From 8fa01b13ca5a097106f60b588e62b9b835086f1e Mon Sep 17 00:00:00 2001 From: Guilhem Saurel <guilhem.saurel@laas.fr> Date: Thu, 13 Feb 2020 17:11:20 +0100 Subject: [PATCH] [wip/py-crocoddyl] Update to v1.1.0 Changes since v1.0.0: - added few cost functions related to forces and impulses (e.g. friction-cone, com impulse) - improved the display tools (friction cone, contact forces and end-effector trajectories) - fixed a problem in the printed message by the callback - fixed a problem in the box-qp - improved the box-ddp - added a new solver called box-fddp - added extra examples (box-ddp vs box-fddp, taichi task, humanoid manipulation) - added a script for automatically updating the log files - checked that all examples runs in the CI (for release mode only) - improved the quadrupedal and bipedal examples by adding all the constraints - improved the efficiency in differential free-forward dynamics - added extra setter functions in action models - improved efficiency in all solvers (removed extra computation) - improved plot functions - fixed a bug in few notebooks --- py-crocoddyl/Makefile | 2 +- py-crocoddyl/PLIST | 7 ++++++- py-crocoddyl/distinfo | 6 +++--- 3 files changed, 10 insertions(+), 5 deletions(-) diff --git a/py-crocoddyl/Makefile b/py-crocoddyl/Makefile index 42dceea7..27c931eb 100644 --- a/py-crocoddyl/Makefile +++ b/py-crocoddyl/Makefile @@ -4,7 +4,7 @@ ORG= loco-3d NAME= crocoddyl -VERSION= 1.0.0 +VERSION= 1.1.0 CATEGORIES= wip COMMENT= Contact RObot COntrol by Differential DYnamic programming Library diff --git a/py-crocoddyl/PLIST b/py-crocoddyl/PLIST index ac175c8f..120b8c3f 100644 --- a/py-crocoddyl/PLIST +++ b/py-crocoddyl/PLIST @@ -8,6 +8,7 @@ include/crocoddyl/core/activation-base.hpp include/crocoddyl/core/activations/quadratic-barrier.hpp include/crocoddyl/core/activations/quadratic.hpp include/crocoddyl/core/activations/smooth-abs.hpp +include/crocoddyl/core/activations/weighted-quadratic-barrier.hpp include/crocoddyl/core/activations/weighted-quadratic.hpp include/crocoddyl/core/actuation-base.hpp include/crocoddyl/core/data-collector-base.hpp @@ -22,6 +23,7 @@ include/crocoddyl/core/numdiff/state.hpp include/crocoddyl/core/optctrl/shooting.hpp include/crocoddyl/core/solver-base.hpp include/crocoddyl/core/solvers/box-ddp.hpp +include/crocoddyl/core/solvers/box-fddp.hpp include/crocoddyl/core/solvers/box-kkt.hpp include/crocoddyl/core/solvers/box-qp.hpp include/crocoddyl/core/solvers/ddp.hpp @@ -37,6 +39,7 @@ include/crocoddyl/core/utils/math.hpp include/crocoddyl/core/utils/motion-display.hpp include/crocoddyl/core/utils/robot-loader.hpp include/crocoddyl/core/utils/solution-plot.hpp +include/crocoddyl/core/utils/timer.hpp include/crocoddyl/core/utils/to-string.hpp include/crocoddyl/core/utils/version.hpp include/crocoddyl/deprecated.hh @@ -53,19 +56,21 @@ include/crocoddyl/multibody/cost-base.hpp include/crocoddyl/multibody/costs/centroidal-momentum.hpp include/crocoddyl/multibody/costs/com-position.hpp include/crocoddyl/multibody/costs/contact-force.hpp +include/crocoddyl/multibody/costs/contact-friction-cone.hpp include/crocoddyl/multibody/costs/control.hpp include/crocoddyl/multibody/costs/cost-sum.hpp -include/crocoddyl/multibody/costs/frame-force.hpp include/crocoddyl/multibody/costs/frame-placement.hpp include/crocoddyl/multibody/costs/frame-rotation.hpp include/crocoddyl/multibody/costs/frame-translation.hpp include/crocoddyl/multibody/costs/frame-velocity.hpp +include/crocoddyl/multibody/costs/impulse-com.hpp include/crocoddyl/multibody/costs/impulse.hpp include/crocoddyl/multibody/costs/state.hpp include/crocoddyl/multibody/data/contacts.hpp include/crocoddyl/multibody/data/impulses.hpp include/crocoddyl/multibody/data/multibody.hpp include/crocoddyl/multibody/frames.hpp +include/crocoddyl/multibody/friction-cone.hpp include/crocoddyl/multibody/impulse-base.hpp include/crocoddyl/multibody/impulses/impulse-3d.hpp include/crocoddyl/multibody/impulses/impulse-6d.hpp diff --git a/py-crocoddyl/distinfo b/py-crocoddyl/distinfo index 624ebede..a5621147 100644 --- a/py-crocoddyl/distinfo +++ b/py-crocoddyl/distinfo @@ -1,3 +1,3 @@ -SHA1 (crocoddyl-1.0.0.tar.gz) = da7dd4f749eb743ca1752e061c5e57129810e06c -RMD160 (crocoddyl-1.0.0.tar.gz) = 59cf7a0d505695b009b100dab78d48c97b80d1cb -Size (crocoddyl-1.0.0.tar.gz) = 1786392 bytes +SHA1 (crocoddyl-1.1.0.tar.gz) = 49e1256b936da906b6b34546aaae5f77cda5a64b +RMD160 (crocoddyl-1.1.0.tar.gz) = 3c2c9351a2788325968873022a44e032d97e96a1 +Size (crocoddyl-1.1.0.tar.gz) = 1832977 bytes -- GitLab