Examples and Jupyter notebooks: improvement and clean-up - [merged]

[wxmerkt]

In GitLab by @cmastalli on Feb 12, 2019, 23:21

Merges jupyter-cleanup -> devel

In this PR, I continue with the task defined #83. I will listed here the general changes:

• Renamed Jupyter notebooks with descriptive names, e.g. bipedal_walking_from_foot_traj.ipynb
• Moved most of the examples out of notebooks folder.
• Put all Jupyter notebooks inside notebooks folder.
• Removed some duplicate files.
• Simplified the introduction_to_crocoddyl.ipynb
• Reviewed the text of most of notebooks.
• Kept consistency between notebooks and examples.

Additionally I improved or added functionality to few examples:

1. Bipedal walking

• Added a double support phase to the biped walking example.
• Improved regularization for walking with double support phase.
• Added documentation in the biped walking class.

• Created the createStepModel function for easier understanding of the biped walking class.

  2. Unicycle

• Increased the arrow dimension for better visualization.

• Added function to plot the unicycle motion.

  3. Cartpole

• Improved the animation by using a rectangle and adding time information.
• Added solution for the Jupyter notebook.

[wxmerkt]

In GitLab by @nmansard on Feb 13, 2019, 10:09

for an example, what about this solution? from crocoddyl import *

[wxmerkt]

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

please comment the withGaussApprox option.

# We specify the withGaussApprox=True to have approximation of the hessian based on the jacobian of the cost residuals.

[wxmerkt]

In GitLab by @nmansard on Feb 13, 2019, 10:11

I don't think you need that outside the jupyter. So don't put it here.

[wxmerkt]

In GitLab by @nmansard on Feb 13, 2019, 10:12

why? this is pretending the notebook folder would be used as an external library. We should not have such a file here.

[wxmerkt]

In GitLab by @nmansard on Feb 13, 2019, 10:14

you should propagate these nice display in the plotCartpole function (or better, use the plotCartpole function inside the animateCarpole function).

[wxmerkt]

In GitLab by @nmansard on Feb 13, 2019, 10:18

here it is! I really don't like that. That is a ugly dependency on a subfolder. Either you really want this functionality, then put the example in the notebook folder ; or you don't care so much, the display is only for the notebook, then you don't import from notebook.

[wxmerkt]

In GitLab by @cmastalli on Feb 13, 2019, 10:58

added 50 commits

• 740caf13...1c0f8d68 - 21 commits from branch devel
• 69acaaed - [examples] Double support phase and simplify talos example
• 5b3ad572 - [example] Renamed functions to keep consistency
• d127aeaa - [example] Added documentation to talos example
• 949a85ba - [example] Changed the regularization in the switch phase for talos
• dad6c796 - [notebook] Consistent with talos.py, added questions
• c31cb798 - [examples] Renamed loco3d to bipedal_walking
• 174d3c7d - [loco3d] This is duplicate in bipedal_walking
• 9d95e5f2 - [unicycle] This file is duplicate in examples/unicycle.py
• 0965de4f - [notebooks] Moved the introduction_to_crocoddyl notebook to its folder
• efdf89b6 - [examples] Renamed to bipedal_walking_from_foot_traj
• dc62e3b0 - [notebook] Review introduction_to_crocoddyl notebook
• b72317b2 - [notebook] Review the unicyle notebook
• c7b2e25b - [notebook] Further improvement in the unicycle notebook
• 54d13a45 - [unicycle] Increading the arrow head
• 268dd490 - [unicycle] Added function for plotting the its motion
• b67b8e87 - [unicycle] Consistent example with notebook
• 2df600a1 - [unicycle] Added __init__ file for using utils
• f5e3382d - [unicycle] Renamed the files to make more clear its contain
• 137b8e34 - [cartpole] Cleaned up the cartpole utils
• f7a37d70 - [notebook] Reviewed and improved the cartpole notebook
• ad86a3b0 - [cartpole] Improved animation -- added text and rectangle
• 0161798e - [cartpole] This example is consistent with the notebook
• 2371c473 - [cartpole] Renamed the files with a more descriptive name
• 7e6a50b9 - [cleanup] Removed useless file
• 7be52765 - [notebook] Added the solution of the cartpole notebook
• 6467466a - [cartpole] Access to the cartpole utils
• 5045a8cf - [bugfix] pinocchio.SE3.Zero doesn't exist
• 29a7261a - [bugfix] Fixed propagate error after rebase
• ab2b9396 - [notebook] Put inline matplotlib for bipedal walking notebook

