Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Added possibility to output opti problems to functions #16

Merged
merged 55 commits into from
Jul 5, 2024
Merged

Added possibility to output opti problems to functions #16

merged 55 commits into from
Jul 5, 2024

Commits on Apr 8, 2024

  1. Added conversion of an optimization object to a dictionary

    @S-Dafarra
    S-Dafarra committed Apr 8, 2024
    Configuration menu
    Copy the full SHA
    2ff833d View commit details
    Browse the repository at this point in the history

  2. Allowed to get metadata as dictionary as well

    @S-Dafarra
    S-Dafarra committed Apr 8, 2024
    Configuration menu
    Copy the full SHA
    6bfa5e7 View commit details
    Browse the repository at this point in the history

  3. Added possibility to set OptimizationObject from dict

    @S-Dafarra
    S-Dafarra committed Apr 8, 2024
    Configuration menu
    Copy the full SHA
    0369a38 View commit details
    Browse the repository at this point in the history

  4. to_dict returns both the dictionary and the metadata

    @S-Dafarra
    S-Dafarra committed Apr 8, 2024
    Configuration menu
    Copy the full SHA
    3a79400 View commit details
    Browse the repository at this point in the history

  5. Added possibility to set name prefix in the conversions to dict

    @S-Dafarra
    S-Dafarra committed Apr 8, 2024
    Configuration menu
    Copy the full SHA
    69376e5 View commit details
    Browse the repository at this point in the history

  6. Added preliminary implementation (commented) to use the conversions t… 

    …o dict in optiSolver

This should simplify a bit the code
    @S-Dafarra
    S-Dafarra committed Apr 8, 2024
    Configuration menu
    Copy the full SHA
    d86175f View commit details
    Browse the repository at this point in the history

  7. Handling the case the value is a list in the conversion from/to dict

    @S-Dafarra
    S-Dafarra committed Apr 8, 2024
    Configuration menu
    Copy the full SHA
    fab2e6f View commit details
    Browse the repository at this point in the history

  8. Using deepcopy when setting the descriptor of a ContactPointState

    @S-Dafarra
    S-Dafarra committed Apr 8, 2024
    Configuration menu
    Copy the full SHA
    4b4134d View commit details
    Browse the repository at this point in the history

  9. Removed unnecessary print

    @S-Dafarra
    S-Dafarra committed Apr 8, 2024
    Configuration menu
    Copy the full SHA
    4b81994 View commit details
    Browse the repository at this point in the history

  10. Moved to using dict conversion when generating optimization objects i… 

    …n opti solver
    @S-Dafarra
    S-Dafarra committed Apr 8, 2024
    Configuration menu
    Copy the full SHA
    02893c9 View commit details
    Browse the repository at this point in the history

  11. Using conversion from dict when getting the opti solution

    @S-Dafarra
    S-Dafarra committed Apr 8, 2024
    Configuration menu
    Copy the full SHA
    e8fcc66 View commit details
    Browse the repository at this point in the history

  12. Separated methods to return only one or two dicts from OptimizationOb… 

    …ject
    @S-Dafarra
    S-Dafarra committed Apr 8, 2024
    Configuration menu
    Copy the full SHA
    caa568e View commit details
    Browse the repository at this point in the history

  13. Moved conversion to np.array in conversion to dict

    @S-Dafarra
    S-Dafarra committed Apr 8, 2024
    Configuration menu
    Copy the full SHA
    9119230 View commit details
    Browse the repository at this point in the history

  14. Converting to np array also when the input is an int. 

    to_list also uses to_dict
    @S-Dafarra
    S-Dafarra committed Apr 8, 2024
    Configuration menu
    Copy the full SHA
    00e46a2 View commit details
    Browse the repository at this point in the history

  15. Simplified setting of guess using to_dict

    @S-Dafarra
    S-Dafarra committed Apr 8, 2024
    Configuration menu
    Copy the full SHA
    9991cbe View commit details
    Browse the repository at this point in the history

Commits on Apr 11, 2024

  1. Added to_function in opti solver

    @S-Dafarra
    S-Dafarra committed Apr 11, 2024
    Configuration menu
    Copy the full SHA
    d807aac View commit details
    Browse the repository at this point in the history

  2. Fixed setting of cost function when using to_function

    @S-Dafarra
    S-Dafarra committed Apr 11, 2024
    Configuration menu
    Copy the full SHA
    c6a88d2 View commit details
    Browse the repository at this point in the history

  3. Added printing of logging messages in pyproject

    @S-Dafarra
    S-Dafarra committed Apr 11, 2024
    Configuration menu
    Copy the full SHA
    97d921c View commit details
    Browse the repository at this point in the history

