From a3ba0fe1462e8c48d1b92098c824086c4c9291d9 Mon Sep 17 00:00:00 2001 From: Mattia Fussi <38140169+mfussi66@users.noreply.github.com> Date: Fri, 29 Sep 2023 13:42:17 +0200 Subject: [PATCH 1/3] Add "Common" project to boards and make amcfoc project inherit from it (#62) --- .../kZdGAwXAm20MTF9LYhv9m8qFUn4d.xml | 2 + .../kZdGAwXAm20MTF9LYhv9m8qFUn4p.xml | 2 + .../37KraNebfjVjmPyZvMWCUHM-vCsd.xml | 274 ++++++++++++++++++ .../37KraNebfjVjmPyZvMWCUHM-vCsp.xml | 2 + .../CHiPgsIxDBlo3a20coVYgIscV24d.xml | 2 + .../CHiPgsIxDBlo3a20coVYgIscV24p.xml | 2 + .../Og8qzt4f3RAdhjNNkA3yMOcLwBwd.xml | 6 + .../Og8qzt4f3RAdhjNNkA3yMOcLwBwp.xml | 2 + .../dYlSDXJA26AlZG9EvOq7C53pS0kd.xml | 2 + .../dYlSDXJA26AlZG9EvOq7C53pS0kp.xml | 2 + .../egQ5N3r5rYPh43cg2Kv_OQRsg-wd.xml | 2 + .../egQ5N3r5rYPh43cg2Kv_OQRsg-wp.xml | 2 + .../pmYrm9Plbv7dHWjvLPRdu-rMB9cd.xml | 2 + .../pmYrm9Plbv7dHWjvLPRdu-rMB9cp.xml | 2 + .../X8523R9w6CmOyJuUkH8X0O-wsxId.xml | 2 - .../X8523R9w6CmOyJuUkH8X0O-wsxIp.xml | 2 - 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.../hLMKfvmMZYFbdoE4Xco7ryXas6sd.xml | 6 +++++- .../HKBPkyxPJeqY42EjkZ7xhIqTUbgd.xml | 6 +++++- .../7oKVxVYWZ2WrUSsCBa_oqa7pZb8d.xml | 6 +++++- .../sTsuWbeCzEOx_n4yvoVxkc6sp5kd.xml | 6 +++++- .../IDhMnXn6J-Ju2wh1nEFVZKhX41Ud.xml | 6 +++++- .../aPSZTDXRjCsxkLD0Rd1_fiBDTLQd.xml | 6 +++++- .../DH9moqhEpU0QpuHSp9PTX5JtgDod.xml | 6 +++++- .../eV3XdnzhiO46fPN6u5rTNnsPlX4d.xml | 6 +++++- .../sXzhPZIC1KR2jvT7Bcy38UQdLMkd.xml | 6 +++++- 11 files changed, 55 insertions(+), 11 deletions(-) diff --git a/boards/amcfoc/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/CzFQ_8sNt_AbTj6BzmOIj1BOHB8d.xml b/boards/amcfoc/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/CzFQ_8sNt_AbTj6BzmOIj1BOHB8d.xml index a75f7a81..30f473b5 100644 --- a/boards/amcfoc/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/CzFQ_8sNt_AbTj6BzmOIj1BOHB8d.xml +++ b/boards/amcfoc/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/CzFQ_8sNt_AbTj6BzmOIj1BOHB8d.xml @@ -1,2 +1,6 @@ - \ No newline at end of file + + + + \ No newline at end of file diff --git a/boards/amcfoc/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/PtJGlMO_ce1seGaPJ3DrBdi6e3kd.xml b/boards/amcfoc/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/PtJGlMO_ce1seGaPJ3DrBdi6e3kd.xml index a75f7a81..30f473b5 100644 --- a/boards/amcfoc/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/PtJGlMO_ce1seGaPJ3DrBdi6e3kd.xml +++ b/boards/amcfoc/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/PtJGlMO_ce1seGaPJ3DrBdi6e3kd.xml @@ -1,2 +1,6 @@ - \ No newline at end of file + + + + \ No newline at end of file diff --git a/boards/amcfoc/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/hLMKfvmMZYFbdoE4Xco7ryXas6sd.xml