Added the same setting used in Crocoddyl manuscript + added building option for examples + fixed problem with building benchmarks - [merged]

[wxmerkt]

In GitLab by @cmastalli on Sep 20, 2019, 13:41

Merges topic/clean-icra20-branch -> devel

This PR tackles the issues reported in #249, #244 and #248. Now we can run make commands for examples with and without display option, e.g.

make examples-quadrupedal-gaits

or

make examples-quadrupedal-gaits-display

fyi: @nim65s and @wxmerkt

[wxmerkt]

In GitLab by @cmastalli on Sep 20, 2019, 13:43

The current PR points to my fork cmake submodule. I will switch to the main repo after merging this PR: https://github.com/jrl-umi3218/jrl-cmakemodules/pull/238

[wxmerkt]

In GitLab by @cmastalli on Sep 20, 2019, 13:43

enabled an automatic merge when the pipeline for e0fdee54df8412add3cc034c74855d7d0bb2bc74 succeeds

[wxmerkt]

In GitLab by @nim65s on Sep 20, 2019, 13:47

The CI won't pass until your commit is in the jrl-cmakemodule main repository. Meanwhile, you can update the url in .gitmodules

[wxmerkt]

In GitLab by @nim65s on Sep 20, 2019, 13:47

Hum… Some jobs still succedded, you might just try again those who failed x)

[wxmerkt]

In GitLab by @cmastalli on Sep 20, 2019, 15:01

marked as a Work In Progress

[wxmerkt]

In GitLab by @cmastalli on Sep 20, 2019, 15:01

changed the description

[wxmerkt]

In GitLab by @cmastalli on Sep 20, 2019, 15:02

No, they don't pass. I market as WIP. I will switch to the main repo whenever it's possible

[wxmerkt]

In GitLab by @cmastalli on Sep 20, 2019, 17:51

added 3 commits

• 41204a1e - [bugfix] Fixed problem with logger
• 612ee5ef - [utils] Added functions to plot the OC solution and solver convergence
• 6d889a36 - [notebooks] Updated the introduction to crocoddyl notebook

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[wxmerkt]

In GitLab by @cmastalli on Sep 23, 2019, 14:10

added 7 commits

• 30d6868d - [solver] Do not compute gains when nu <= 0
• 5b06318e - [utils] Adde the impulse model option for the quadruped case
• 1dd9fd68 - [utils] Included the jumping problem generator for the quadruped cases
• 4417d280 - [examples] Updated the quadruped example, using FDDP solver + lateral jump
• dbdefa59 - [cmake] Needed Pinocchio 2.1.7 for examples
• cddfc724 - [log] Renamed properly this log file
• a7f450d8 - [cleanup] Reformatted the code

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[wxmerkt]

In GitLab by @cmastalli on Sep 23, 2019, 14:12

added 1 commit

• 5c79b184 - [cmake] Updated cmake module

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[wxmerkt]

In GitLab by @cmastalli on Sep 23, 2019, 16:37

added 5 commits

• 53f6da3f - [notebook] Solved an issue, changed x, xdot to y and ydot
• 9b66243d - [utils] Created the jumping problem and added the impulse
• 1456f5df - [cleanup] Renamed names by impulse in quadruped utils
• d6f924ca - [cleanup] Tiny clean up of FDDP bindings
• b153d687 - [efficiency][solver] Used Eigen dot and noalias in expected model computation for FDDP solver

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[wxmerkt]

In GitLab by @cmastalli on Sep 24, 2019, 12:08

added 2 commits

• 19d96598 - [utils] Added D gain in quadruped example (Baugarmter stabilization)
• eea933b7 - [solver][bugfix] It was used the backward and forward from DDP

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[wxmerkt]

In GitLab by @cmastalli on Sep 24, 2019, 12:34

added 3 commits

• 6763514a - [Examples] show display / plot with environment variables
• c86baf16 - [Readme] use fenced code blocks
• bfb0527e - Merge branch 'topic/clean-icra20-branch' into 'topic/clean-icra20-branch'

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[wxmerkt]

In GitLab by @cmastalli on Sep 24, 2019, 12:55

added 1 commit

• 5a454176 - [bugfix] Error in the dimension of q in legacy unittest + use StdVec_Force

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[wxmerkt]

In GitLab by @cmastalli on Sep 24, 2019, 18:44

added 6 commits

• ffec5d1d - [solver] Relinearize Vxx as done in the FDDP (efficiency)
• 7d325880 - [solver] Missed a step in the relinearization
• d03c738d - [solver] Do not need to rewrite computeDirection (same for DDP and FDDP)
• 4da1d5cd - [bindings] Updated the SolverFDDP bindings
• 591fcb08 - [cleanup] Formatted the code
• 7c90279f - [bindings] Exposed parameters of FDDP and DDP solvers

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[wxmerkt]

In GitLab by @cmastalli on Sep 25, 2019, 08:26

added 1 commit

• c3552271 - [unittest] The previous backward method wrongly doesn't update Vx since this...

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[wxmerkt]

In GitLab by @cmastalli on Sep 25, 2019, 15:16

added 13 commits

• 9c9b3b96 - [bindings] Used iterator in vector to list converter
• 37e1f0ab - [bindings] Added Python list to std::vector<double> converter (missed the other way around)
• 5eedfea3 - [cleanup] Removed explanation lines inside Python utils code for DDP
• 2e0061e2 - [unittest] Added unittest for FDDP solver
• ac1fc98a - [solver] Added computeDirection in FDDP since the calc function is different
• 93b2bc68 - [utils] FDDPDerived is derived from DDPDerived
• 340d965a - [example] Updated the log file for the quadrupedal example
• 32639217 - [utils] Renamed Callbacks functions (removed Solver keyword)
• e4bdd761 - [utils] Renamed function as plotConvergence
• 9c02f2b0 - [solver] Created a function to retrieved the callback functions in each solver
• 0a96d40e - [notebook] Adapted the unicycle script
• a2f8dc31 - [notebook] Fixed the bipedal walking notebook
• 9293c299 - [notebooks] Renamed the files

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[wxmerkt]

In GitLab by @cmastalli on Sep 25, 2019, 16:39

added 6 commits

• 9f1a70bd - [utils] Accepted nu=0 for plotting in quadruped and biped scripts
• 25cc5d29 - [utils] Render plots as done in the biped case
• 3b711642 - [cmake] Remove command to display examples
• def8a714 - [utils] Added option to pass figure title in plotConvergence
• 4e9339fa - [examples] Plotting also the convergence of each optimization problem
• 4affee53 - [readme] Fixed grammar mistakes + added info about benchmarks + added credits and acknowledge

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[wxmerkt]

In GitLab by @cmastalli on Sep 25, 2019, 17:13

added 1 commit

• a7cfe3ce - [utils] Used the proper robot

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[wxmerkt]

In GitLab by @cmastalli on Sep 25, 2019, 17:56

Ok, I enlisted the performed task in the commits:

• Fixed an bug in the SolverFDDP
• Fixed problems in various notebooks
• Updated description in README
• Exposed parameters in Python of FDDP and DDP solvers
• Cleaned up and renamed examples and notebooks
• Improved the plot functions
• Added Python unit-test for FDDP

There is still needed extra work for merging humanoid jumps.

[wxmerkt]

In GitLab by @cmastalli on Sep 25, 2019, 17:56

unmarked as a Work In Progress

[wxmerkt]

In GitLab by @cmastalli on Sep 25, 2019, 17:56

merged

[wxmerkt]

In GitLab by @cmastalli on Sep 25, 2019, 17:56

mentioned in commit 47f7b7cf10470ca66ef156499f8da4dc91c44699