crocoddyl
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loco-3d
Logging the full data
In GitLab by @proyan on Feb 15, 2019, 13:07
Currently we are only saving the data.cost inside the logger. I don't see why we can't save directly the shooting.datas after the iteration. This would be really helpful for debugging purposes.
In GitLab by @cmastalli on Feb 15, 2019, 15:24
We're copying shooting.datas each iterates. Could you explain what do you mean with data.cost?
Callbacks are aim to be flexible, and the user is free to design its own one. We have coded some general purpose callback functions, and it's always possible to have a custom one.
In GitLab by @nmansard on Feb 15, 2019, 15:46
Ok, why not. I suggest to introduce a new call back for that, as I am afraid of the computation cost when copying the data. The question is: is copy.copy() able to directly copy a ActionData, including the pinocchio data, our should we do some specific implementation for that.
In GitLab by @proyan on Feb 15, 2019, 19:55
pinocchio data would be useful. Currently we would need to enable pickling of the pinocchio data in order to do that, and that might take some time.
Meanwhile, just copying the other data elements might be a good solution.
I would suggest Logging levels, instead of a new callback.
In GitLab by @proyan on Feb 15, 2019, 23:12
I created a PR which makes all elements of pinocchio data copyable. https://github.com/stack-of-tasks/pinocchio/pull/682/files. This should partially help towards this issue and #108
In GitLab by @cmastalli on Feb 18, 2019, 08:12
I agreed with the logging levels. It seems a simpler approach for both: users, developers and maintainers. Just keep in mind that there are action models which doesn't use Pinocchio data.