Code

Merge 2024 engineer code.#27

Code

Merged

YoujianWu merged 161 commits intorm-controls:masterrm-controls/rm_engineer:masterfrom cc0h:mastercc0h/rm_engineer:masterCopy head branch name to clipboardSep 20, 2024

+11,383-2,322

Commits

Commits on Jun 26, 2023

• Add rectifyForLink7().

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  4d8eadd

• Add joint7 replace joint4.

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  0b206b0

• Fix target_.orientation.

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  a4f4ee2

• Delete useless.

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  eedd088

• Fix error.

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  ac85f27

• Add joint7 tf.

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  74a4029

• Fix error in pr.

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  463ac05

Commits on Jul 9, 2023

• 7-9 11:30.

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  03bb92a

• 7-9 20:00.

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  3c11d5f

Commits on Jul 10, 2023

• 7-10 15:30.

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• 7-10 17:30.

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  7a28cee

Commits on Jul 13, 2023

• Useful version 7-13 22:50.

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  150be81

Commits on Jul 14, 2023

• Small change.

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Commits on Jul 15, 2023

• Add auto_exchange.h like motion.h.

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  a899c25

• Complete JointInfo class.

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  0151e4e

• Decide to introduce commander into auto_exchange.h.

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  9583186

• Add ServoMove.

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• Fix Error.

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Commits on Aug 12, 2023

• test

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• record.

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• record.

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  58e6ede

Commits on Oct 18, 2023

• Merge branch 'auto_exchange'

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  committed
  9e1d28d

Commits on Nov 4, 2023

• change kinematics_solver.

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  214efaf

Commits on Nov 5, 2023

• URDF for new arm on 2023 engineer.

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  5b20911

Commits on Nov 15, 2023

• update engineer arm kinematic config.

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  ae1b7f9

Commits on Nov 26, 2023

• test record.

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  9cb68a4

Commits on Dec 5, 2023

• add missing head files.

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  4c84e89

Commits on Dec 9, 2023

• new step list for engineer.

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  a9059d3

Commits on Dec 11, 2023

• add auto exchange motion

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  3e3aa67

Commits on Dec 13, 2023

• modify some function.

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  4c326d2

Commits on Dec 29, 2023

• test exchange sphere.

  

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  6127e54

Commits on Jan 28, 2024

• little optimize.

  

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  e598230

Commits on Feb 23, 2024

• new step list. disable collision check between camera and link1.

  

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  d364b9a

Commits on Mar 16, 2024

• add a class to control gimbal lifter, ore bin lifter and rotator.

  

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  9e7a9f7

Commits on Mar 17, 2024

• fix roll error didn't being checked.

  

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  2f1bfe4

Commits on Mar 22, 2024

• Add small island get stone.

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• Update.

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  1476e70

Commits on Mar 23, 2024

• Add small island two stone.

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• change namespace when loading servo params.

  

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  2445b53

Commits on Mar 24, 2024

• add a launch file to start gazebo for engineer.

  

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  23d100a

• Update small island two stone.

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  a834134

• add necessary controllers, remove useless controllers.

  

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  c9b0be5

• Use load_controllers.launch in engineer_arm_config to avoid controller conflict with other robots.Add param in launch file to select worlds.

  

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  25c918d

• Merge branch 'ch'

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  57428ba

• Add a config file for controllers in gazebo simulation. Use different configure file in different situation.

  

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  ecce1e8

• Update.

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  fd2ee5e

Commits on Mar 26, 2024

• Adjust default max_planning_times.

  

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  7843d78

• Optimize format.

  

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  ff24773

• Record test steps_list.

  

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• Update with tested.

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  198da34

• Fix wrong member name.

  

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  b2c4450

• Update ore_lifter and ore_rotator.

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• Update.

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  460d020

Commits on Mar 27, 2024

• Add get stone from ore bin.

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  66be75e

• Update with tested.

