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dfki-ric-underactuated-lab / double_pendulum

Dual purpose Acrobot and Pendubot Platform
BSD 3-Clause "New" or "Revised" License
33 stars 22 forks source link

added direct collocation without drake class #11

Closed JonasHaack closed 9 months ago

fwiebe commented 10 months ago

Hi @JonasHaack , thank you for your contribution! I would like you to ask to change the following minor things:

  1. Please change the path where you stored the results of the trajectory optimization to "data/trajectories/design_A.0/model_1.X/acrobot/dircol/" where model_1.X is model_1.0 if you included all model parameters including motor inertia and friction in the optimization model_1.1 if you ignored motor inertia and all friction model_1.2 if you ignored motor inertia and coulomb friction but included damping friction

    I assume it should be model_1.2, but if your model used/ignored another combination of parameters than this let me know.

  2. Please delete the mesh files from the folder containing your results

  3. Change the paths in examples/ideal/dircol.py which start with "././" to "../../" so that they can be run from the examples folder.

  4. As your implementation still requires drake for the multibody plant, differentiation and optimizers, I would propose to rename the files to something like direct_collocation_drake2.py