Adding unicyle example and some extra functionalities for DDP analysis - [merged] #413

Closed wxmerkt closed 4 years ago

In GitLab by @cmastalli on Jan 24, 2019, 00:16

Merges examples -> topic/refact

This PR proposes a simple example with the unicycle problem.

In GitLab by @cmastalli on Jan 24, 2019, 00:20

In these commits I included a simple example for the unicyle action model defined in crocoddyl (unicycle manifold). I did other complementary tasks:

Added plotting functions for solution analysis.
Solving some issues with copying variables inside SolverLogger.
Adding extra variables in the logger.
Including a printing scheme (developed in devel branch) inside the logger.

My main question here is "should I define a specific unicycle action model inside examples/unicyle.py?" @nmansard what do you think?

In GitLab by @cmastalli on Jan 24, 2019, 00:25

changed the description

In GitLab by @cmastalli on Jan 24, 2019, 09:58

added 16 commits

36b34447...f4e398d2 - 5 commits from branch loco-3d:topic/refact
2266b7d3 - [examples] Moved legacy examples to backup folder
1304eba8 - [ddp-logger] Added us and stopping values
3d41e4a1 - [cleanup] Cleaned up utils functions
8678e988 - [utils] Added plot functions for DDP analysis
cdacebdc - [examples] Added a simple version of the unicycle OC problem
a09aaae7 - [ddp-logger] Proper copy of costs
719fa4ba - [ddp] Put back the printing policy developed in devel branch
c8964567 - [ddp-logger] Solving a little issue with the printing policy
1cda6280 - [solver] Removed this files again (problem with rebase procedure)
3821c216 - [ddp-logger] Included logging code which was added earlier
e73910da - [bugfix] Fixed issue, including SolverLogger

Compare with previous version

In GitLab by @cmastalli on Jan 24, 2019, 09:59

In these changes, I'd to rebase this branch since changes in the SolverLogger.

In GitLab by @cmastalli on Jan 24, 2019, 10:56

added 2 commits

6603d86c - [robots] Moved these functions to crocoddyl directory
1d782e55 - [unittest] Created robots unit-test

Compare with previous version

In GitLab by @cmastalli on Jan 24, 2019, 10:57

Moving robot.py inside crocoddyl directory. This is needed to use those functions inside examples (or apps) folder

In GitLab by @cmastalli on Jan 24, 2019, 10:59

changed the description

In GitLab by @cmastalli on Jan 24, 2019, 11:00

changed the description

In GitLab by @cmastalli on Jan 24, 2019, 11:00

changed title from WIP: Adding {-examples based on refact cod-}e to WIP: Adding {+unicyle exampl+}e

In GitLab by @cmastalli on Jan 24, 2019, 11:01

changed title from WIP: Adding unicyle example to WIP: Adding unicyle example{+ and some extra functionalities for DDP analysis+}

In GitLab by @cmastalli on Jan 24, 2019, 11:02

unmarked as a Work In Progress

In GitLab by @cmastalli on Jan 24, 2019, 11:02

@nmansard merge it asap

In GitLab by @nmansard on Jan 24, 2019, 14:22

Aaaah, what is that?

In GitLab by @nmansard on Jan 24, 2019, 14:22

Come on! We said to produce an example, not to rewrite the verbosity of the solver!

In GitLab by @nmansard on Jan 24, 2019, 14:23

ok for adding info to the logger

In GitLab by @nmansard on Jan 24, 2019, 14:23

Not ok to add verbosity to the logger. Let's create a list of callbacks, and introduce a LoggerVerbose, LoggerCollecter and LoggerDisplay. But not in this pull request.

In GitLab by @nmansard on Jan 24, 2019, 14:24

Add those unittest somewhere else. But not in this MR.

In GitLab by @nmansard on Jan 24, 2019, 14:25

Not in utils. Add a diagnosis/ folder and put those tools there.

In GitLab by @nmansard on Jan 24, 2019, 14:26

good!

In GitLab by @nmansard on Jan 24, 2019, 14:29

There is at least 3 MR in this MR. We can not work this way.

Please remove solver modification from this MR.
Please move diagnosis tool in a dedicated folder.
Ok to keep the move of robots.py in this MR, but it should be in a different one.
The simple example is good. It would be nice to have an explicit piece of code there to display the robot trajectory. I have a piece of code in this package to display a car: https://github.com/nmansard/supaero2019, could you re-use it (or find/write some matplotlib code to display a car).

In GitLab by @cmastalli on Jan 24, 2019, 14:29

sorry, I understand your point. I just need to understand its performance. I though it's OK for you since you liked the printing message inside devel branch (it's the same)

In GitLab by @cmastalli on Jan 24, 2019, 14:30

I should call it if verbose is defined. Sorry for that mistake!

In GitLab by @cmastalli on Jan 24, 2019, 14:36

@nmansard do you state and control trajectory? If so, there is already a function for that here: https://gepgitlab.laas.fr/cmastall/crocoddyl/blob/examples/crocoddyl/utils.py#L60.

I also included a function for plotting DDP convergence properties: https://gepgitlab.laas.fr/cmastall/crocoddyl/blob/examples/crocoddyl/utils.py#L27

In GitLab by @nmansard on Jan 24, 2019, 14:44

state traj: it is nice to have the plot, but for such a simple appli, it would be nice to have a drawing-based display. Not to priority, definitely.

In GitLab by @cmastalli on Jan 24, 2019, 14:47

added 1 commit

9b5cb959 - [wip] First version of the Talos arm example

Compare with previous version

In GitLab by @cmastalli on Jan 24, 2019, 14:47

marked as a Work In Progress from cmastall/crocoddyl@9b5cb9592f1cff337a05e935c193161bc1f891d3