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Andrepatri devel #19

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AndrePatri and others added 30 commits August 2, 2023 16:01
@AndrePatri
fixed compilation issue in python3.7 env
0a9edee
@AndrePatri
added specific utility to evaluate torque contraints
46a540e
@AndrePatri
added lagrange mult, opt cost, cost values thorugh iterations and ite…
32d8838 
…ration count
@AndrePatri
added callback to get additional solution info
1d3b00b 
Signed-off-by: Andrea Patrizi <[email protected]>
@AndrePatri
added mission getter for lagrange multipliers
064c43f
@AndrePatri
removed hugely expensive run-time recreation of inverse dynamics object
6be2e62
@AndrePatri
made profiling optional and fixed missing update of fmap with last so…
877b8e0 
…lution
@AndrePatri
Merge branch 'speed' into add_nodes_rl
3b98429 
# Conflicts:
#	horizon/rhc/taskInterface.py
@FrancescoRuscelli @AndrePatri
bug in setweight of task
30114a7
@AndrePatri
added missing debug and verbose inputs
3e0e82a
@AndrePatri
if in conda env, by default install in it
b3f3227
@AndrePatri
removed a couple of spaces
19f9987
@AndrePatri
commented replay trajectory. taskInterface should not be ros-dependent
2401539 
Signed-off-by: Andrea Patrizi <[email protected]>
@AndrePatri
fixed wrong nodes used for mpc torque computation and added solver n …
a1b8143 
…iter as class argument

Signed-off-by: Andrea Patrizi <[email protected]>
@AndrePatri
Merge branch 'devel' into add_nodes_rl
b86575e 
# Conflicts:
#	horizon/rhc/taskInterface.py
#	horizon/rhc/tasks/contactTask.py

Signed-off-by: Andrea Patrizi <[email protected]>
@AndrePatri
added debug flag in options, now cost/constraints values dictionary f…
ed9e46e 
…illing optional

Signed-off-by: Andrea Patrizi <[email protected]>
@AndrePatri
exposed ilqr debug flag to horizon solver interface
d1c03f3 
Signed-off-by: Andrea Patrizi <[email protected]>
@AndrePatri
infeasibility warning now printed only if in debug mode
d423404
@AndrePatri
minor comments and added backup for bootstrap
163a4f9 
Signed-off-by: Andrea Patrizi <[email protected]>
@AndrePatri
added simple reset method
2a19459 
Signed-off-by: Andrea Patrizi <[email protected]>
@AndrePatri
fix typo
2519b99
@AndrePatri
exposed reset method for hxx regularization
669baaf
@AndrePatri
exposed ilqr reset method to horizon's solver interface
0b0397e
@AndrePatri
added missing rti option passed to ilqr solver
cada639
@AndrePatri
exposed residual norm1 getter
b96653c
@AndrePatri
now logging iterations only if flag enabled
6fc269d
@AndrePatri
disabled ilqr iteration logging to avoid RAM saturation
a1906f6
@AndrePatri
removed memory debug changes
17ff2ee
@AndrePatri
exposed flag to suppress codegen generation/loading output
fa833fe
@AndrePatri
removed prints in should stop is verbose is false
4ed4dd7
AndrePatri and others added 30 commits July 31, 2024 20:10
@AndrePatri
Merge branch 'andrepatri_devel' of github.com:ADVRHumanoids/horizon i…
055df02 
…nto andrepatri_devel
@AndrePatri
added sanity check on supported cartesian task types
7e65699
@AndrePatri
now always returning list, fixed handling of subtasks for contact task
2d7cabf
@AndrePatri
ilqr now allows to use float instead of double if required (casadi co…
2962cd2 
…degen still needs to be fixed)
@AndrePatri
fixed some typos, float still not working due to casadi::function
2345547
@AndrePatri
getNodes now returning a list of both active and feasible nodes
9ec62c4
@AndrePatri
added method to get derivative of polynomial traj
769a8e6
@AndrePatri
added options to also specify second derivate
1a51606
@AndrePatri
fixed 7 being always reported when getting CartesianTask dimension (c…
345d43c 
…an be less depending on task size)
@AndrePatri
solved bug: now reporting 7 in case of position task, otherwise indic…
fda5258 
…es dim
renamed flag for compilation with float instead of double
4d710a2
@AndrePatri
temporarily removed setup.py to avoid running builds
7fc30ec
@AndrePatri
allowing evaluation of effort on any node now
6df865a
@AndrePatri
fixed efforts evaluation
f143cb6
@AndrePatri
cleaned imports: in particular, removed matplotlib import from ilqr s…
70ff0e6 
…olver (100MB of lib!!!)
@AndrePatri
minor changes
23a71da 
Signed-off-by: Andrea Patrizi <[email protected]>
@AndrePatri
added vertex frames to attributes
4970cfd
@AndrePatri
added reset of fp_res data
b642950
@AndrePatri
fixed eigen method being called on a scalar
17dab1a
@AndrePatri
bug fix
61b6685
@AndrePatri
added indeces for regularization task
6e66da1
@AndrePatri
removed initial state setting in task interface
250283e
@AndrePatri
removing unil barrier if thresh is low "enough"
e88973a
@AndrePatri
added safety clip when evaluating efforts
5b736e9
@AndrePatri
properly hadnling nonfinite values when evaluating torques
546508b
@AndrePatri
Signed-off-by: Andrea Patrizi <[email protected]>
bad10e3
@AndrePatri
Merge branch 'receding_horizon' into andrepatri_devel
bdcd666 
# Conflicts:
#	horizon/cpp/src/ilqr.h
#	horizon/cpp/src/ilqr_backward_pass.cpp
#	horizon/cpp/src/ilqr_forward_pass.cpp
#	horizon/rhc/taskInterface.py
#	horizon/rhc/tasks/cartesianTask.py
#	horizon/rhc/tasks/regularizationTask.py
#	horizon/utils/trajectoryGenerator.py
#	setup.py.old
@AndrePatri
moved global np setting
73e2738
@AndrePatri
added third derivative specification
cd47a05
@AndrePatri
added back -march native flag
8d207e2
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2 participants
@AndrePatri @FrancescoRuscelli