Collection of fixes - velocity limits, trajopt, mimic joints, error handling, geometry shapes, CI, bug fixes, etc. #756
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Failed with some Eigen issues. We aren't using Conda right now.
Fixes bugs with JointLimit task
…to topic/add-mesh-loader
…ggering nosetests Nosetests runs any function with "test_" in the name. The validation function should of course be excluded.
Add methods for mesh creation in Python
…n feasible Noticed the following problem where in iteration 99, after already having reached feasibility, it accepts a large ascent step: 98 2.28141e-01 2.66446e-03 3.87063e+03 1.00000e-03 1.00000e-03 0.0010 1 6.24123e+02 -9.65938e+02 99 1.55556e+07 6.67014e+10 3.26809e+08 1.00000e-02 1.00000e-02 1.0000 1 -1.62977e+08 -1.55556e+07 iter cost stop grad xreg ureg step feas dV-exp dV 100 7.12945e+06 1.52536e+10 1.79564e+03 1.00000e-03 1.00000e-03 0.5012 1 -1.96396e+06 8.42617e+06 This check no longer allows to open gaps once feasibility has first been reached.
… C++14 by default
…xample [exotica_examples] Add surface alignment trajectory example
… time This commit adds support for a problem start time. It assumes that the entire trajectory's time indexing is shifted by the start time
There are getters and setters already exposed
…rajectories Support for start time of scene state for trajectories
…for DynamicTimeIndexedShootingProblem
…ow to use velocity limits
…r-dynamic-time-indexed-shooting-problem Extend JointLimit to limit joint velocities
…alizer Adds optional JointPositionLimitsLower and JointPositionLimitsUpper parameters to the Scene initializer to override the configuration limits directly. In the future, this will replace the LowerBound/UpperBound currently exposed in some of the problems.
…errides [exotica_core] Add ability to override position limits in Scene initializer
Deprecate TimeIndexedSamplingProblem::vel_limits
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Thanks for bringing these in. I'll give it a read. |
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@VladimirIvan Any thoughts on the above changes? I am not sure on the current user circle of Exotica - the above are being used daily by PhD students I work with and have powered recent project deliverables. Would be nice to be able to get them some new binaries out to simplify set up and work :-) |
VladimirIvan
requested changes
May 26, 2024
exotica_examples/resources/configs/example_time_indexed_sampling.xml
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