip joints jazz 2026-07-25 20:07:23 -05:00
• 257e70c46d add binary forgotten in prev commit jazz 2026-07-25 19:56:32 -05:00
• a5203df3d9 attempt full actuation for t1b hips jazz 2026-07-25 19:56:17 -05:00
• 637d7a6b1c start Limbs2.m jazz 2026-07-25 19:56:03 -05:00
• 86f08607ae wip joint work jazz 2026-07-21 13:40:41 -05:00
• d537286655 im not really sure jazz 2026-07-20 03:45:57 -05:00
• be9116c67d give Limbs1.m single leg's worth of position data jazz 2026-07-20 02:09:15 -05:00
• 654bd178b0 individualize limb return values jazz 2026-07-19 20:55:39 -05:00
• 65daaf7c9e all joints now controlled by rudimentary PID jazz 2026-07-16 06:21:56 -05:00
• 9862b4830d pid and joints n stuff jazz 2026-07-14 13:51:11 -05:00
• 30997b56dc add lkneeExample.m jazz 2026-07-07 13:52:59 -05:00
• 958c43cce1 random junk jazz 2026-07-07 13:49:27 -05:00
• b2fa557197 experimenting with inputs (t1a) jazz 2026-07-04 16:31:02 -05:00
• 52c30aceac clean up t1a subsystems jazz 2026-07-04 15:58:59 -05:00
• be1a183b3b create t1a with subsystems for hips, knees, ankles jazz 2026-07-04 15:51:02 -05:00
• 9b25e82086 single sine wave controls hips and knees; kness now both bend in right direction jazz 2026-07-04 14:19:10 -05:00
• a9ab1dc446 Match KneeL to KneeR by changing Resolution Frame to Base jazz 2026-07-04 14:09:06 -05:00
• 518b13005b more weird seizure stuff + try to fix joint directions jazz 2026-07-04 05:05:53 -05:00
• 24534328a9 progress: knees and hips bend to the side jazz 2026-07-04 04:39:30 -05:00
• f2e89fbb10 progress: knees move and then robot falls into ground jazz 2026-07-04 04:36:14 -05:00
• 0bf96af924 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 jazz 2026-06-30 04:10:40 -05:00
• 8f296affd2 add gravity without collision jazz 2026-06-29 14:45:27 -05:00
• a6a11cdd83 6-DOF joint positions Torso 11 meters above World Frame jazz 2026-06-29 03:25:17 -05:00
• bf598e9d06 modifications in class jazz 2026-06-24 11:11:16 -05:00
• b160360174 corrected joint offsets and block offsets jazz 2026-06-22 21:18:43 -05:00
• 3ba4dc5695 wrongly placed joint offsets jazz 2026-06-22 20:06:33 -05:00
• 2628737254 improvement hopefully jazz 2026-06-22 19:36:18 -05:00
• c02e6fbba6 i need to sleep look at the offsets more later jazz 2026-06-21 04:58:21 -05:00
• 8756e23e5e add offset for torso jazz 2026-06-21 04:21:17 -05:00
• 484dfced40 double area of ground jazz 2026-06-21 02:13:05 -05:00
• 55dea4392b rearrange connections between torso/ground/solver/rigid transform jazz 2026-06-21 02:12:05 -05:00
• c9df67ab7e colors jazz 2026-06-21 00:33:52 -05:00
• b1c82a92c6 add Solver Configuration Block to t1 jazz 2026-06-16 14:50:23 -05:00
• 0b9e4eb6c6 create connections in t1 jazz 2026-06-16 14:44:46 -05:00
• 1541616733 add world+ground jazz 2026-06-16 14:17:39 -05:00
• fa6af9654d start t1 attempt 1 jazz 2026-06-16 13:53:16 -05:00
• a7c0df6103 smnew jazz 2026-06-15 22:11:30 -05:00
• 9ae9b0d7e7 initial commit jazz 2026-06-11 18:38:09 -05:00