crocoddyl merge requestshttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests2019-07-28T21:27:16Zhttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/182c++ implementation and bidings of the frame placement cost + unit-tests2019-07-28T21:27:16ZCarlos Mastallic++ implementation and bidings of the frame placement cost + unit-testsThis PR tackles the issue #195. Additionally it includes unit-test of Python bindings for control and frame placements costs.
It also solves the issue with the Python unit-test in the cmake submodule.This PR tackles the issue #195. Additionally it includes unit-test of Python bindings for control and frame placements costs.
It also solves the issue with the Python unit-test in the cmake submodule.Crocoddyl c++ implementationCarlos MastalliCarlos Mastallihttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/183c++ implementation and bindings of cost sum2019-07-30T11:02:42ZCarlos Mastallic++ implementation and bindings of cost sumThis PR creates the c++ implementation and Python bindings of the cost sum (#191). It additionally includes the unit-test for this binding.This PR creates the c++ implementation and Python bindings of the cost sum (#191). It additionally includes the unit-test for this binding.Crocoddyl c++ implementationCarlos MastalliCarlos Mastallihttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/184c++ implementation and Python bindings of frame translation + fixed issue in ...2019-07-30T15:04:58ZCarlos Mastallic++ implementation and Python bindings of frame translation + fixed issue in the unit-test code for Python bindingsThis PR tackles the issue #210 and it also solves a problem with multiple unit-tests for the Python bindings.This PR tackles the issue #210 and it also solves a problem with multiple unit-tests for the Python bindings.Crocoddyl c++ implementationCarlos MastalliCarlos Mastallihttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/187c++ implementation and Python bindings of the free foward dynamics (different...2019-08-06T15:07:11ZCarlos Mastallic++ implementation and Python bindings of the free foward dynamics (differential action model)This PR mainly adds the free forward dynamics used for the talos_arm example. Addtionally, it adds a method to share the data with the cost sum. Finally, it adds unit-test for this differential action model.This PR mainly adds the free forward dynamics used for the talos_arm example. Addtionally, it adds a method to share the data with the cost sum. Finally, it adds unit-test for this differential action model.Crocoddyl c++ implementationCarlos MastalliCarlos Mastallihttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/188Added c++ implementation and Python binding fro weighted quadratic activation...2019-08-06T16:55:17ZCarlos MastalliAdded c++ implementation and Python binding fro weighted quadratic activation modelThis PR tackles the issue #203. Additionally it includes various assertions in the action, state and activation modelsThis PR tackles the issue #203. Additionally it includes various assertions in the action, state and activation modelsCrocoddyl c++ implementationCarlos MastalliCarlos Mastallihttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/189Python bindings of CallbackVerbose + integrated in the SolverAbstract2019-08-06T22:17:43ZCarlos MastalliPython bindings of CallbackVerbose + integrated in the SolverAbstractThis PR tackles the issue #184. It additionally renames the class to `CallbackVerbose`, instead of `CallbackDDPVerbose`.This PR tackles the issue #184. It additionally renames the class to `CallbackVerbose`, instead of `CallbackDDPVerbose`.Crocoddyl c++ implementationCarlos MastalliCarlos Mastallihttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/190Topic/cpp refact reference2019-08-07T17:31:08ZCarlos MastalliTopic/cpp refact referenceThis PR refact the action and cost classes in order to used reference instead of pointers. Additionally, for the cost classes, the API has been changed. Now we need to pass the state multibody. Finally, I cleaned up the extra piece of co...This PR refact the action and cost classes in order to used reference instead of pointers. Additionally, for the cost classes, the API has been changed. Now we need to pass the state multibody. Finally, I cleaned up the extra piece of costs, e.g. getter function of nq in action or cost classes.Crocoddyl c++ implementationCarlos MastalliCarlos Mastallihttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/197Added c++ implementation and Python bindings of multiple contact iface + fixe...2019-08-14T17:14:29ZCarlos MastalliAdded c++ implementation and Python bindings of multiple contact iface + fixed few bugsIn this PR I solved the issue #217. Additionally it solved the old problem with Pinocchio v2.1.5 compilation (#200). By doing so, I noticed other issues in the test_contact unit-test where I detected and solved a bug in the contact 3d mo...In this PR I solved the issue #217. Additionally it solved the old problem with Pinocchio v2.1.5 compilation (#200). By doing so, I noticed other issues in the test_contact unit-test where I detected and solved a bug in the contact 3d model.Crocoddyl c++ implementationCarlos MastalliCarlos Mastallihttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/198Removed computeForwardKinematicsDerivatives as reported in #1012019-08-25T11:02:58ZCarlos MastalliRemoved computeForwardKinematicsDerivatives as reported in #101Now it's been fixed the issue https://github.com/stack-of-tasks/pinocchio/issues/639 from Pinocchio. This should be OK, could you confirm it @jcarpent?Now it's been fixed the issue https://github.com/stack-of-tasks/pinocchio/issues/639 from Pinocchio. This should be OK, could you confirm it @jcarpent?Carlos MastalliCarlos Mastallihttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/200Added CoM position cost model2019-08-15T09:44:35ZCarlos MastalliAdded CoM position cost modelThis PR tackles the issue #209. Additionally, it merges the latest changes in the legacy Python code from devel branch.This PR tackles the issue #209. Additionally, it merges the latest changes in the legacy Python code from devel branch.Crocoddyl c++ implementationCarlos MastalliCarlos Mastallihttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/201Added the frame velocity cost model + bindings2019-08-15T12:44:14ZCarlos MastalliAdded the frame velocity cost model + bindingsThis PR solves #226. Additionally, it proposes to use `pinocchio.utils.rand` or `pinocchio.utils.zero` instead of NumPy for Pinocchio-based Python code.This PR solves #226. Additionally, it proposes to use `pinocchio.utils.rand` or `pinocchio.utils.zero` instead of NumPy for Pinocchio-based Python code.Crocoddyl c++ implementationCarlos MastalliCarlos Mastallihttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/202Added floating-base, full and abstract actuation models + bindings2019-08-15T22:20:23ZCarlos MastalliAdded floating-base, full and abstract actuation models + bindingsThis PR tackles two issues: #216 and #229.This PR tackles two issues: #216 and #229.Crocoddyl c++ implementationCarlos MastalliCarlos Mastallihttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/204Added the DAM for contact forward dynamics + quadruped example working2019-08-23T18:31:56ZCarlos MastalliAdded the DAM for contact forward dynamics + quadruped example workingIn this PR it's mainly developed a novel contact forward dynamics DAM. Additionally, it includes plenty of other tasks:
- Added NoProxy paramenter for binding std containers.
