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OCP Croco Class#112

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ArthurH91 wants to merge 116 commits intoagimus-project:topic/humble-devel/refactoragimus-project/agimus_controller:topic/humble-devel/refactorfrom ArthurH91:ahaffemayer/feature/create-ocp-param-classArthurH91/agimus_controller:ahaffemayer/feature/create-ocp-param-classCopy head branch name to clipboard

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Commits on Dec 11, 2024

• creating the ocp param base class & the ocp base croco

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• populate ocp param & croco

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• setting up the params base class

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• add test for TestOcpBase

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• change all relative paths to absolute ones

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• unit tests of the data class ocp param croco base

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• first try on testing the ocp croco base class

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• ocp croco set up

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• getting rid of target in the dataclass

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• getting rid of target in the dataclass 2

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Commits on Dec 12, 2024

• fixing imports

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• fixing imports 2

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• removing x0 property ocp base

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• Update agimus_controller/agimus_controller/trajectory.py

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• Update agimus_controller/agimus_controller/ocp_base.py

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Commits on Dec 13, 2024

• docstring + bringing back x0 in the solve + changing the name x_init to x_warmstart for clarity's sake

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• adding armature in the robot model factory

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• Merge branch 'ahaffemayer/feature/create-ocp-param-class' of github.com:ArthurH91/agimus_controller into ahaffemayer/feature/create-ocp-param-class

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• getting rid of the x0 property

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• getting rid of x init and u init method

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• changing the robot model input for the init

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• getting rid of the trajectory points

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• getting rid of useless imports

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• changing the solve function to only solving and creating properties for the running models & terminal model

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• changing the result of solve

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Commits on Jan 2, 2025

• changing OCPParam to ocp_param

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• adding few comments + changing the docstring for the init

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• adding the filter linesearch data input in the dataclass ocp param croco

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• unit testing the ocp param base dataclass

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• deleting the ocp base unit test because that's only an abstract class

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• changing ocpparamcrocobase to ocpparambasecroco

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• wrong placement of problem solved

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• changing ocpparamcrocobase to ocpparambasecroco

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• switching from ... to pass for abstract class because it explodes otherwise

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• fixing the union problem

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• fixing the property

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• first unit test passing, now working on the simple example as unit test

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Commits on Jan 6, 2025

• addind setters for ocp base croco & robot model

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• adding the unit test for the simple ocp

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• adding the npy results for the simple ocp used for the unit testing

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• Update agimus_controller/agimus_controller/ocp_base_croco.py

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• Update agimus_controller/agimus_controller/ocp_base_croco.py

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• Update agimus_controller/agimus_controller/ocp_base.py

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• Update agimus_controller/agimus_controller/ocp_base.py

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• Update agimus_controller/agimus_controller/ocp_base_croco.py

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• Update agimus_controller/agimus_controller/ocp_base_croco.py

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• Update agimus_controller/agimus_controller/ocp_base_croco.py

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• Update agimus_controller/agimus_controller/ocp_base_croco.py

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• Apply suggestions from code review

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• Update agimus_controller/agimus_controller/ocp_param_base.py

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• taking reviews in to account

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• switching to snake case

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• fixing typo

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• change t to horizon size

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• Merge branch 'ahaffemayer/feature/create-ocp-param-class' of github.com:ArthurH91/agimus_controller into ahaffemayer/feature/create-ocp-param-class

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• methods instead of properties for the croco models

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Commits on Jan 7, 2025

• Update agimus_controller/agimus_controller/ocp_base_croco.py

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• Update agimus_controller/tests/test_ocp_param_base.py

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• Update agimus_controller/tests/test_ocp_param_base.py

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• Update agimus_controller/tests/test_ocp_croco_base.py

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• Update agimus_controller/agimus_controller/ocp_base.py

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• getting rid of useless docstrings

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• displacing the creation of running model & terminal model in the if statement

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• proper type hinting

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• fixing unit tests

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• Update agimus_controller/agimus_controller/ocp_base.py

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• Update agimus_controller/agimus_controller/ocp_base_croco.py

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• adressing the change in update crocoddyl problem

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• merge conflict

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• changing the input of the update croccodyl problem method

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Commits on Jan 8, 2025

• first draft on the modification of robot model factory

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• adding some tests + reformulating the code a bit

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• recursivity problems fixed

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• Update agimus_controller/agimus_controller/factory/robot_model.py

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• changing the order of the methods

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• Update agimus_controller/agimus_controller/factory/robot_model.py

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• add the color as parameter

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• correcting typo in type for urdf

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• unit testing the dataclass

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• unit testing the dataclass2

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• wrapping up unit testing for rmf

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• getting rid of explicit casting

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• Update agimus_controller/agimus_controller/factory/robot_model.py

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• free flyer exception in the unit test of armature

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• bring back path objects

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• integration test to check that model is working well with pinocchio

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• merging robot refactor

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• fixing unit test ocp croco base param

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• getting rid of str in paths + collision color in param

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• fixing the tests

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• changing locked joint into var

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• self collision test improved

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• test reduced model

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• Merge branch 'ahaffemayer/refactor-robot-factory' into ahaffemayer/feature/create-ocp-param-class

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• changing factory to models

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• first two unit tests working

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