b/boards/amcfoc/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/hLMKfvmMZYFbdoE4Xco7ryXas6sd.xml index a75f7a81..30f473b5 100644 --- a/boards/amcfoc/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/hLMKfvmMZYFbdoE4Xco7ryXas6sd.xml +++ b/boards/amcfoc/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/hLMKfvmMZYFbdoE4Xco7ryXas6sd.xml @@ -1,2 +1,6 @@ - \ No newline at end of file + + + + \ No newline at end of file diff --git a/boards/common/resources/project/DH9moqhEpU0QpuHSp9PTX5JtgDo/HKBPkyxPJeqY42EjkZ7xhIqTUbgd.xml b/boards/common/resources/project/DH9moqhEpU0QpuHSp9PTX5JtgDo/HKBPkyxPJeqY42EjkZ7xhIqTUbgd.xml index a75f7a81..583862bb 100644 --- a/boards/common/resources/project/DH9moqhEpU0QpuHSp9PTX5JtgDo/HKBPkyxPJeqY42EjkZ7xhIqTUbgd.xml +++ b/boards/common/resources/project/DH9moqhEpU0QpuHSp9PTX5JtgDo/HKBPkyxPJeqY42EjkZ7xhIqTUbgd.xml @@ -1,2 +1,6 @@ - \ No newline at end of file + + + + \ No newline at end of file diff --git a/boards/common/resources/project/IDhMnXn6J-Ju2wh1nEFVZKhX41U/7oKVxVYWZ2WrUSsCBa_oqa7pZb8d.xml b/boards/common/resources/project/IDhMnXn6J-Ju2wh1nEFVZKhX41U/7oKVxVYWZ2WrUSsCBa_oqa7pZb8d.xml index a75f7a81..7a6326b9 100644 --- a/boards/common/resources/project/IDhMnXn6J-Ju2wh1nEFVZKhX41U/7oKVxVYWZ2WrUSsCBa_oqa7pZb8d.xml +++ b/boards/common/resources/project/IDhMnXn6J-Ju2wh1nEFVZKhX41U/7oKVxVYWZ2WrUSsCBa_oqa7pZb8d.xml @@ -1,2 +1,6 @@ - \ No newline at end of file + + + + \ No newline at end of file diff --git a/boards/common/resources/project/aPSZTDXRjCsxkLD0Rd1_fiBDTLQ/sTsuWbeCzEOx_n4yvoVxkc6sp5kd.xml b/boards/common/resources/project/aPSZTDXRjCsxkLD0Rd1_fiBDTLQ/sTsuWbeCzEOx_n4yvoVxkc6sp5kd.xml index a75f7a81..7a6326b9 100644 --- a/boards/common/resources/project/aPSZTDXRjCsxkLD0Rd1_fiBDTLQ/sTsuWbeCzEOx_n4yvoVxkc6sp5kd.xml +++ b/boards/common/resources/project/aPSZTDXRjCsxkLD0Rd1_fiBDTLQ/sTsuWbeCzEOx_n4yvoVxkc6sp5kd.xml @@ -1,2 +1,6 @@ - \ No newline at end of file + + + + \ No newline at end of file diff --git a/boards/common/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/IDhMnXn6J-Ju2wh1nEFVZKhX41Ud.xml b/boards/common/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/IDhMnXn6J-Ju2wh1nEFVZKhX41Ud.xml index a75f7a81..7a6326b9 100644 --- a/boards/common/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/IDhMnXn6J-Ju2wh1nEFVZKhX41Ud.xml +++ b/boards/common/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/IDhMnXn6J-Ju2wh1nEFVZKhX41Ud.xml @@ -1,2 +1,6 @@ - \ No newline at end of file + + + + \ No newline at end of file diff --git a/boards/common/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/aPSZTDXRjCsxkLD0Rd1_fiBDTLQd.xml