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  d19cf68

Commits on Apr 1, 2024

• Add big island.

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• Add and modify parameters.

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• Merge branch 'ch'

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  c8b0a64

Commits on Apr 2, 2024

• Merge branch 'master' into master

  cc0h

  authored
  bd6da5c

• Merge pull request #1 from 2194555/master

  Show description for 23d5fb2
  cc0h

  authored
  23d5fb2

• disable collision check between joint7 and ore bin rotator.

  

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  2fd93e2

• optimize step lists.

  

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  12c6436

Commits on Apr 8, 2024

• update steps_list.yaml.

  

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  fb6bc3b

Commits on Apr 9, 2024

• Add support of extend arms in middleware.

  

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  2382cd4

Commits on Apr 10, 2024

• Add extend arm and gimbal lifter motion.

  

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  d0ca289

• Fix steps list bug.

  

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  c0c16fc

Commits on Apr 14, 2024

• Replace KDL solver with TRAC-IK solver.

  

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  fedc09f

• Record steps list.

  

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  1e78179

• Disable collision check between joint3 and base_link.

  

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  c81a6ef

• Merge extend_arm in step_list and add has_stone logic.

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  5bbc02e

• Remove drift dimensions.

  

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  10ea583

Commits on Apr 17, 2024

• Remove points.

  

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  89e681e

• Update extend_arm logic.

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  ca90f99

• Merge branch 'ch'

  Show description for 9101385
  2194555

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  9101385

• Remove points and make space ee motion available.

  

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  a528da8

• Merge branch 'master' into master

  cc0h

  authored
  0bc6162

• Merge pull request #2 from 2194555/master

  Show description for 80cda70
  cc0h

  authored
  80cda70

Commits on Apr 18, 2024

• record.

  

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  9ddcfb0

Commits on Apr 20, 2024

• modify quaternion multiplication order.

  

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• fix format.

  

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  9fd7f41

• fix format.

  

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  44ecbf8

• Available auto exchange.

  

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Commits on Apr 21, 2024

• Merge branch 'auto-exchange' into 2024_engineer

  Show description for fe5c620
  

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• Add points.

  

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• Update steps list.

  

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Commits on Apr 23, 2024

• Record.

  

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Commits on Apr 25, 2024

• Change servo command frame.

  

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• update step lists.

  

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  9f492fc

Commits on Apr 27, 2024

• Add moveit_exchange.h.

  

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Commits on Apr 29, 2024

• Adjust chassis motion pid.

  

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  d50b699

• change home step into 2 stages.

  

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• change servo direction

  

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• record.

  

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Commits on May 1, 2024

• record.

  

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Commits on May 2, 2024

• add ChassisTargetMotion,pass arm2base from JointMotion to ChassisTargetMotion.

  

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  afc93b8

Commits on May 3, 2024

• fix ore lifter don't fall when an ore is in bin.

  

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  d14681c

• Add arm back which just move back joint 2 and 3.

  

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  411a946

Commits on May 4, 2024

• Add chassis motion to compensate arm.

  

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  9c8e59b

• update sim.launch.

  

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• record.

  

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  047f146

Commits on May 7, 2024

• record steps list.

  

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  acc1fa6

Commits on May 8, 2024

• record.

  

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  3c82983

Commits on May 11, 2024

• record steps list.

  

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  51f0fb3

Commits on May 12, 2024

• adjust max vel.

  

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  ab06274

• adjust motion order.

  

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  5c4f322

Commits on May 13, 2024

• adjust tolerance.

  

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  e548a09

Commits on May 14, 2024

• adjust tolerance.

  

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  9d0a14f

Commits on May 16, 2024

• output joints with too big error.

  

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  ec83643

• modify store ore position.

  

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  5002c34

Commits on May 17, 2024

• roll back joint7 position for small island ore.

  

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  c2530b0

• simplify small island motion.

  

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  09aa3ec

Commits on Jun 3, 2024

• add engineer2_arm_connfig, modify launch files to select different config files.

