Add warmstart implementation for warmstart from reference points #111

kzorina · 2024-12-11T09:47:53Z

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ArthurH91

few comments on order of imports & the test class could have docstrings to explain what's tested in each test, but otherwise looks good

agimus_controller/agimus_controller/warm_start_base.py

agimus_controller/agimus_controller/warm_start_reference.py

MaximilienNaveau

There are some issues with the WarmStartBase API.
Take a look at how the MPC is actually using it.
This is the proper API. I am sorry I have not seen it in the previous PR.

agimus_controller/agimus_controller/warm_start_base.py

agimus_controller/agimus_controller/warm_start_reference.py

agimus_controller/tests/test_warm_start.py

Co-authored-by: Arthur Haffemayer <[email protected]>

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agimus_controller/agimus_controller/trajectory.py

agimus_controller/agimus_controller/warm_start_reference.py

agimus_controller/tests/test_warm_start_reference.py

agimus_controller/agimus_controller/warm_start_reference.py

numpy types Co-authored-by: Krzysztof Wojciechowski <[email protected]>

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Kotochleb

When I think of it now, maybe the documentation should be filled in on the WarmStartBase class side and then it can be assumed to be inherited later on.

It should also be extended in the base class and WarmStartReference is still missing a loat of documentation

agimus_controller/agimus_controller/trajectory.py

agimus_controller/agimus_controller/warm_start_reference.py

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

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agimus_controller/agimus_controller/warm_start_reference.py

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agimus_controller/agimus_controller/trajectory.py

agimus_controller/agimus_controller/warm_start_base.py

agimus_controller/agimus_controller/warm_start_reference.py

agimus_controller/tests/test_warm_start_reference.py

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

for more information, see https://pre-commit.ci

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

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Kotochleb

Just a few cosmetic changes. Otherwise, it's ok. I have weird feeling about those asserts, but I will be a hypocrite to tell you to do this and later change my mind

agimus_controller/agimus_controller/warm_start_base.py

agimus_controller/agimus_controller/warm_start_reference.py

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

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agimus_controller/agimus_controller/warm_start_base.py

agimus_controller/agimus_controller/warm_start_reference.py

Kotochleb · 2025-01-02T11:52:21Z

I forgot to mention. Please take a look at this. This is an official documentation for google doc string formatting for the sphinx plugin. This is the formatting we want to expect to create sphinx documentation out of it

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

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kzorina and others added 5 commits December 11, 2024 09:44

add typing to warmstartBase

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add warmstart from reference

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init traj point to have None values

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create tests for warmstart from reference

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ArthurH91 requested review from Kotochleb and ArthurH91 December 11, 2024 09:58

MaximilienNaveau self-requested a review December 11, 2024 10:08

ArthurH91 reviewed Dec 11, 2024

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kzorina and others added 7 commits December 11, 2024 11:30

Update agimus_controller/agimus_controller/warm_start_reference.py

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Update agimus_controller/agimus_controller/warm_start_reference.py

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divie warmstart tests into two files

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update imports to follow PEP 8

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add numpy typing and x0

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Kotochleb suggested changes Dec 11, 2024

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kzorina and others added 7 commits December 11, 2024 15:39

Update agimus_controller/agimus_controller/trajectory.py

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numpy types Co-authored-by: Krzysztof Wojciechowski <[email protected]>

Update agimus_controller/agimus_controller/trajectory.py

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numpy types Co-authored-by: Krzysztof Wojciechowski <[email protected]>

update typing

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change to finding torques with rnea

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improve docstring

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Kotochleb suggested changes Dec 11, 2024

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kzorina and others added 3 commits December 11, 2024 16:36

Update agimus_controller/agimus_controller/trajectory.py

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Update documentation

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kzorina and others added 3 commits December 11, 2024 15:51

Updating the documentation

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change variables to list comprehensions

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kzorina requested review from ArthurH91, MaximilienNaveau, petrikvladimir and Kotochleb December 12, 2024 09:23

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Kotochleb suggested changes Dec 12, 2024

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Kotochleb mentioned this pull request Dec 12, 2024

add ros2 node for agimus_controller #95

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kzorina and others added 6 commits December 12, 2024 16:25

Update agimus_controller/agimus_controller/trajectory.py

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Co-authored-by: Krzysztof Wojciechowski <[email protected]>

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remove casting from tets

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Update agimus_controller/agimus_controller/warm_start_reference.py

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add/extend docstrings

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kzorina requested a review from Kotochleb December 13, 2024 12:46

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kzorina and others added 4 commits December 22, 2024 17:27

Update agimus_controller/agimus_controller/warm_start_base.py

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Co-authored-by: Krzysztof Wojciechowski <[email protected]>

Update agimus_controller/agimus_controller/warm_start_base.py

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add docstring to warmstart

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kzorina requested a review from Kotochleb December 22, 2024 16:51

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kzorina and others added 5 commits January 6, 2025 15:47

Update agimus_controller/agimus_controller/warm_start_base.py

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Co-authored-by: Krzysztof Wojciechowski <[email protected]>

add format changes according to PR comments

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add abstract setup class

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Add warmstart implementation for warmstart from reference points #111

Add warmstart implementation for warmstart from reference points #111

kzorina commented Dec 11, 2024

ArthurH91 left a comment

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Kotochleb commented Jan 2, 2025

Add warmstart implementation for warmstart from reference points #111

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Add warmstart implementation for warmstart from reference points #111

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Kotochleb commented Jan 2, 2025