b/boards/common/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/aPSZTDXRjCsxkLD0Rd1_fiBDTLQd.xml index a75f7a81..7a6326b9 100644 --- a/boards/common/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/aPSZTDXRjCsxkLD0Rd1_fiBDTLQd.xml +++ b/boards/common/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/aPSZTDXRjCsxkLD0Rd1_fiBDTLQd.xml @@ -1,2 +1,6 @@ - \ No newline at end of file + + + + \ No newline at end of file diff --git a/boards/common/resources/project/sTsuWbeCzEOx_n4yvoVxkc6sp5k/DH9moqhEpU0QpuHSp9PTX5JtgDod.xml b/boards/common/resources/project/sTsuWbeCzEOx_n4yvoVxkc6sp5k/DH9moqhEpU0QpuHSp9PTX5JtgDod.xml index a75f7a81..7a6326b9 100644 --- a/boards/common/resources/project/sTsuWbeCzEOx_n4yvoVxkc6sp5k/DH9moqhEpU0QpuHSp9PTX5JtgDod.xml +++ b/boards/common/resources/project/sTsuWbeCzEOx_n4yvoVxkc6sp5k/DH9moqhEpU0QpuHSp9PTX5JtgDod.xml @@ -1,2 +1,6 @@ - \ No newline at end of file + + + + \ No newline at end of file diff --git a/boards/common/resources/project/sTsuWbeCzEOx_n4yvoVxkc6sp5k/eV3XdnzhiO46fPN6u5rTNnsPlX4d.xml b/boards/common/resources/project/sTsuWbeCzEOx_n4yvoVxkc6sp5k/eV3XdnzhiO46fPN6u5rTNnsPlX4d.xml index a75f7a81..7a6326b9 100644 --- a/boards/common/resources/project/sTsuWbeCzEOx_n4yvoVxkc6sp5k/eV3XdnzhiO46fPN6u5rTNnsPlX4d.xml +++ b/boards/common/resources/project/sTsuWbeCzEOx_n4yvoVxkc6sp5k/eV3XdnzhiO46fPN6u5rTNnsPlX4d.xml @@ -1,2 +1,6 @@ - \ No newline at end of file + + + + \ No newline at end of file diff --git a/boards/common/resources/project/sTsuWbeCzEOx_n4yvoVxkc6sp5k/sXzhPZIC1KR2jvT7Bcy38UQdLMkd.xml b/boards/common/resources/project/sTsuWbeCzEOx_n4yvoVxkc6sp5k/sXzhPZIC1KR2jvT7Bcy38UQdLMkd.xml index a75f7a81..7a6326b9 100644 --- a/boards/common/resources/project/sTsuWbeCzEOx_n4yvoVxkc6sp5k/sXzhPZIC1KR2jvT7Bcy38UQdLMkd.xml +++ b/boards/common/resources/project/sTsuWbeCzEOx_n4yvoVxkc6sp5k/sXzhPZIC1KR2jvT7Bcy38UQdLMkd.xml @@ -1,2 +1,6 @@ - \ No newline at end of file + + + + \ No newline at end of file From ed1df8eafa589768e9672441482bb665c22402ab Mon Sep 17 00:00:00 2001 From: ale-git Date: Thu, 15 Feb 2024 08:13:47 +0100 Subject: [PATCH 3/3] Gradient descent in direct kinematics motor angles -> ypr improved with variable step and backtracking. --- wrist_mk2_1/spherical_wrist.slx | Bin 162457 -> 157514 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/wrist_mk2_1/spherical_wrist.slx b/wrist_mk2_1/spherical_wrist.slx index 96202dbf436757d54f61b93ac6ce1a2743acdb88..856ec63f97664b7da6a67a08aa2325ea8f965d80 100644 GIT binary patch delta 62223 zcmY&<18`tV*KKTbV%xSR=ETm#ww)8(ww;MJ;l!BOwr%U(`~Cl`_r9v#U0v(!U8kyR zt=g;W^vQUD{W}Q@p(qOuk@jf{hTFKK#|Z&v`eTfB9Tx-yWj%?+h#GivUgMnob5y%s 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