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[RTR] StochastiOCP merge#715

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Merged

pariterre merged 57 commits intopyomeca:masterpyomeca/bioptim:masterfrom EveCharbie:StochasticOCP_mergeEveCharbie/bioptim:StochasticOCP_mergeCopy head branch name to clipboardJul 18, 2023

+19,857-321

Commits

Commits on Jul 11, 2023

• init and SOCP class

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• configure_problem

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• dynamics

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• examples

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• model

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• interface + solver_options

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• penalty functions

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• penalty controller + options

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  2b42bfd

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• nlp + ocp

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• optimization vector (not sure of this merge)

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• problem type

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• solution (not sure of this merge)

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  01a74b5

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• added test

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• solve ivp

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• forgot dynamics and integrator

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• updated examples

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  e4c6f7d

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• fixed bounds

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  f1418ff

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• dissected OCP into smaller functions

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Commits on Jul 12, 2023

• copy-pasting error fix

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• Merge remote-tracking branch 'pyomeca/master' into StochasticOCP_merge

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  4f5e424

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• Problem here!

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  a5d4251

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• fixed the graphs

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  595ea0c

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• updates torque_driven example

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  1f05943

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• fixed chech_onditionning

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• generalized to all integrators

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  1257a97

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• fixed plot tests

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  93d8acf

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• fixed some tests

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• fixed solution

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• test_all_examples passes

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• fixed tests up to custom_model

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• fixed tests up to mhe

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• fixed some more tests (up to penalty)

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• blacked

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Commits on Jul 13, 2023

• moved function to understand

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Commits on Jul 14, 2023

• fixed tests

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• blacked

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• cleaned example + refactor

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• nlp_scaling_methods works again

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• made it understandable (doc + name changes)

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• made requested changes

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• Merge remote-tracking branch 'pyomeca/master' into StochasticOCP_merge

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  21844e8

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• blacked

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  de63b71

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• added a test for arm_reaching_torque_driven

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• fixed plots

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• blacked

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• test mass_matrix + nleffects

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• blacked

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Commits on Jul 17, 2023

• fixed acados?

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• fixed last tests ?

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• error acados

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• blacked

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• added doc to the readme

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• Merge remote-tracking branch 'origin/StochasticOCP_merge' into StochasticOCP_merge

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• forgot g

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• fixed acados?

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• blacked

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Commits on Jul 18, 2023

• made requested changes

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