EPFLXplore/ERC_HD
Dec 2024 – Apr 2025
2 Months active
Languages Used
C++PythonYAML
Technical Skills
Control SystemsEmbedded SystemsFinite State MachinesGamepad Input HandlingKinematicsMotion Planning
Jeffrey
PROFILE
Jeffrey
Over a two-month period, contributed to the EPFLXplore/ERC_HD robotics repository by developing six integrated features focused on motion control, kinematics, and manipulation tasks. Leveraging C++, Python, and ROS 2, the work included refining trajectory planning, enhancing torque sensor integration, and enabling compliant motion for safer and more precise robot operation. The developer introduced gamepad-based sensor simulation and improved launch safety by disabling motor nodes during testing. Additional efforts centered on inverse kinematics accuracy, perception object integration in MoveIt, and automated sand-task workflows, resulting in more reliable manipulation and demonstration capabilities without introducing new bugs during this development phase.
Overall Statistics
Feature vs Bugs
100%Features
Repository Contributions
13Total
Bugs
0
Commits
13
Features
6
Lines of code
1,005
Activity Months2
Your Network
131 peopleWork History
April 2025
8 Commits • 3 Features
Apr 1, 2025April 2025 — EPFLXplore/ERC_HD: Delivered three integrated features focusing on precision IK, perception/manipulation, and sand-task automation. No major bugs fixed this month; path-constraint issues are being tracked for future fixes. Overall impact: enhanced manipulation accuracy, richer planning with lidar/clam objects, and robust sand-handling workflows that enable more reliable demonstrations and potential field deployments. Key technologies demonstrated include transform-based finger-type corrections, fingertip rotations in IK, MoveIt object integration (lidar/clam), trajectory planning refinements for sand objects, and tool pickup/drop pipelines.
8 Commits • 3 Features
Apr 1, 2025April 2025 — EPFLXplore/ERC_HD: Delivered three integrated features focusing on precision IK, perception/manipulation, and sand-task automation. No major bugs fixed this month; path-constraint issues are being tracked for future fixes. Overall impact: enhanced manipulation accuracy, richer planning with lidar/clam objects, and robust sand-handling workflows that enable more reliable demonstrations and potential field deployments. Key technologies demonstrated include transform-based finger-type corrections, fingertip rotations in IK, MoveIt object integration (lidar/clam), trajectory planning refinements for sand objects, and tool pickup/drop pipelines.
April 2025
December 2024
5 Commits • 3 Features
Dec 1, 2024During December 2024, EPFLXplore/ERC_HD delivered substantial stability, safety, and testability gains across motion control and kinematics. Key progress includes: refined trajectory planner usage and servo planning with directional torque sensor; robust torque sensor input binding; enabled compliant motion; updated EtherCAT motor control configurations; introduced gamepad-based torque sensor for testing while preserving legacy IK logic; and safety hardening by disabling motor nodes in the launch file to prevent unintended launches. These changes reduce drift, improve control fidelity, facilitate safer testing, and establish a foundation for future IK enhancements.
December 2024
5 Commits • 3 Features
Dec 1, 2024During December 2024, EPFLXplore/ERC_HD delivered substantial stability, safety, and testability gains across motion control and kinematics. Key progress includes: refined trajectory planner usage and servo planning with directional torque sensor; robust torque sensor input binding; enabled compliant motion; updated EtherCAT motor control configurations; introduced gamepad-based torque sensor for testing while preserving legacy IK logic; and safety hardening by disabling motor nodes in the launch file to prevent unintended launches. These changes reduce drift, improve control fidelity, facilitate safer testing, and establish a foundation for future IK enhancements.
Activity
Loading activity data...
Quality Metrics
Correctness77.0%
Maintainability81.6%
Architecture73.8%
Performance67.8%
AI Usage21.6%
Skills & Technologies
Programming Languages
C++PythonYAML
Technical Skills
C++C++ DevelopmentControl SystemsEmbedded SystemsFinite State MachinesGamepad Input HandlingInverse KinematicsKinematicsMotion PlanningMoveItPythonPython DevelopmentPython ScriptingROSROS 2
Repositories Contributed To
Overview of all repositories you've contributed to across your timeline