  

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  0d32e53

Commits on Jul 1, 2024

• Modify Lv5 exchange pos of engineer.

  

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Commits on Jul 7, 2024

• Record engineer2 arm config pack.Can be used to run gazebo and moveit.

  

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  69188ab

Commits on Jul 8, 2024

• Fix wrong collision check matrix.

  

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  7867306

• Fix bug: moveit can't find valid controller when using gazebo.

  

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  41f9170

Commits on Jul 10, 2024

• Add controllers for gold and silver structures on engineer2.

  

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• Add publishers for get ore structure controllers on engineer2.

  

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• Add basic step lists for engineer2.

  

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  01da3ba

Commits on Jul 11, 2024

• Record.

  

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  f54ac28

Commits on Jul 16, 2024

• Add gimbal controller in engineer2 sim.

  

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  60c576c

• Modify gpio motion to control multi gpio ports.

  

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  230cf98

Commits on Jul 17, 2024

• Modify gpio motion to avoid invalid gpio port.

  

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  464d2a4

Commits on Jul 18, 2024

• Add stone num motion.

  

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• Improve step lists of engineer2.

  

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  f55c277

Commits on Jul 19, 2024

• Update parameters and step list.

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  35c127d

Commits on Jul 20, 2024

• Merge branch 'cc0h:2024_engineer' into 2024_engineer

  2194555

  authored
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• Record.

  

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• Merge pull request #5 from 2194555/2024_engineer

  Show description for 8243330
  cc0h

  authored
  8243330

Commits on Jul 22, 2024

• Add get side gold motion.

  

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  ba32d30

• Enable rm manual in sim.launch.

  

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  45e65eb

• Merge remote-tracking branch 'origin/2024_engineer' into 2024_engineer

  

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  5cfbe3b

Commits on Jul 23, 2024

• Modify arm get small island and store to silver gripper motion.

  

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• Uncomment necessary data.

  

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  7c3ab8c

Commits on Jul 24, 2024

• Rewrite major motion.

  

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  aaff087

Commits on Jul 25, 2024

• Add middle pitch motion before arm move.

  

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• Modify home pos.

  

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  c6a3a05

Commits on Jul 26, 2024

• Modify get side big island omtion.

  

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• Modify motion timeout time.

  

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  238a3ae

• Add get ground stone and fix get side big island.

  

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  c6da30d

Commits on Jul 29, 2024

• Add default 0.05s delay for gpio motion.

  

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• Set higer speed and accel limit.

  

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• Record.

  

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• Add gpio motion default delay to 0.1s.

  

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  7a22e9a

• Modify joint3 speed limit in moveit config file.

  

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  a4f1b5b

• Fix unavailable gpio motion delay.

  

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  2db342b

• Adjust side gold stone motion, add motion to exchange side gold at front of chassis.

  

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  97e20a9

Commits on Jul 30, 2024

• Record.

  

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Commits on Jul 31, 2024

• Enable max acceleration limit for engineer2.

  

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• Update.

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  committed
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• Merge pull request #6 from 2194555/2024_engineer

  Show description for a88d570
  cc0h

  authored
  a88d570

• Modify gpio motion.

  

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• Record.

  

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  fd21d7b

Commits on Aug 1, 2024

• Swap exchange direction of engineer2.

  

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  b4ad7ed

Commits on Aug 5, 2024

• Modify get small island motion.

  

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  06de859

Commits on Aug 8, 2024

• Record.

  

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  15273a0

• Improve gripper 3 silver.

  

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  3fe3719

Commits on Aug 9, 2024

• Add improved direction change motion, place stone on arm to a stable place.

  

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• Disable chassis interface temporarily to avoid crazy chassis motion.

  

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  cee21d4

Commits on Aug 20, 2024

• Record.

  

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• Merge branch 'refs/heads/2024_engineer'

  Show description for dd3e111
  

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