crocoddyl
crocoddyl copied to clipboard
loco-3d
Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
I am trying to produce a code generated DDP object with the Talos model in contact and a very simple cost function composed of a state regularization and control regularization....
Since moving to header-only in #695, the memory usage during compilation sky-rocketed:  Is there any way to use precompiled headers or something to make it more manageable?
It is important to allow users to define various reference for contact force / impulse cost functions as well. This will require tricky conversion of forces --and their derivatives-- from...
Hello, can crocoddyl be pickled yet? I rember that @cmastalli said that there were issues with eigen for that, but maybe I'm mistaken and that is not the case anymore...
This task refers to writing the c++ class of: https://github.com/loco-3d/crocoddyl/blob/devel/unittest/python/crocoddyl/cost.py#L313 And it also includes the Python bindings + unittest code.
In GitLab by @cmastalli on Nov 8, 2019, 11:47 @mfocchi - @gfadini is handling this task. It will start from this work !230
In GitLab by @wxmerkt on Oct 10, 2019, 14:57 I've added `1e-12` damping to every action model as follows (in `quadruped.py`): ```python dmodel = crocoddyl.DifferentialActionModelContactFwdDynamics(self.state, self.actuation, contactModel, costModel) dmodel.JMinvJt_damping =...
In GitLab by @cmastalli on Sep 24, 2019, 15:25 The contact dynamics is solved using Cholesky decomposition as explained in the following [PDF](https://cmastalli.github.io/publications/crocoddyl20unpub.pdf), and details of the code can be...
In GitLab by @cmastalli on Jun 28, 2019, 15:55 First we need to finish #167. @ MaximilienNaveau would you like to work on it?