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ChickenHead Plan.#43

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pangtao22 wants to merge 10 commits intomainRobotLocomotion/robot-plan-runner:mainfrom seed_chicken_headRobotLocomotion/robot-plan-runner:seed_chicken_headCopy head branch name to clipboard

+571-216

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Commits on Oct 27, 2021

• WIP: chicken head plan

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Commits on Oct 28, 2021

• WIP.

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• Chicken head plan version 1 (no low-pass filtering) works.

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Commits on Oct 29, 2021

• Chicken head plan resists sinusoidal measurements.

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• Support exceptions in Plan::Step. Now handled in IiwaPlanManager.

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• Ditch DiffIk in ChickenHeadPlan, now it's buttery smooth.

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• Faster time out in drake LCM subscription.

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• Fix DrakeSystem version of PlanRunner.

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• Include Threads as a dependency of robot_plans.

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• Remove references to DiffIk in chicken head plan.

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