Commits on Apr 12, 2024

  1. Added to_function methods in planners

    @S-Dafarra
    S-Dafarra committed Apr 12, 2024
    Configuration menu
    Copy the full SHA
    298ee7f View commit details
    Browse the repository at this point in the history

  2. First draft of main file for sensitivity analysis

    @S-Dafarra
    S-Dafarra committed Apr 12, 2024
    Configuration menu
    Copy the full SHA
    9a9f556 View commit details
    Browse the repository at this point in the history

  3. Added workaround to avoid output not used variables when using to_fun… 

    …ction()
    @S-Dafarra
    S-Dafarra committed Apr 12, 2024
    Configuration menu
    Copy the full SHA
    c821809 View commit details
    Browse the repository at this point in the history

  4. Added possibility to get the variables structure in the planners

    @S-Dafarra
    S-Dafarra committed Apr 12, 2024
    Configuration menu
    Copy the full SHA
    90ddd88 View commit details
    Browse the repository at this point in the history

  5. Improved logic to check if a variable is used when using to_function()

    @S-Dafarra
    S-Dafarra committed Apr 12, 2024
    Configuration menu
    Copy the full SHA
    9e25768 View commit details
    Browse the repository at this point in the history

  6. First attempt to use_to_function() in periodic step sensitivity

    @S-Dafarra
    S-Dafarra committed Apr 12, 2024
    Configuration menu
    Copy the full SHA
    665eb61 View commit details
    Browse the repository at this point in the history

Commits on Apr 15, 2024

  1. Using deep copies when setting and retrieving the guess in opti_solver

    @S-Dafarra
    S-Dafarra committed Apr 15, 2024
    Configuration menu
    Copy the full SHA
    ae1e493 View commit details
    Browse the repository at this point in the history

  2. Removed from the input dictionary to the planner functions the terms … 

    …that are None
    @S-Dafarra
    S-Dafarra committed Apr 15, 2024
    Configuration menu
    Copy the full SHA
    160f80c View commit details
    Browse the repository at this point in the history

  3. Added possibility to retrieve the optimization structure from the solver

    @S-Dafarra
    S-Dafarra committed Apr 15, 2024
    Configuration menu
    Copy the full SHA
    1240c49 View commit details
    Browse the repository at this point in the history

  4. Added mass regularization when converting the kinodynamic planner to … 

    …function
    @S-Dafarra
    S-Dafarra committed Apr 15, 2024
    Configuration menu
    Copy the full SHA
    f409d76 View commit details
    Browse the repository at this point in the history

  5. Fixed problem in fps computation when the timestep is defined as list

    @S-Dafarra
    S-Dafarra committed Apr 15, 2024
    Configuration menu
    Copy the full SHA
    4487036 View commit details
    Browse the repository at this point in the history

  6. Fixed visualization of parametric models in periodic gait sensitivity

    @S-Dafarra
    S-Dafarra committed Apr 15, 2024
    Configuration menu
    Copy the full SHA
    4d15127 View commit details
    Browse the repository at this point in the history

Commits on Apr 17, 2024

  1. Allow setting input prefix name when converting to function

    @S-Dafarra
    S-Dafarra committed Apr 17, 2024
    Configuration menu
    Copy the full SHA
    9bbca1e View commit details
    Browse the repository at this point in the history

  2. Using output instead of initial guess to update the multipliers and d… 

    …ensities
    @S-Dafarra
    S-Dafarra committed Apr 17, 2024
    Configuration menu
    Copy the full SHA
    20cda11 View commit details
    Browse the repository at this point in the history

  3. Moved generation of guess to a function

    @S-Dafarra
    S-Dafarra committed Apr 17, 2024
    Configuration menu
    Copy the full SHA
    585152a View commit details
    Browse the repository at this point in the history

  4. Avoid to cast interpolators inputs to numpy array

    @S-Dafarra
    S-Dafarra committed Apr 17, 2024
    Configuration menu
    Copy the full SHA
    c0719f7 View commit details
    Browse the repository at this point in the history

Commits on Apr 18, 2024

  1. More modifications to use MX in the interpolators

    @S-Dafarra
    S-Dafarra committed Apr 18, 2024
    Configuration menu
    Copy the full SHA
    a6473de View commit details
    Browse the repository at this point in the history

  2. Moved the guess generation to a function

    @S-Dafarra
    S-Dafarra committed Apr 18, 2024
    Configuration menu
    Copy the full SHA
    094fba5 View commit details
    Browse the repository at this point in the history

  3. Fixed a regression in the computation of fps in the visualizer

    @S-Dafarra
    S-Dafarra committed Apr 18, 2024
    Configuration menu
    Copy the full SHA
    8637f4f View commit details
    Browse the repository at this point in the history

