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Pull request code refactoring#3

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EliasFontanari wants to merge 38 commits intoidra-lab:develidra-lab/safe-mpc:develfrom EliasFontanari:develEliasFontanari/safe-mpc-idra:develCopy head branch name to clipboard

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Commits on Feb 27, 2025

• abstract:

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• Added script to compute initial guesses using acados

  

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• Changes in controller.py:

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• Changes on ocp.py:

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• Removed capsules and obstacles

  

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• parser.py changes:

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• Class containing the constraints representing the safe set. Also owns getters of constraints experession, constraints casadi function and bounds

  

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• Pushing all novelties, as urdf files and minor changes

  

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Commits on Feb 28, 2025

• In config.yaml:

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• In abstract.py, changed function to generate collisions pairs casadi functions, in such a way that same expressions of optimal control problem expressions used

  

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• Same collision pairs constraints as the ones in adam Model used

  

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• Added trajectory tracking parameters parsing, not tested yet

  

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• Added if:else casadi to analytic set constraints

  

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• Minor changes

  

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Commits on Mar 6, 2025

• Flexible usage improved

  

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• Added fields

  

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• Minor changes because abstract.py renamed env_model.py

  

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• Import packages name changed

  

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• Added abstract functions in controller to have a cleaner reset called in mpc

  

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• Added trajectory tracking

  

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• Import packages changed

  

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• Changed name and added function that builds a urdf with noise on mass, inertia and center of mass used for dynamics integration

  

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• Changed name for abstract

  

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• casadi if else also for analytic sets

  

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• Minor changes

  

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• Removed not used code

  

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• Guess with IPOPT to have equal initial states.

  

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• Minor cleaning changes

  

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• In safe_set, now arguments passed as model class reference

  

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• Minor changes

  

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Commits on Mar 7, 2025

• Corrected bug in guess.py

  

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• visualizer changes

  

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• Gitignore updated

  

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• Gitignore updated

  

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Commits on Mar 11, 2025

• First PR fixes

  

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Commits on Mar 12, 2025

• Other PR changes

  

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• Clear things resolved

  

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• Removed robot models

  

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