crocoddyl merge requestshttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests2018-11-20T17:39:11Zhttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/12update the discretizer2018-11-20T17:39:11ZRohan Budhirajaupdate the discretizerMake discretizer and discretizerdata in the same way as the dynamics and cost.
fx and fu are stored in the discretizer.
the dynamics stores values which might help in calculation of fx and fu
implement sparse multiplications for fx and f...Make discretizer and discretizerdata in the same way as the dynamics and cost.
fx and fu are stored in the discretizer.
the dynamics stores values which might help in calculation of fx and fu
implement sparse multiplications for fx and fu with Vxx and Vx
save temporary objects in ddpIntervalData.
Improves runtime.https://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/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/41add 3d contact2019-01-20T14:06:06ZRohan Budhirajaadd 3d contactNicolas MansardNicolas Mansardhttps://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/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/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/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/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/61WIP: Cost for soft quadratic limit on full state2019-01-24T18:36:28ZRohan BudhirajaWIP: Cost for soft quadratic limit on full stateDo not merge yet.
Criticism on implementation are welcome.
Deals with #57Do not merge yet.
Criticism on implementation are welcome.
Deals with #57Necessary for Winter Schoolhttps://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/57WIP: Rk42019-01-24T20:15:57ZRohan BudhirajaWIP: Rk4This is a PR in progress.
I am pushing it here so that there can be realtime criticism.
This should not be merged yet.
Deals with #55.This is a PR in progress.
I am pushing it here so that there can be realtime criticism.
This should not be merged yet.
Deals with #55.Necessary for Winter SchoolNicolas 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/75Merge refact in devel2019-01-29T09:24:47ZNicolas MansardMerge refact in develhttps://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/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/87Stable code run at Memmo winter school2019-02-05T21:20:30ZCarlos MastalliStable code run at Memmo winter schoolI created this PR since the current devel branch isn't working as expected (reported here #94).I created this PR since the current devel branch isn't working as expected (reported here #94).Towards python version 1.0Rohan BudhirajaRohan Budhirajahttps://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/116Topic/1092019-02-28T17:14:34ZNicolas MansardTopic/109https://gepgitlab.laas.fr/loco-3d/crocoddyl/-/merge_requests/118Minimal usage of robotwrapper2019-03-01T14:13:52ZNicolas MansardMinimal usage of robotwrapperSolve #82Solve #82Carlos MastalliCarlos Mastalli