Restructure ML component #771

GiulioRomualdi · 2023-11-27T13:14:03Z

This PR is the outcome of the refactoring carried out with @paolo-viceconte
In detail, we implemented MANN::generateDummyMANNOutput and MANN::generateDummyMANNInput in the ML component. Additionally, we restructured MANNAutoregressive for improved reset handling by introducing the MANNFootState class and consolidating reset-related quantities in MANNAutoregressive::AutoregressiveState. This simplifies the generation of the initial AutoregressiveState required to start trajectory generation. Concurrently, we restructured MANNTrajectoryGenerator by eliminating the need to pass foot positions in setInitialState. We enhanced MANNTrajectoryGenerator with reset capabilities similar to MANNAutoregressive and corrected the position and time scaling to ensure accurate scaling of the CoM, base, and feet positions. The Python bindings have been updated accordingly.

Last but not least I added two examples that show how to use MANNAutoregressive and MANNTrajectoryGenerator

MANNAutoregressive

Screencast.from.27-11-2023.18.16.54.webm

MANNTrajectoryGenerator

Screencast.from.27-11-2023.18.19.00.webm

…put in ML component

- define the MANNFootState class - move all the quantities required to reset the state in MANNAutoregressive::AutoregressiveState - simplify the generation of the initial AutoregressiveState required to start the trajectory generation

- eliminate the need to pass foot positions in MANNTrajectoryGenerator::setInitialState - enhance MANNTrajectoryGenerator with reset capabilities similar to MANNAutoregressive - correct the position and time scaling of MANNTrajectoryGenerator to accurately scale the CoM, base, and feet positions - update the Python bindings

S-Dafarra

Some preliminary comments

examples/MANN/MANNAutoregressive.ipynb

examples/MANN/MANNTrajectoryGenerator.ipynb

S-Dafarra

Reading just the header, I was a bit puzzled by the word dummy. I interpret dummy usually as a placeholder, so it is not clear to me why you want to generate a dummy? ~~Can dummy be removed is the resulting output is actually well formed?~~

src/ML/include/BipedalLocomotion/ML/MANN.h

src/ML/include/BipedalLocomotion/ML/MANNAutoregressive.h

S-Dafarra · 2023-11-27T17:34:22Z

Reading just the header, I was a bit puzzled by the word dummy. I interpret dummy usually as a placeholder, so it is not clear to me why you want to generate a dummy? Can dummy be removed is the resulting output is actually well formed?

Reading the cpp I understood that the dummy stuff is basically filled with zeros. At this point, I would simply suggest to specify this in the doc

src/ML/src/MANNAutoregressive.cpp

Co-authored-by: Stefano Dafarra <stefano.dafarra@gmail.com>

paolo-viceconte

Mainly fixed typos and added suggestions for the text of the two examples!

examples/MANN/MANNAutoregressive.ipynb

examples/MANN/MANNTrajectoryGenerator.ipynb

examples/MANN/MANNAutoregressive.ipynb

src/ML/include/BipedalLocomotion/ML/MANNAutoregressive.h

…and MANNAutoregressive examples

Co-authored-by: Paolo Viceconte <paolomariaviceconte@gmail.com>

Co-authored-by: Stefano Dafarra <stefano.dafarra@gmail.com>

Co-authored-by: Paolo Viceconte <paolomariaviceconte@gmail.com>

GiulioRomualdi · 2023-11-28T12:16:26Z

In ae62976 I improved the documentation regarding the dummy

GiulioRomualdi · 2023-11-28T15:51:00Z

Hi @paolo-viceconte and @S-Dafarra I removed the hardcoded size of the vectors in MANN e19b84e

Co-authored-by: Paolo Viceconte <paolomariaviceconte@gmail.com>

GiulioRomualdi · 2023-11-29T08:38:35Z

Hi @S-Dafarra and @paolo-viceconte if you are fine with the changes we can merge it

GiulioRomualdi added 3 commits November 27, 2023 10:40

Implement MANN::generateDummyMANNOutput and MANN::generateDummyMANNIn…

4e56b32

…put in ML component

github-actions bot added 🔨 component: ML 🏫 Examples 🐍 bindings labels Nov 27, 2023

GiulioRomualdi force-pushed the ml_restructuring branch from a01ed4b to 46711c4 Compare November 27, 2023 13:15

Add MANNAutoregressive example

adae8b1

GiulioRomualdi force-pushed the ml_restructuring branch from 46711c4 to 6bfde64 Compare November 27, 2023 14:46

Add MANNTrajectoryGenerator jupyter notebook

8287ac6

GiulioRomualdi force-pushed the ml_restructuring branch from 6bfde64 to 8287ac6 Compare November 27, 2023 14:48

GiulioRomualdi added 2 commits November 27, 2023 16:35

Add the README for the MANN examples

1fc5b6d

Update the CHANGELOG

4fad901

GiulioRomualdi self-assigned this Nov 27, 2023

GiulioRomualdi requested a review from paolo-viceconte November 27, 2023 15:58

GiulioRomualdi marked this pull request as ready for review November 27, 2023 15:59

GiulioRomualdi requested a review from S-Dafarra as a code owner November 27, 2023 15:59

