Quartz 5

code

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GNC Code Wiki — Index

The lasting “how & why” of the code. Daily churn → INSIGHTS.md / CLAIMS.md; math → current_sota.
Schema: .claude/rules/WIKI.md (auto-loads as a path-scoped rule when working in wiki/). Pattern: idea.

Map of Content

Agent-readable spine — one line per page, grouped by subsystem. Maintained on every ingest.
All 13 GNC pages drafted; status: draft pages await Toni’s spot-check (flip to reviewed).

Controllers controller

  • breve_controller — unified base + EE Breve controller (the live workhorse; derate stack, feedforward).
  • com_controller — CoM force-control root loop (CC_Controller); the chain root.
  • breve_core_controller — shared base-attitude/breve methods (BreveCoreController); the intermediate base both controllers extend (Template Method).
  • base_controller — base-attitude-only diagnostic controller (controller.name == "base").

Guidance guidance

  • com_guidance — CoM orbit reference + startup ramp (COMGuidance; chain root).
  • base_guidance — base-attitude desired: offline frame build + runtime SLERP.
  • ee_guidance — EE target selection, POSE path, GuidanceMode state machine.
  • analytic_feedforward — closed-form desired EE twist (pure trajectory kinematics).
  • target_finder — mesh sampling, candidate scoring, FOV coverage marking.
  • guidance_classes — data records + enums (CameraPose, SurfaceTarget, Selection, modes).
  • guidance_rollout — guidance-only rollout (no controller dynamics).

Simulation simulation

Utils utils

Math primitives — geometry (R^n / SO(3)) · quaternions (scalar-last) · curvature (polyline fields)
Robot & dynamics — robot (Pinocchio Γ/M̆/C̆/damped J⊕) · sampling (SVD conditioning + γ ramp) · orbit (spherical helix)
Mesh — mesh (raycast scene + SurfacePath) · mesh_manipulation (preprocessing + envelope)
Config, data & infra — parameter_loader (the snapshot trap) · data_classes · data_class_helpers · infra · printing · determinism (BLAS/OMP pinning)
Visualization & sim — plotter3d (report figures) · mj (MuJoCo free-flyer; standalone)

Analysis analysis

Running & orchestration — runner · orchestrator (the run→log→analyze→report loop) · dispatch (cluster) · detached_run (tmux) · pre_run_loader (config gateway)
Logging — logger (Logger + LogStore)
Analysis & measurement — data_analyzer (signal math, Reductions/Deltas) · statistics (inference) · signal_measurement (the log-to-number facade) · metric_catalog · metric_alignment · tolerance (cross-machine divergence)
Reporting & plotting — plotter (render_line_panels; the sanctioned figure path) · star_reporter (LaTeX)

Config & catalogs config

  • parameters — the master run config (gains, derate/conditioning, startup, constraints).
  • metrics — the metric catalog: what is measured (also measurement).
  • scoreboard — the judgment layer: how it’s judged (reduction/gate/weight/after; also measurement).
  • assets — robot (UR3 6-/7-DOF) + target satellite asset definitions.

Reference

  • terminology — glossary of project terms.
  • tags — the tag taxonomy (subsystem tags + nested topic/* tags).
  • system_diagram — coordinate frames + system layout.

Topics — cross-cutting concepts topic

Concept pages that span several files; each links DOWN to its constituent per-file pages. New branch
(topics/; frontmatter uses a code_paths: list). Taxonomy in tags.

  • tikhonov_regularization — near-singularity Γ/J⊕ damping; why it reaches the system CoM (v_c), not the base. topic/numerics
  • com_vs_base — the system CoM (p_c) vs the free-flyer base frame, and how Γ couples them. topic/dynamics
  • circumcentroidal_control — the Breve coordinated controller (base attitude + EE wrench; Giordano 2019). topic/control
  • coupled_dynamics — the coordinated map Γ, reduced EoM (M̆/C̆), and state reconstruction. topic/dynamics
  • speed_gain_derate — the conditioning ramp γ(s_min_G); gain-derate over speed-derate. topic/control
  • ee_feedforward — closed-form desired EE twist and how it enters the control RHS. topic/guidance
  • orbit_com_path — the spherical-helix CoM reference: generation and tracking. topic/guidance
  • target_finding_coverage — target selection + FOV coverage marking (the ≥0.99 gate). topic/guidance
  • guidance_modes — the INITIAL→HOLD→POSE guidance state machine. topic/guidance
  • ee_pose_error_antiwindup — the EE pose error and integral anti-windup. topic/control

Live catalog (Dataview)

Renders in Obsidian; an agent reading the raw file should use the Map of Content above.

TABLE updated AS "Updated", code_path AS "Source", tags AS "Tags", status
WHERE code_path AND !contains(file.folder, "_")
SORT file.name ASC

Topics (the topics/ branch — each page spans multiple files):

TABLE updated AS "Updated", code_paths AS "Spans", tags AS "Tags", status
WHERE code_paths AND !contains(file.folder, "_")
SORT file.name ASC

Or browse pages + topics in one filterable database view: wiki.base (status, kind, staleness).

7 items under this folder.