Plot errors in multi-phase

[EveCharbie]

I get the following error message:

Traceback (most recent call last):
  File "/home/charbie/miniconda3/envs/dev_bioptim/lib/python3.11/site-packages/matplotlib/backend_bases.py", line 1226, in _on_timer
    ret = func(*args, **kwargs)
          ^^^^^^^^^^^^^^^^^^^^^
  File "/home/charbie/Documents/Programmation/BiorbdOptim/bioptim/gui/plot.py", line 1363, in callback
    self.plot.update_data(v)
  File "/home/charbie/Documents/Programmation/BiorbdOptim/bioptim/gui/plot.py", line 946, in update_data
    y[i_node] = val[i_var]
                ~~~^^^^^^^
IndexError: index 4 is out of bounds for axis 0 with size 4

when running the code TechOpt831 from https://github.com/EveCharbie/VisionOCP with solver = Solver.IPOPT(show_online_optim=True, show_options=dict(show_bounds=True))

When I have time, I will look more deeply in what seems to be the issue.

[EveCharbie]

This problem seems to happen when there is a target in minimize_state/minimize_control and index is specified. I think define_target_mapping (currently l.891 from penalty option) could be upgraded to consider this mapping.

[tiagocoelhoma]

Hello! I also have the same problem. It should be great to have it working! :) And yes, I am using minimize_state/minimize_control and index is specified.

[EveCharbie]

Thank you for you confirmation of what seems to be the issue. There is a major refarctor/improvement going on right now. It should fix a lot of graph issues, but I am not sure it will fix this one. When it gets merged, I will have a look at it.

[fbailly]

@EveCharbie @pariterre Do you know if the major refactor fixed this issue ? Thanks !

[pariterre]

I am not sure since plot.py is a bit capricious, but I fix some problems with this specific line during the refactor, definitely worth retrying

[EveCharbie]

1. On my side it does not even show the plots anymore with show_online_optim=True :(

2. But the original error is still there. By adding a ObjectiveFcn.Mayer.MINIMIZE_STATE, key="q", target=1, index=0 I get a similar error as before

   

[EveCharbie]

I do not have time to fix this right now. @pariterre or @tiagocoelhoma would you have time?

[EveCharbie]

@tiagocoelhoma I think I fixed it in PR #851 :) Could you test it ?