GiulioRomualdi enabled auto-merge (squash) November 27, 2023 16:00

Update the config file for MANN example

723e5bc

S-Dafarra reviewed Nov 27, 2023

View reviewed changes

src/ML/src/MANNAutoregressive.cpp Outdated Show resolved Hide resolved

Apply suggestions from code review

7454804

Co-authored-by: Stefano Dafarra <stefano.dafarra@gmail.com>

paolo-viceconte suggested changes Nov 28, 2023

View reviewed changes

GiulioRomualdi and others added 5 commits November 28, 2023 12:58

Avoid to hardcode the joint configuration in MANNTrajectoryGenerator …

7d8b7a3

…and MANNAutoregressive examples

Update examples/MANN/MANNAutoregressive.ipynb

db24976

Co-authored-by: Paolo Viceconte <paolomariaviceconte@gmail.com>

Update examples/MANN/MANNAutoregressive.ipynb

933bc16

Co-authored-by: Stefano Dafarra <stefano.dafarra@gmail.com>

Update examples/MANN/MANNTrajectoryGenerator.ipynb

1cf61e4

Co-authored-by: Stefano Dafarra <stefano.dafarra@gmail.com>

Update examples/MANN/MANNAutoregressive.ipynb

9c94952

Co-authored-by: Paolo Viceconte <paolomariaviceconte@gmail.com>

GiulioRomualdi and others added 6 commits November 28, 2023 13:02

Update examples/MANN/MANNTrajectoryGenerator.ipynb

1f5a0fa

Co-authored-by: Paolo Viceconte <paolomariaviceconte@gmail.com>

Update examples/MANN/MANNTrajectoryGenerator.ipynb

5310f38

Co-authored-by: Paolo Viceconte <paolomariaviceconte@gmail.com>

Update examples/MANN/MANNAutoregressive.ipynb

e0f053f

Co-authored-by: Paolo Viceconte <paolomariaviceconte@gmail.com>

Update examples/MANN/MANNAutoregressive.ipynb

7f0f5b9

Co-authored-by: Paolo Viceconte <paolomariaviceconte@gmail.com>

Update examples/MANN/MANNAutoregressive.ipynb

0d7feee

Co-authored-by: Paolo Viceconte <paolomariaviceconte@gmail.com>

Better explain the meaning of dummy in ML component

ae62976

Avoid to hardcode horizon size in MANNAutoregressive

e19b84e

GiulioRomualdi and others added 6 commits November 28, 2023 17:23

Update examples/MANN/MANNTrajectoryGenerator.ipynb

d39b4ed

Co-authored-by: Paolo Viceconte <paolomariaviceconte@gmail.com>

Update examples/MANN/MANNTrajectoryGenerator.ipynb

9ac3524

Co-authored-by: Paolo Viceconte <paolomariaviceconte@gmail.com>

Update examples/MANN/MANNTrajectoryGenerator.ipynb

ae27d94

Co-authored-by: Paolo Viceconte <paolomariaviceconte@gmail.com>

Update examples/MANN/MANNTrajectoryGenerator.ipynb

ef278d8

Co-authored-by: Paolo Viceconte <paolomariaviceconte@gmail.com>

Update examples/MANN/MANNTrajectoryGenerator.ipynb

edb25e7

Co-authored-by: Paolo Viceconte <paolomariaviceconte@gmail.com>

Update README.md

2487d9b

S-Dafarra approved these changes Nov 29, 2023

View reviewed changes

GiulioRomualdi merged commit 83c8257 into master Nov 29, 2023
15 checks passed

GiulioRomualdi deleted the ml_restructuring branch November 29, 2023 09:20

GiulioRomualdi mentioned this pull request Nov 29, 2023

Restructure the SwingFootPlanner, the Contact component and the CentroidalMPCOutput #721

Closed

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Restructure ML component #771

Restructure ML component #771

GiulioRomualdi commented Nov 27, 2023 •

edited

Loading

S-Dafarra left a comment

S-Dafarra left a comment •

edited

Loading

S-Dafarra commented Nov 27, 2023

paolo-viceconte left a comment

GiulioRomualdi commented Nov 28, 2023

GiulioRomualdi commented Nov 28, 2023

GiulioRomualdi commented Nov 29, 2023 •

edited

Loading

Restructure ML component #771

Restructure ML component #771

Conversation

GiulioRomualdi commented Nov 27, 2023 • edited Loading

MANNAutoregressive

MANNTrajectoryGenerator

S-Dafarra left a comment

Choose a reason for hiding this comment

S-Dafarra left a comment • edited Loading

Choose a reason for hiding this comment

S-Dafarra commented Nov 27, 2023

paolo-viceconte left a comment

Choose a reason for hiding this comment

GiulioRomualdi commented Nov 28, 2023

GiulioRomualdi commented Nov 28, 2023

GiulioRomualdi commented Nov 29, 2023 • edited Loading

GiulioRomualdi commented Nov 27, 2023 •

edited

Loading

S-Dafarra left a comment •

edited

Loading

GiulioRomualdi commented Nov 29, 2023 •

edited

Loading