- `CostModelSum` is not a derived class of `CostModelAbstrac...In this PR it's mainly developed a novel contact forward dynamics DAM. Additionally, it includes plenty of other tasks:
- Added NoProxy paramenter for binding std containers.
- `CostModelSum` is not a derived class of `CostModelAbstract`
- `ContactModelMultiple` is not a derived class of `ContactModelAbstract`
- Proper custodian ward for all references in the constructors (Python bindings)
- Fixed an error in the floating-base actuation
- Fixed an error in StateMultibody::Jdiff
- Added plenty of nice asserts for debuggers
- Fixed error in the construction of Python-binds of CostModelStum
- Added raisedIfNaN in `SolverDDP`
- Improved the algorithm efficient of `SolverDDP`: do not compute derivatives if the step lenght fails
- Added Python code for GV display + its callback function.
- Added a WIP example of quadrupedCrocoddyl c++ implementationCarlos MastalliCarlos Mastallihttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/205Partial update of examples and notebooks2019-08-26T13:03:25ZCarlos MastalliPartial update of examples and notebooksCrocoddyl c++ implementationCarlos MastalliCarlos Mastallihttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/206Updated some other examples + NumDiff action classes and their Python bindings2019-08-29T13:10:54ZCarlos MastalliUpdated some other examples + NumDiff action classes and their Python bindingsThere is still needed extra work to adapt all the examples and notebooks. Additionally, I includes some information in the README file.There is still needed extra work to adapt all the examples and notebooks. Additionally, I includes some information in the README file.Crocoddyl c++ implementationCarlos MastalliCarlos Mastallihttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/207Fixed NumDiff classes and fully adaptation of cartpole notebook2019-08-27T17:37:32ZCarlos MastalliFixed NumDiff classes and fully adaptation of cartpole notebook1. it includes few extra methods to get data from NumDiff action classes
2. it includes an increment in the regularization1. it includes few extra methods to get data from NumDiff action classes
2. it includes an increment in the regularizationCrocoddyl c++ implementationCarlos MastalliCarlos Mastallihttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/209Added the 6d contact model + updated the bipedal example + benchmark for quad...2019-08-29T13:27:57ZCarlos MastalliAdded the 6d contact model + updated the bipedal example + benchmark for quadruped and bipedIn this PR, I solved the following issues #230, #234 and #235. I have additionally solve a bug in the DDP solver (i.e. Vxx symmetric).In this PR, I solved the following issues #230, #234 and #235. I have additionally solve a bug in the DDP solver (i.e. Vxx symmetric).Crocoddyl c++ implementationCarlos MastalliCarlos Mastallihttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/210Rename force_aba + extra binds functions of SolverDDP2019-08-29T15:12:34ZCarlos MastalliRename force_aba + extra binds functions of SolverDDPThis PR fixes issue #236.This PR fixes issue #236.Crocoddyl c++ implementationCarlos MastalliCarlos Mastallihttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/216Added the impulse 3d/6d and multiple + bindings + bindings unit-test2019-09-08T16:19:13ZCarlos MastalliAdded the impulse 3d/6d and multiple + bindings + bindings unit-testThis PR tackles mainly #233 and #240.This PR tackles mainly #233 and #240.Crocoddyl c++ implementationCarlos MastalliCarlos Mastallihttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/220Added the action model for impulse forward dynamics + various improvements2019-09-19T18:34:04ZCarlos MastalliAdded the action model for impulse forward dynamics + various improvementsThis PR tackles issue #242. However, it improved the library in many terms, e.g.
- Refactored the way of sharing memory with cost sum. Now it can be used for both differential action and action models.
- Removed `qcur` and `vcur` in ...This PR tackles issue #242. However, it improved the library in many terms, e.g.
- Refactored the way of sharing memory with cost sum. Now it can be used for both differential action and action models.
- Removed `qcur` and `vcur` in differential action models. These variables are not needed by using properly Eigen.
- Introduced the concept of autonomous systems (nu = 0), note that impulse dynamics are autonomous systems.
- Changed notation of variables in contact and impulse models. It's compatible with impulses and easier to understand.
- Added function to update forces, accelerations (or next velocity) and their derivatives for using later in cost functions. This is ongoing work.
These functions is a partial works that handles #96.Crocoddyl c++ implementationCarlos MastalliCarlos Mastalli