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loco-3d / crocoddyl

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
BSD 3-Clause "New" or "Revised" License
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Remove computeForwardKinematicsDerivatives in DAM #106

Closed wxmerkt closed 4 years ago

wxmerkt commented 4 years ago

In GitLab by @proyan on Feb 12, 2019, 10:20

Currently there is a bug in the pinocchio calculation of derivatives, where kinematics derivatives are not updated when doing RNEA derivatives (https://github.com/stack-of-tasks/pinocchio/issues/639)

We should remove computeForwardKinematicsDerivatives from DAM when the above issue is solved.

wxmerkt commented 4 years ago

In GitLab by @jcarpent on Feb 12, 2019, 10:23

@rbudhira It is not exactly that. You cannot reuse the computations of the RNEA derivatives for getting the derivatives of the kinematics. You should then always call computeForwardKinematicsDerivatives to get the correct results!

wxmerkt commented 4 years ago

In GitLab by @nmansard on Feb 13, 2019, 10:21

In our case, we need both the derivatives of RNEA and the derivatives of some joint jacobians. Could you confirm that we should:

wxmerkt commented 4 years ago

In GitLab by @nmansard on Feb 13, 2019, 10:22

assigned to @jcarpent

wxmerkt commented 4 years ago

In GitLab by @jcarpent on Feb 13, 2019, 12:51

Not really, the safest way is to call first computeRNEADerivatives then followed by computeForwardKinematicsDerivatives. Normally the call to computeForwardKinematicsDerivatives can be removed, but currently, there is a tiny bug that forces a call to computeForwardKinematicsDerivatives. I will look to this issue next Monday.

wxmerkt commented 4 years ago

In GitLab by @nmansard on Feb 28, 2019, 11:18

unassigned @jcarpent

wxmerkt commented 4 years ago

In GitLab by @nmansard on Feb 28, 2019, 11:19

@jcarpent will be in Toulouse next monday to work on this issue. Let's evaluate then how to act on it.

wxmerkt commented 4 years ago

In GitLab by @proyan on Mar 4, 2019, 14:09

https://github.com/stack-of-tasks/pinocchio/issues/639 needs to be solved before this issue can be taken care of. This task is a subtask of #89.

I'll remove the v1.0 milestone since it is not affecting/enhancing any features in the library.

wxmerkt commented 4 years ago

In GitLab by @proyan on Mar 4, 2019, 14:09

removed milestone

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Aug 14, 2019, 18:44

assigned to @cmastalli

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Aug 14, 2019, 18:46

mentioned in merge request !198

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Aug 14, 2019, 18:47

I have created a PR with this tiny improvements. Do @jcarpent confirm that we can do it?

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Aug 25, 2019, 12:02

mentioned in commit 400cba6416d30c817abe398069c1684281ce891b

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Aug 26, 2019, 23:59

closed

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Aug 29, 2019, 17:01

mentioned in commit a60ec0bc27fd47442b303611a394af954cbe9554