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Commits on Apr 1, 2026

• Stray prints and experiment tables

  

  Vansh Thakur

  committed
  a2fa9b4

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• fixed file path in exp3

  

  Vansh Thakur

  committed
  1f924af

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• Fixed eigen versioning

  

  Vansh Thakur

  committed
  c8590a1

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Commits on Jan 7, 2026

• The dynamic feasibility constraint

  

  Vansh Thakur

  committed
  0f60062

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Commits on Oct 29, 2025

• Interpolation penalty

  

  Vansh Thakur

  committed
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Commits on Oct 13, 2025

• Proto interp constraints+Rhs test

  

  Vansh Thakur

  committed
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Commits on Oct 11, 2025

• 1234

  

  Vansh Thakur

  committed
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Commits on Sep 30, 2025

• Updated everything

  

  Vansh Thakur

  committed
  37a4d60

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Commits on Sep 27, 2025

• More stuff of augmented lagrangian, working exp2 and exp3

  

  Vansh Thakur

  committed
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Commits on Aug 8, 2025

• Augmented Lagrangian Integration and Tests

  

  Vansh Thakur

  committed
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• test push

  

  Vansh Thakur

  committed
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Commits on Mar 19, 2025

• Unit tests partially fixed. Updating cons_flag across tests and fixed a broken example due to new Action Functional plotting code

  ChallenEnninful

  committed
  95159df

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• Merge remote-tracking branch 'origin/pearl-endpoint-limits' into cleaned_new_ps

  cesarch123

  committed
  0832d26

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Commits on Mar 3, 2025

• implemented action functional calculation with barriers, without barriers, and only barriers

  

  Pearl Lin

  committed
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Commits on Feb 19, 2025

• updated constraint checker to work with input constraints

  

  Pearl Lin

  committed
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Commits on Jan 30, 2025

• adding computation of box sphere avg max violation

  cesarch123

  committed
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Commits on Jan 29, 2025

• adding joint sphere approximation to sphere obstacles, fixed storage of fwd simulation in mat file, bug when printing the gradient of boxes when calling constraint checker, fixed some tests

  cesarch123

  committed
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Commits on Jan 28, 2025

• adding jacobian that works and updated script

  cesarch123

  committed
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Commits on Jan 27, 2025

• adding working example for box obstacles

  cesarch123

  committed
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Commits on Jan 26, 2025

• adding untested code for box obstacles, no hessian yet

  cesarch123

  committed
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Commits on Jan 20, 2025

• deleted extraneous line from PybindWrapper.cpp

  

  Pearl Lin

  committed
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Commits on Jan 18, 2025

• simplified some unit testing code

  

  Pearl Lin

  committed
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• finished most of the merge, unit tests pass

  

  Pearl Lin

  committed
  3de7d15

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• merging slowly, these changes pass unit tests

  

  Pearl Lin

  committed
  013cc13

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Commits on Jan 17, 2025

• merge cleaned_new_ps into Yutong' branch

  

  Yutong Zhou

  committed
  3a5485a

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• fix buggy phase1 code and update the test file

  

  Yutong Zhou

  committed
  a18c14e

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• implemented jacobian for endpoint input limit, all unit tests pass

  

  Pearl Lin

  committed
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Commits on Jan 16, 2025

• fixed all unit tests and added matlab file generate input limits endpoint unit test - everything should be good now

  

  Pearl Lin

  committed
  e901179

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• Updated API to be able to compute forces for model with fake revolute joint at cup but use a model where that joint is fixed for subsequent joints

  ChallenEnninful

  committed
  089dbea

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• added input constraints endpoint implementation for RHS and associated unit test

  

  Pearl Lin

  committed
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Commits on Jan 15, 2025

• update compute_AGHF_RHS and compute_PSAGHF_jac_PHASE1, add an additional test file for phase1

  

  Yutong Zhou

  committed
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Commits on Jan 14, 2025

• implemented input limits endpoint penalty into AGHF RHS

  

  Pearl Lin

  committed
  41f8a96

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• consolidated jacobian/no jacobian aghf constructors, fixed all broken unit tests

  

  Pearl Lin

  committed
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Commits on Jan 13, 2025

• c++ now has access to entire D, D2 matrix

  

  Pearl Lin

  committed
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• adding fixed for traj tracking

  cesarch123

  committed
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