  4. Using a single function to generate the periodic walking given the in… 

    …put parameters
    @S-Dafarra
    S-Dafarra committed Apr 18, 2024
    Configuration menu
    Copy the full SHA
    356acd2 View commit details
    Browse the repository at this point in the history

Commits on Apr 19, 2024

  1. Fixed another issue with the visualizer when the timestep is a np arr… 

    …ay with a single element
    @S-Dafarra
    S-Dafarra committed Apr 19, 2024
    Configuration menu
    Copy the full SHA
    54540e6 View commit details
    Browse the repository at this point in the history

  2. Draft of periodic step sensitivity with jacobian (not working)

    @S-Dafarra
    S-Dafarra committed Apr 19, 2024
    Configuration menu
    Copy the full SHA
    6eb0ae1 View commit details
    Browse the repository at this point in the history

  3. Used another method to obtain the jacobian

    @S-Dafarra
    S-Dafarra committed Apr 19, 2024
    Configuration menu
    Copy the full SHA
    71caa29 View commit details
    Browse the repository at this point in the history

Commits on Apr 23, 2024

  1. Allow changing opti options in planners

    @S-Dafarra
    S-Dafarra committed Apr 23, 2024
    Configuration menu
    Copy the full SHA
    0ce2f3d View commit details
    Browse the repository at this point in the history

  2. Changed the casting in the opti solution getter

    @S-Dafarra
    S-Dafarra committed Apr 23, 2024
    Configuration menu
    Copy the full SHA
    a2e2d56 View commit details
    Browse the repository at this point in the history

  3. Attempt to use sqpmethod in series to ipopt output

    @S-Dafarra
    S-Dafarra committed Apr 23, 2024
    Configuration menu
    Copy the full SHA
    6818e9b View commit details
    Browse the repository at this point in the history

Commits on May 2, 2024

  1. Added test to run sqp with the output of PoseFinder

    @S-Dafarra
    S-Dafarra committed May 2, 2024
    Configuration menu
    Copy the full SHA
    2dfd036 View commit details
    Browse the repository at this point in the history

Commits on May 3, 2024

  1. Compute the jacobian of the CoM height wrt the link densities and len… 

    …gth multipliers
    @S-Dafarra
    S-Dafarra committed May 3, 2024
    Configuration menu
    Copy the full SHA
    5c21a0a View commit details
    Browse the repository at this point in the history

Commits on May 6, 2024

  1. Adding git in the conda dependencies in actions 

    Attempt to fix #15
    @S-Dafarra
    S-Dafarra committed May 6, 2024
    Configuration menu
    Copy the full SHA
    991db20 View commit details
    Browse the repository at this point in the history

Commits on May 11, 2024

  1. Added possibility to change link color. 

    It requires https://github.com/S-Dafarra/idyntree/tree/meshcat_link_color
    @S-Dafarra
    S-Dafarra committed May 11, 2024
    Configuration menu
    Copy the full SHA
    1411225 View commit details
    Browse the repository at this point in the history

  2. Added visualization of sensitivity by changing link color

    @S-Dafarra
    S-Dafarra committed May 11, 2024
    Configuration menu
    Copy the full SHA
    a137615 View commit details
    Browse the repository at this point in the history

Commits on May 17, 2024

  1. Added warning message and possibility to change model color in visual… 

    …izer
    @S-Dafarra
    S-Dafarra committed May 17, 2024
    Configuration menu
    Copy the full SHA
    03fcb77 View commit details
    Browse the repository at this point in the history

  2. Added png to pose finder git ignore

    @S-Dafarra
    S-Dafarra committed May 17, 2024
    Configuration menu
    Copy the full SHA
    8590aa9 View commit details
    Browse the repository at this point in the history

  3. Avoid to print save warnings fo every frame when creating a video

    @S-Dafarra
    S-Dafarra committed May 17, 2024
    Configuration menu
    Copy the full SHA
    cda37b4 View commit details
    Browse the repository at this point in the history

  4. Added possibility to filter values when outputting a dictionary from … 

    …OptimizationObject
    @S-Dafarra
    S-Dafarra committed May 17, 2024
    Configuration menu
    Copy the full SHA
    c8e214c View commit details
    Browse the repository at this point in the history

  5. Using function approach in periodic_step_parametric and removed perio… 

    …dic_step_sensitivity
    @S-Dafarra
    S-Dafarra committed May 17, 2024
    Configuration menu
    Copy the full SHA
    944b987 View commit details
    Browse the repository at this point in the history

  6. Added possibility to run conversions when converting from dict

    @S-Dafarra
    S-Dafarra committed May 17, 2024
    Configuration menu
    Copy the full SHA
    fee7b98 View commit details
    Browse the repository at this point in the history