Compare with previous version

[wxmerkt]

In GitLab by @cmastalli on Feb 13, 2019, 11:07

It's used for the example which are inside example, not notebook

[wxmerkt]

In GitLab by @cmastalli on Feb 13, 2019, 11:08

Do you mean you want cartpole_swing_up.py inside notebooks folder? I put all Python examples inside example folder. If so I need to move all of them

[wxmerkt]

In GitLab by @cmastalli on Feb 13, 2019, 11:09

changed this line in version 3 of the diff

[wxmerkt]

In GitLab by @cmastalli on Feb 13, 2019, 11:09

added 1 commit

• 408aef8f - [doc] Added a comment about the withGaussApprox=True option

Compare with previous version

[wxmerkt]

In GitLab by @cmastalli on Feb 13, 2019, 11:10

I included a comment inside the Python script but also inside the Jupyter notebook.

[wxmerkt]

In GitLab by @cmastalli on Feb 13, 2019, 11:31

changed this line in version 4 of the diff

[wxmerkt]

In GitLab by @cmastalli on Feb 13, 2019, 11:31

changed this line in version 4 of the diff

[wxmerkt]

In GitLab by @cmastalli on Feb 13, 2019, 11:31

added 3 commits

• dd85d8ee - [examples] Using from crocoddyl import *, it reduced many lines
• 929aea3b - [notebook] Added %matplotlib inline to the intro notebook
• 9180059e - [notebook] Cleaned up the output of intro notebook

Compare with previous version

[wxmerkt]

In GitLab by @cmastalli on Feb 13, 2019, 11:32

I usef from crocoddyl import * in each example and notebook. This reduces the among of lines.

[wxmerkt]

In GitLab by @cmastalli on Feb 13, 2019, 12:38

added 1 commit

• 7bf0bc66 - [cartpole] Removed legacy plotCartpole function

Compare with previous version

[wxmerkt]

In GitLab by @cmastalli on Feb 13, 2019, 12:39

This function doesn't provide anything new. Indeed it's a legacy function. So I decided to remove it.

[wxmerkt]

In GitLab by @cmastalli on Feb 13, 2019, 12:50

changed this line in version 6 of the diff

[wxmerkt]

In GitLab by @cmastalli on Feb 13, 2019, 12:50

changed this line in version 6 of the diff

[wxmerkt]

In GitLab by @cmastalli on Feb 13, 2019, 12:50

added 1 commit

• 763916b8 - [examples] Removed notebooks dependency

Compare with previous version

[wxmerkt]

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

I removed the subfolder dependency and moved these files to notebooks folder.

[wxmerkt]

In GitLab by @cmastalli on Feb 13, 2019, 12:52

I put this file inside notebook folder.

[wxmerkt]

In GitLab by @cmastalli on Feb 13, 2019, 12:52

resolved all discussions

[wxmerkt]

In GitLab by @cmastalli on Feb 13, 2019, 12:53

@nmansard I resolved all the discussions and rebase this branch. Please merge it as soon as possible. We need for tomorrow's class.

[wxmerkt]

In GitLab by @nmansard on Feb 13, 2019, 15:42

closed

[wxmerkt]

In GitLab by @nmansard on Feb 13, 2019, 15:42

reopened

[wxmerkt]

In GitLab by @nmansard on Feb 13, 2019, 15:43

merged

[wxmerkt]

In GitLab by @nmansard on Feb 13, 2019, 15:43

mentioned in commit 47b5db38b81103c7d9cba3959b886f8263b617a9