Muscodwalkin. Closes #72 - [merged] #444

Closed wxmerkt closed 4 years ago

In GitLab by @proyan on Feb 7, 2019, 18:01

Merges muscodwalkin -> devel

Loads references from the centroidal solver, and runs ddp to track those references.

Some work still needs to be done to define properly the tasks (e.g., to add high cost velocity tracking on foot during contact transitions).

The current framework is meant to deal with multi-contact locomotion (and not just bipedal walking)

In GitLab by @proyan on Feb 7, 2019, 18:05

added 22 commits

7bf94684...482e72cb - 18 commits from branch loco-3d:devel
4b4a9624 - [utils] Create an Empty class to store objects (instead of dictionaries)
f0a536b1 - [muscodwalking] Create the multiphase locomotion problem.
a11bc291 - [initial reference] change from list of matrices to list of arrays (in keeping...
268b0117 - [muscodwalking] create terminal model and finish problem

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In GitLab by @proyan on Feb 7, 2019, 18:07

changed title from Muscodwalkin to Muscodwalkin{+. Closes #72+}

In GitLab by @proyan on Feb 7, 2019, 18:07

changed the description

In GitLab by @proyan on Feb 7, 2019, 19:52

added 1 commit

46a1218d - [muscodwalking] create terminal model and finish problem

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In GitLab by @nmansard on Feb 8, 2019, 08:56

I don't know what is the purpose of that, but I am sure I will loooove it when I will understand :)

In GitLab by @nmansard on Feb 8, 2019, 08:57

namedtupple is what you want to use here.

In GitLab by @nmansard on Feb 8, 2019, 08:59

Please remove the empty class. I am not against this kind of hacks if they save time, but don't put a hack in the main files (here in utils (utils.py does not equal hackcollection.py)).

In GitLab by @proyan on Feb 8, 2019, 09:18

This is purely cosmetic. Just so that there is a way to club objects which belong together, and not have to use dictionary. It isn't important to the PR.

In GitLab by @proyan on Feb 8, 2019, 09:21

changed this line in version 4 of the diff

In GitLab by @proyan on Feb 8, 2019, 09:21

added 5 commits

cee93a4f - [gitignore] Added jupyter notebook untracked files
2aa61957 - [notebooks] Cleaned up the output for each notebook
cac764e4 - [muscodwalking] Create the multiphase locomotion problem.
625da622 - [initial reference] change from list of matrices to list of arrays (in keeping...
76d1e213 - [muscodwalking] create terminal model and finish problem

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In GitLab by @proyan on Feb 8, 2019, 09:24

changed this line in version 5 of the diff

In GitLab by @proyan on Feb 8, 2019, 09:24

added 1 commit