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example(plate-balancing) : Add working plate balancing example with external c3 repo #376

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@Meow404 Meow404 commented Jun 23, 2025 •
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@Meow404 Meow404 linked an issue Jun 23, 2025 that may be closed by this pull request
Plate-balancing example DAIRLab/c3#11
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@Meow404 Meow404 mentioned this pull request Jun 23, 2025
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@Meow404 Meow404 force-pushed the stephen/example-plate-balancing branch 9 times, most recently from d4f321a to fe05cec Compare June 26, 2025 00:44
@juanmed
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juanmed commented Jul 9, 2025

Hi. Thanks for open sourcing your impressive work. I am working on this branch to reproduce the plate-balancing work, and was wondering if you accept fixes here? These are just a few missing dependencies juanmed@3d90389

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Meow404 commented Jul 9, 2025

Hi. Thanks for open sourcing your impressive work. I am working on this branch to reproduce the plate-balancing work, and was wondering if you accept fixes here? These are just a few missing dependencies juanmed@3d90389

Hi, Yes we accept fixes. Feel free to file bugs if you find any.

I think you find the .yaml files for the plate balancing are included in this branch,. You should take a look at https://github.com/DAIRLab/c3 for our work related to C3 and https://github.com/DAIRLab/dairlib/tree/sampling_based_c3_PR2_copy I believe has the latest work for sampling based C3.

@Meow404 Meow404 force-pushed the stephen/example-plate-balancing branch 3 times, most recently from d50a4b4 to 80568f2 Compare July 9, 2025 18:02
@Meow404 Meow404 requested a review from xuanhien070594 July 9, 2025 18:03
@Meow404 Meow404 marked this pull request as ready for review July 9, 2025 18:03
@Meow404 Meow404 changed the title [WIP] example(plate-balancing) : Add working plate balancing example with external c3 repo example(plate-balancing) : Add working plate balancing example with external c3 repo Jul 9, 2025
@Meow404 Meow404 force-pushed the stephen/example-plate-balancing branch from 80568f2 to 41d8eed Compare July 12, 2025 16:10
@Meow404 Meow404 changed the base branch from main to sampling_based_c3_public July 12, 2025 16:11
@Meow404 Meow404 force-pushed the stephen/example-plate-balancing branch 2 times, most recently from 268e67c to 9571fcd Compare July 14, 2025 13:52
@Meow404 Meow404 marked this pull request as draft July 16, 2025 20:55
@Meow404 Meow404 force-pushed the stephen/example-plate-balancing branch from d88901a to 5a72ca5 Compare July 24, 2025 15:38
@xuanhien070594
Integrate C3+ into push_anything branch (#390)
4478d1e 
* Integrate new C3 algorithm

* Tune new C3 parameters

* Fix bug that wrongly computes the size of z and delta vectors.

* Remove unnecessary use of epsilon in new c3 projection step; update logging script to accept folder path as argument and modify log directory creation; add progress parameters YAML file for new c3

* Add log directory to .gitignore to prevent logging files from being tracked

* Minor changes

* Add documentation and address comments

* Refactor C3 solver structure:
- Introduce BaseC3 class, replace C3 with BaseC3 in related files.
- Enhances modularity and maintainability of all functions in BaseC3 class.
- Change name of C3NextGen class to C3Plus

* Update C3 solver implementation:
- Modify BaseC3 constructor to accept a function for calculating z size.
- Adjust C3Plus to disable parallelization and utilize the new z size calculation function.
- Clean up .gitignore by removing the logs directory entry.
- Improve documentation in C3Plus header for clarity on C3+ formulation.

* Clean up codes

* Replace all NEXTGEN name by C3+

* Minor changes

* Add C3+ parameters to jacktoy and push-anything examples

* Add missing placeholders in sampling_c3_options.yaml of push-anything example

* Change class name BaseC3 to C3Base

* Remove unnecessary small functions and remove obsolete SolveRobustSingleProjection functions

* Modify C3Base constructor to accept z_size and add overloaded constructor for default z_size.

