New dynamic optimization method, NMPC, external force, cycling#8

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Kev1CO wants to merge 130 commits intopyomeca:mainfrom Kev1CO:external_forces

+9,691-34,892

Commits on Oct 9, 2024

feat(external forces): implementing external forces into msk model
Kevin CO
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Commits on Oct 10, 2024

feat(external forces) last node control fix and functional external F
Kevin CO
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Commits on Oct 15, 2024

feat(pedal): trying to implement a pedal with 2 additional dof
Kevin CO
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Commits on Nov 22, 2024

Commits on Nov 26, 2024

feat(external_force): added example of cycling with ext_f and contact
Kevin CO
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Commits on Dec 3, 2024

feat (nmpc fes): some developpement for fes nmpc
Kevin CO
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Commits on Dec 4, 2024

feat (nmpc with fes): additionnal files to work on examples
Kevin CO
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Commits on Dec 5, 2024

feat (stimulation in model) : enabled the stimulation time in the model
Kevin CO
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feat (stimulation in model): now available for nmpc
Kevin CO
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Commits on Dec 6, 2024

feat (stimulation in model) : update stimulation time and width in nmpc
Kevin CO
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Commits on Dec 17, 2024

temp
Kevin CO
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Commits on Jan 7, 2025

fix(integration): identified bug for integrators using rk4
Kevin CO
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Commits on Jan 14, 2025

working on convergence
Kevin CO
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.
Kevin CO
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Commits on Jan 17, 2025

example regrouping torque/muscle/fes driven
Kevin CO
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correct pedal inertial for model
Kevin CO
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Making truncation possible again
Kevin CO
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Reducing node shooting to increase optimization time
Kevin CO
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Commits on Jan 31, 2025

FIX: now all parameters sent are associated to the good muscle
Kevin CO
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example cleaning
Kevin CO
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truncation adjustment
Kevin CO
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fes_ocp cleaning
Kevin CO
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removed the for_cycling argument
Kevin CO
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Custom rk4 integrator to enable rk4 calculation w/ out calcium error
Kevin CO
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Commits on Feb 4, 2025

nmpc example
Kevin CO
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Cleaning cycling examples
Kevin CO
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cleaning
Kevin CO
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get pulse width
Kevin CO
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Commits on Feb 5, 2025

Passive force implementation
Kevin CO
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working on nmpc
AnaisFarr
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Passive force
Kevin CO
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Commits on Feb 14, 2025

Modified the automated way of determining number of node shooting
Kevin CO
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removed stim_time from param and removed use_sx for faster computation
Kevin CO
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Corrected parameter values to the good unit
Kevin CO
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Graphical class to plot figures
Kevin CO
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Commits on Feb 17, 2025

New graphics and nmpc continuity fix
Kevin CO
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Commits on Feb 19, 2025

feat(numerical_data_time_series): new method to gain ocp creation time
Kevin CO
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Enabled bimapping and ivp with new optimization method
Kevin CO
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Commits on Feb 21, 2025

Examples and fes_ocp's update to new dynamic calculation method
Kevin CO
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Commits on Feb 24, 2025

get correct total cycle len
Kevin CO
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black
Kevin CO
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Passive force
Kevin CO
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Modified the automated way of determining number of node shooting
Kevin CO
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removed stim_time from param and removed use_sx for faster computation
Kevin CO
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Corrected parameter values to the good unit
Kevin CO
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Graphical class to plot figures
Kevin CO
committed
New graphics and nmpc continuity fix
Kevin CO
committed
feat(numerical_data_time_series): new method to gain ocp creation time
Kevin CO
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Enabled bimapping and ivp with new optimization method
Kevin CO
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Examples and fes_ocp's update to new dynamic calculation method
Kevin CO
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get correct total cycle len
Kevin CO
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black
Kevin CO
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Merge remote-tracking branch 'origin/external_forces' into external_forces
Kevin CO
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rerun version enforced
Ipuch
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mamba to conda
Kevin CO
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delete: image pickle and data
Ipuch
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renaming a model_msk
Ipuch
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obsolete scripts
Ipuch
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black
Ipuch
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fix control init order
Kevin CO
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ivp_test
Kevin CO
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back
Kevin CO
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refactor : example folder in root :
Ipuch
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model test
Kevin CO
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test model modification
Kevin CO
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todo
Kevin CO
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ready to test getting started
Ipuch
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test model maker
Kevin CO
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reblack again !
Ipuch
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identification
Ipuch
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nomore useless data
Ipuch
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delete: pickles
Ipuch
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renaming to fest_multibody
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ignore pkl
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id test
Kevin CO
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submodul update
Kevin CO
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actions
Ipuch
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make graph
Ipuch
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frequecy
Ipuch
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tests
Kevin CO
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refactor an example
Ipuch
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comment test
Kevin CO
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Refactor in progess for new OcpFes class
Kevin CO
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Commits on Feb 26, 2025

Removed submodule external/bioptim
Kevin CO
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example refactor to new ocpfes
Kevin CO
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fix cn error introduiced in previous commit
Kevin CO
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Commits on Feb 27, 2025

WIP id model
Kevin CO
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Commits on Feb 28, 2025

Refactor identification method
Kevin CO
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fes multibody examples
Kevin CO
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getting started nmpc example fix
Kevin CO
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multibody example refactor
Kevin CO
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multibody and nmpc example
Kevin CO
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init
Kevin CO
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Commits on Mar 1, 2025

nmpc_cycling wip
Kevin CO
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changed bound to facilitate convergence
Kevin CO
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init
Kevin CO
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torque val
Kevin CO
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.
Kevin CO
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Commits on Mar 2, 2025

int error difference
Kevin CO
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max iter
Kevin CO
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Commits on Mar 3, 2025

modification for more flexibility
Kevin CO
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submodules
Kevin CO
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Revert "Removed submodule external/bioptim"
Kevin CO
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saved UNDO information for reset changes and discarded files
Kevin CO
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submodule
Kevin CO
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example test
Kevin CO
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ivp test
Kevin CO
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Added submodule external/bioptim
Kevin CO
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ivp test
Kevin CO
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obsolete
Kevin CO
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todo
Kevin CO
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multibody tests
Kevin CO
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python version to match bioptim
Kevin CO
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Added submodule external/bioptim
Kevin CO
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definition and pathfile name
Kevin CO
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version
Kevin CO
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v4
Kevin CO
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Revert "v4"
Kevin CO
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v4
Kevin CO
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v4
Kevin CO
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Commits on Mar 4, 2025

fes cycling bound modification
Kevin CO
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fine tuned bounds and constraints for nmpc
Kevin CO
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Commits on Mar 5, 2025

float error
Kevin CO
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coverage testing
Kevin CO
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.
Kevin CO
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.
Kevin CO
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Commits on Mar 6, 2025

Cleaning before merge
Kevin CO
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Adressed issue pyomeca#12 data_process folder
Kevin CO
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