crocoddyl merge requestshttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests2019-02-13T00:01:44Zhttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/62Jointlimits2019-02-13T00:01:44ZRohan BudhirajaJointlimitsDeals with #57Deals with #57Necessary for Winter Schoolhttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/67Rk4 --- Ready to merge and waiting for review2019-01-30T22:53:26ZRohan BudhirajaRk4 --- Ready to merge and waiting for reviewI added the Linear dynamics and checked the derivatives of the dynamics and costs.
The first order derivatives of L and F work.
I implemented the second order derivatives of L as well, however, there is no test yet.
1) The current ...I added the Linear dynamics and checked the derivatives of the dynamics and costs.
The first order derivatives of L and F work.
I implemented the second order derivatives of L as well, however, there is no test yet.
1) The current test, by using the residuals doesn't make sense to me for this integration scheme.
2) I should implement an FD to unittest Lxx, Lxu etc (which should atlleast work for the case of DAMLQR). That is what I am doing now.
In case you wish to merge it now before the school, you could go ahead.
Edit: I added FD on the cost derivatives as well.Necessary for Winter SchoolNicolas MansardNicolas Mansardhttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/72Added a bit of documentation in the action, ddp and shooting2019-01-30T17:38:51ZCarlos MastalliAdded a bit of documentation in the action, ddp and shootingThere is still to much work here. Due to lack of time, I asked a partial PR.There is still to much work here. Due to lack of time, I asked a partial PR.Necessary for Winter SchoolNicolas MansardNicolas Mansardhttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/66Talos examples: manipulation and 3d walking, #732019-01-29T14:26:27ZCarlos MastalliTalos examples: manipulation and 3d walking, #73In this PR I've included two examples:
- reaching a goal with Talos wrist (using talos left arm)
- making two steps on flat terrain for Talos legs (lower-body part of Talos)
Additionally I adapted the code for unicycle example giv...In this PR I've included two examples:
- reaching a goal with Talos wrist (using talos left arm)
- making two steps on flat terrain for Talos legs (lower-body part of Talos)
Additionally I adapted the code for unicycle example given changes in the callback API.
@rbudhira FYI
**Remark**
It's possible to improve a little the SimpleBipedWalkingProblem class and reuse for:
- HyQ walking
- Muscod tracking
I might work on that it's considered a priority.Necessary for Winter SchoolRohan BudhirajaRohan Budhirajahttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/68Renaming classes. Closes #662019-01-29T14:05:26ZRohan BudhirajaRenaming classes. Closes #66Necessary for Winter SchoolCarlos MastalliCarlos Mastallihttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/73Jupyter notebook: further improvement2019-01-29T13:02:32ZCarlos MastalliJupyter notebook: further improvementI changed the name of SE3Task to be compatible with examples/talos.py
Additionally, I removed an wrong loading of an image.I changed the name of SE3Task to be compatible with examples/talos.py
Additionally, I removed an wrong loading of an image.Necessary for Winter SchoolNicolas MansardNicolas Mansardhttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/71Jupyter notebook for crocoddyl introduction2019-01-29T09:05:39ZCarlos MastalliJupyter notebook for crocoddyl introductionThis is a preliminary version for the Jupyter notebook. I put it inside examples folder. In future, if we have many notebooks, we might want to create a specific folder for them.This is a preliminary version for the Jupyter notebook. I put it inside examples folder. In future, if we have many notebooks, we might want to create a specific folder for them.Necessary for Winter SchoolNicolas MansardNicolas Mansardhttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/69Adding camera tf for display in gepetto-viewer2019-01-29T08:46:51ZCarlos MastalliAdding camera tf for display in gepetto-viewerThis PR allows us to pass default camera transform for spawning the gepetto-gui.This PR allows us to pass default camera transform for spawning the gepetto-gui.Necessary for Winter SchoolNicolas MansardNicolas Mansardhttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/70Improve examples2019-01-29T08:46:35ZCarlos MastalliImprove examplesIn this PR I mainly improve the examples. These are the changes:
- re-defined the default z postion,
- improved the functions for building a walking shooting problem, and
- predefined a default camera transform.In this PR I mainly improve the examples. These are the changes:
- re-defined the default z postion,
- improved the functions for building a walking shooting problem, and
- predefined a default camera transform.Necessary for Winter SchoolNicolas MansardNicolas Mansardhttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/64Adding diagnostic tools2019-01-25T15:19:47ZCarlos MastalliAdding diagnostic toolsIn this PR, I created a set of diagnostic tools:
- two callback models: SolverPrinter and SolverDisplay,
- adaptation of DDP solver for running the stack of callback functions defined by the user, and
- extra variables in the logger (...In this PR, I created a set of diagnostic tools:
- two callback models: SolverPrinter and SolverDisplay,
- adaptation of DDP solver for running the stack of callback functions defined by the user, and
- extra variables in the logger (control regularization and gamma)
Additionally I adapted the unit-test code according to this minimal change in the solver.callback API.
This issue was reported in #77.Necessary for Winter SchoolNicolas MansardNicolas Mansardhttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/63Robot loading unit-test2019-01-25T10:27:37ZCarlos MastalliRobot loading unit-testIt provides a test file for CI jobs.It provides a test file for CI jobs.Necessary for Winter SchoolNicolas MansardNicolas Mansardhttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/59Adding unicyle example and some extra functionalities for DDP analysis2019-01-24T20:40:18ZCarlos MastalliAdding unicyle example and some extra functionalities for DDP analysisThis PR proposes a simple example with the unicycle problem.This PR proposes a simple example with the unicycle problem.Necessary for Winter SchoolNicolas MansardNicolas Mansardhttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/58Unit-test for the refactored library2019-01-24T09:36:07ZCarlos MastalliUnit-test for the refactored libraryThe unit-test code is very messy and sparse. Unfortunately, I've to make many changes to have a proper unit-test code.
I aim with this :
- to allow you to check the WIP status, and
- to make fast feedback about re-organization and cr...The unit-test code is very messy and sparse. Unfortunately, I've to make many changes to have a proper unit-test code.
I aim with this :
- to allow you to check the WIP status, and
- to make fast feedback about re-organization and creation of test cases.Necessary for Winter SchoolNicolas MansardNicolas Mansardhttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/56Re-organized impact model2019-01-22T13:24:24ZCarlos MastalliRe-organized impact modelI rebased and re-organized the impact classes developed by Nicolas (see !53 for more information).
I tested that test_impact pass!I rebased and re-organized the impact classes developed by Nicolas (see !53 for more information).
I tested that test_impact pass!Necessary for Winter SchoolRohan BudhirajaRohan Budhirajahttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/51Code re-organization of refactored classes2019-01-22T09:03:19ZCarlos MastalliCode re-organization of refactored classesThis PR moves all the classes into different files. This is a tentative organization, it needs some extra improvement.This PR moves all the classes into different files. This is a tentative organization, it needs some extra improvement.Necessary for Winter SchoolNicolas MansardNicolas Mansard