* Use fully vectorized code in c3plus projection step

* Throw error if any weights of the cost matrix U are negative.
@xuanhien070594
Add reconstructed meshes of few objects, tune parameters of C3+ for p…
48550f8 
…ush_t example
@Meow404 Meow404 force-pushed the stephen/example-plate-balancing branch from 5a72ca5 to 6a81a2d Compare August 15, 2025 16:56
@Meow404 Meow404 changed the base branch from sampling_based_c3_public to stephen/add_c3_repo_for_sampling_c3 August 15, 2025 16:57
@Meow404 Meow404 force-pushed the stephen/add_c3_repo_for_sampling_c3 branch from 30ff460 to 9e969e1 Compare August 19, 2025 20:37
ebianchi and others added 24 commits August 26, 2025 13:58
@ebianchi @Meow404
Include workspace and input limits as constraints in C3 QP step
b6593d7
@xuanhien070594 @Meow404
Resolve merge conflicts with main (#386)
2090e5c 
* Resolve merge conflicts with main

* Remove obsolete codes

* Remove accidentally commited files

* Add external force tracking result to lcm

* Add back the deleted files in Cassie example

* Add back deleted files in pydairlib/cassie

* Revert code formatting

* Revert code formatting

* Revert code formatting
@Meow404
feat: inital commit -- bring plate balancing example from robust_c3
e16c9ad
@Meow404
fix: removed c3 dependency from franka_c3_controller.cc
3addc92
@Meow404
style: refactor
b57d2fa
@Meow404
dependencies: remove unnecessary dependencies
96920be
@Meow404
doc: update readme
fcf491d
@Meow404
fix: update .bazelrc
5315bd1
@Meow404
fix: add c3 lcmtypes to lcm-spy
8bc04c0
@Meow404
fix: update to incorporate changes in c3
1a161c7
@Meow404
fix: use update force visualization
14cb6ab
@Meow404
feat: use trajectory generator in C3
bb087a8
@Meow404
fix: refactory and remove c3 state sender
c0090b2
@Meow404
recfactor: cleanup
2166ff3
@Meow404
fix: use static c3 library
527b6b4
@Meow404
feat: add lcmt systems
f3bd2c1
@Meow404
fix: refactor after rebase on sampling_based_c3_public
b7e6c59
@Meow404
todo: add todo for robot_lcm_systems.h
4e9a26b
@Meow404
fix: pmd typo
8f3bd57
@Meow404
fix: minor fixes
ac1f0e9
@Meow404
fix: revert changes in config
989d96b
@Meow404
feat: add delay to c3 controller
742c706
@Meow404
fixes after rebase
f437aca
@Meow404
feat: add config for C3+
a922a8f
@Meow404 Meow404 force-pushed the stephen/example-plate-balancing branch from 6a81a2d to a922a8f Compare August 26, 2025 17:58
@juanmed
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juanmed commented Aug 27, 2025

@Meow404 Hi, I was trying out your work in this branch, looks awesome. As of the latest commit here, this is the behavior I get and was wondering if your get the same?

slide-tray-2025-08-28_01.58.40.mp4

Asking because I expected the robot arm to 1) slide the tray out of the supports, 2) lift the tray and 3) slide the tray again onto the supports, but seems to do only 1) and 2).

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Meow404 commented Aug 27, 2025

@Meow404 Hi, I was trying out your work in this branch, looks awesome. As of the latest commit here, this is the behavior I get and was wondering if your get the same?

slide-tray-2025-08-28_01.58.40.mp4
Asking because I expected the robot arm to 1) slide the tray out of the supports, 2) lift the tray and 3) slide the tray again onto the supports, but seems to do only 1) and 2).

Hi @juanmed, Nice to hear from you. We are discovering that the example does work a little differently based on your computer specs. I've tried the same example on three different computers with different results, but this can be overcome by tuning the parameters a little in this file examples/plate-balancing/config/C3/controller-c3plus-options/2_supports.yaml. You would want to start by trying to modify w_[Q/R/G] first, then maybe try g_lambda, g_eta. Let us know if you need any help.

@juanmed
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juanmed commented Aug 27, 2025

@Meow404 Aha that makes sense, will play with the params there. Thanks for the advice!

(Btw I had to focus on some background work before retaking plate balancing again)

@Meow404 Meow404 force-pushed the stephen/add_c3_repo_for_sampling_c3 branch from 9e969e1 to 99cb601 Compare October 3, 2025 20:07
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Plate-balancing example

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