crocoddyl merge requestshttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests2019-02-21T16:59:40Zhttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/110[activation] add ActivationLinearInequality defined by a(r) = Ar-bu or a(r) =...2019-02-21T16:59:40ZRohan Budhiraja[activation] add ActivationLinearInequality defined by a(r) = Ar-bu or a(r) = bl-ArIntroduce an activation given by bl<=Ar<=buIntroduce an activation given by bl<=Ar<=buTowards python version 1.0Nicolas MansardNicolas Mansardhttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/60[armature][neutralConfiguration] start loading srdf files when loading robots2019-01-24T20:56:44ZRohan Budhiraja[armature][neutralConfiguration] start loading srdf files when loading robotsDeals with #53
This PR loads the neutralConfiguration (q0) and armature from the srdf.Deals with #53
This PR loads the neutralConfiguration (q0) and armature from the srdf.Necessary for Winter SchoolNicolas MansardNicolas Mansardhttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/54[locomotion problem][initial guess]2019-01-22T10:41:56ZRohan Budhiraja[locomotion problem][initial guess]Deals with #63 and #64
Partially deals with #59Deals with #63 and #64
Partially deals with #59https://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/52[locomotion problem][initial guess]2019-01-21T22:07:44ZRohan Budhiraja[locomotion problem][initial guess]trajectories of ddq, x, u, f for warm start from id solver.
closes #64 and is a continuation of #63trajectories of ddq, x, u, f for warm start from id solver.
closes #64 and is a continuation of #63Necessary for Winter Schoolhttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/47[pinocchio] RobotWrapper was changed in v2.0.02019-01-21T14:02:08ZCarlos Mastalli[pinocchio] RobotWrapper was changed in v2.0.0Pinocchio v2.0.0. changed the API for the RobotWrapper. In this PR, I take care of this API changed.
Additionally, I tested these changes in the current examples: Talos arm, HyQ and Talos humanoid.Pinocchio v2.0.0. changed the API for the RobotWrapper. In this PR, I take care of this API changed.
Additionally, I tested these changes in the current examples: Talos arm, HyQ and Talos humanoid.Improving API (Python)Carlos MastalliCarlos Mastallihttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/43[refact] Add cost velocity 6d2019-01-20T13:37:10ZNicolas Mansard[refact] Add cost velocity 6dThis cost should be used to stabilize the motion at the end of the phase.This cost should be used to stabilize the motion at the end of the phase.Rohan BudhirajaRohan Budhirajahttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/48[refact] Added activation model2019-01-21T09:48:23ZNicolas Mansard[refact] Added activation modelActivation function are introduced for extending the Gauss-Newton model. Instead of having cost = .5*r.T*r = sum(.5*ri**2), we put cost = sum(a(ri)), where a is a scalar-to-scalar function. For example, the classical case is a(x)=.5*x**2...Activation function are introduced for extending the Gauss-Newton model. Instead of having cost = .5*r.T*r = sum(.5*ri**2), we put cost = sum(a(ri)), where a is a scalar-to-scalar function. For example, the classical case is a(x)=.5*x**2. The activation model should return the vector of activation [a(r1) ... a(rn) ] in the forward pass (calc function) and the first and second derivatives in the backward pass (calcdiff).
Here I introduced the activation function in the cost3d only. If accepted, this first commit should be extended to the other cost models. In particular, it should replace the cost weights manually added to the cost-regx.Rohan BudhirajaRohan Budhirajahttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/65Activation for all costs2019-01-30T14:40:36ZRohan BudhirajaActivation for all costsThis closes #65This closes #65Necessary for Winter SchoolNicolas MansardNicolas Mansardhttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/41add 3d contact2019-01-20T14:06:06ZRohan Budhirajaadd 3d contactNicolas MansardNicolas Mansardhttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/25Add CI on master, fix #342018-11-29T00:02:45ZGuilhem SaurelAdd CI on master, fix #34Hi,
This PR setup gitlab-ci. I don't know if you prefer to merge this on master or on devel, so I let you choos :)Hi,
This PR setup gitlab-ci. I don't know if you prefer to merge this on master or on devel, so I let you choos :)https://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/42Added DDP for contact-floating model: it is working!2019-01-20T13:24:15ZNicolas MansardAdded DDP for contact-floating model: it is working!Rohan BudhirajaRohan Budhirajahttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/82Debugging the pick and place jupyter notebook2019-01-30T11:30:17ZRohan BudhirajaDebugging the pick and place jupyter notebookhttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/219Delprete focchi2019-09-30T17:21:22ZMichele FocchiDelprete focchiadded friction cones in the WF
added heightMap Class
added CostModelHeightMapDistance for obstacle avoidanceadded friction cones in the WF
added heightMap Class
added CostModelHeightMapDistance for obstacle avoidancehttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/247Fixed Box-QP + removed unnecessary virtual functions in SolverDDP and SolverB...2019-11-07T09:45:38ZCarlos MastalliFixed Box-QP + removed unnecessary virtual functions in SolverDDP and SolverBoxDDPThe BoxDDP was not running in computer because we need to defined the dimension of `H_inv`.
This is a quick fix, however we need to work properly on the Box-QP and to add an abstract for QP solvers.
@wxmerkt could you review this PR?The BoxDDP was not running in computer because we need to defined the dimension of `H_inv`.
This is a quick fix, however we need to work properly on the Box-QP and to add an abstract for QP solvers.
@wxmerkt could you review this PR?Crocoddyl c++ implementationhttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/53Impact model2019-01-22T11:13:00ZNicolas MansardImpact modelI introduce a new action model for handling the impact. The derivatives are correct, also it is possible to make more clever computation.
I worked on this model tonight as it was not possible to merge other MR. The top-priority MR is the...I introduce a new action model for handling the impact. The derivatives are correct, also it is possible to make more clever computation.
I worked on this model tonight as it was not possible to merge other MR. The top-priority MR is the one of @cmastall that should be merged asap.https://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/145Make cost hessian pos def for DAMLQR and AMLQR2019-03-21T09:17:20ZRohan BudhirajaMake cost hessian pos def for DAMLQR and AMLQRThis should deal with #149This should deal with #149https://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/75Merge refact in devel2019-01-29T09:24:47ZNicolas MansardMerge refact in develhttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/118Minimal usage of robotwrapper2019-03-01T14:13:52ZNicolas MansardMinimal usage of robotwrapperSolve #82Solve #82Carlos MastalliCarlos Mastallihttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/165Momentum Cost and some other minor modifications2019-09-09T11:17:02ZRohan BudhirajaMomentum Cost and some other minor modificationsThis PR:
1) Creates a Momentum Cost, with the unittest
2) Puts computation of centroidal dynamics inside DAMs
3) Fixes activation of ActivationModelInequality at the point of equality
4) Moves dependency to Pinocchio 2.1.3This PR:
1) Creates a Momentum Cost, with the unittest
2) Puts computation of centroidal dynamics inside DAMs
3) Fixes activation of ActivationModelInequality at the point of equality
4) Moves dependency to Pinocchio 2.1.3https://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/127Remove DAMActuated from the lib2019-03-06T21:06:57ZNicolas MansardRemove DAMActuated from the libSolve #117Solve #117