Remove option to optionally compute extra terms.

duburcqa · Jan 2, 2024 · 7907959 · 7907959
1 parent 0bb9e9b
commit 7907959
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Showing 10 changed files with 5 additions and 25 deletions.
diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
@@ -30,8 +30,7 @@ jobs:
       TORCH_VERSION: "2.0.1"
       CMAKE_C_COMPILER: "/usr/bin/clang"
       CMAKE_CXX_COMPILER: "/usr/bin/clang++"
-      CMAKE_CXX_FLAGS: |
-        "-DEIGEN_MPL2_ONLY -D_LIBCPP_ENABLE_CXX17_REMOVED_UNARY_BINARY_FUNCTION -Wno-deprecated-declarations"
+      CMAKE_CXX_FLAGS: "-DEIGEN_MPL2_ONLY -D_LIBCPP_ENABLE_CXX17_REMOVED_UNARY_BINARY_FUNCTION -Wno-deprecated-declarations"
       OSX_DEPLOYMENT_TARGET: "11.0"
       OSX_ARCHITECTURES: "x86_64;arm64"
       WHEEL_ARCH: "universal2"

diff --git a/core/examples/double_pendulum/double_pendulum.cc b/core/examples/double_pendulum/double_pendulum.cc
@@ -110,7 +110,6 @@ int main(int /* argc */, char * /* argv */[])
     boost::get<double>(stepperOptions.at("sensorsUpdatePeriod")) = 1.0e-3;
     boost::get<double>(stepperOptions.at("controllerUpdatePeriod")) = 1.0e-3;
     boost::get<bool>(stepperOptions.at("logInternalStepperSteps")) = false;
-    boost::get<bool>(stepperOptions.at("computeExtraTerms")) = true;
     boost::get<uint32_t>(stepperOptions.at("randomSeed")) = 0U;  // `time(nullptr)` for random seed
     GenericConfig & contactsOptions = boost::get<GenericConfig>(simuOptions.at("contacts"));
     boost::get<std::string>(contactsOptions.at("model")) = std::string("spring_damper");

diff --git a/core/include/jiminy/core/engine/engine_multi_robot.h b/core/include/jiminy/core/engine/engine_multi_robot.h
@@ -152,7 +152,6 @@ namespace jiminy
             config["sensorsUpdatePeriod"] = 0.0;
             config["controllerUpdatePeriod"] = 0.0;
             config["logInternalStepperSteps"] = false;
-            config["computeExtraTerms"] = true;
 
             return config;
         };
@@ -261,7 +260,6 @@ namespace jiminy
             const double sensorsUpdatePeriod;
             const double controllerUpdatePeriod;
             const bool logInternalStepperSteps;
-            const bool computeExtraTerms;
 
             stepperOptions_t(const GenericConfig & options) :
             verbose{boost::get<bool>(options.at("verbose"))},
@@ -276,8 +274,7 @@ namespace jiminy
             timeout{boost::get<double>(options.at("timeout"))},
             sensorsUpdatePeriod{boost::get<double>(options.at("sensorsUpdatePeriod"))},
             controllerUpdatePeriod{boost::get<double>(options.at("controllerUpdatePeriod"))},
-            logInternalStepperSteps{boost::get<bool>(options.at("logInternalStepperSteps"))},
-            computeExtraTerms{boost::get<bool>(options.at("computeExtraTerms"))}
+            logInternalStepperSteps{boost::get<bool>(options.at("logInternalStepperSteps"))}
             {
             }
         };

diff --git a/core/src/engine/engine_multi_robot.cc b/core/src/engine/engine_multi_robot.cc
@@ -1632,10 +1632,7 @@ namespace jiminy
             }
 
             // Compute all external terms including joints accelerations and forces if requested
-            if (engineOptions_->stepper.computeExtraTerms)
-            {
-                computeAllExtraTerms(systems_, systemsDataHolder_, fPrev_);
-            }
+            computeAllExtraTerms(systems_, systemsDataHolder_, fPrev_);
 
             // Backend the updated joint accelerations and forces
             syncAllAccelerationsAndForces(systems_, contactForcesPrev_, fPrev_, aPrev_);
@@ -2272,10 +2269,7 @@ namespace jiminy
                         /* Compute all external terms including joints accelerations and forces.
                            Note that it is possible to call this method because `pinocchio::Data`
                            is guaranteed to be up-to-date at this point. */
-                        if (engineOptions_->stepper.computeExtraTerms)
-                        {
-                            computeAllExtraTerms(systems_, systemsDataHolder_, fPrev_);
-                        }
+                        computeAllExtraTerms(systems_, systemsDataHolder_, fPrev_);
 
                         // Backend the updated joint accelerations and forces
                         syncAllAccelerationsAndForces(
@@ -2399,10 +2393,7 @@ namespace jiminy
                         syncSystemsStateWithStepper();
 
                         // Compute all external terms including joints accelerations and forces
-                        if (engineOptions_->stepper.computeExtraTerms)
-                        {
-                            computeAllExtraTerms(systems_, systemsDataHolder_, fPrev_);
-                        }
+                        computeAllExtraTerms(systems_, systemsDataHolder_, fPrev_);
 
                         // Backend the updated joint accelerations and forces
                         syncAllAccelerationsAndForces(

diff --git a/data/bipedal_robots/atlas/atlas_v4_options.toml b/data/bipedal_robots/atlas/atlas_v4_options.toml
@@ -6,7 +6,6 @@ odeSolver = "euler_explicit"
 sensorsUpdatePeriod = 0.005
 controllerUpdatePeriod = 0.005
 logInternalStepperSteps = false
-computeExtraTerms = true
 randomSeed = 0
 
 # ============== Contact dynamics ===============

diff --git a/data/bipedal_robots/cassie/cassie_options.toml b/data/bipedal_robots/cassie/cassie_options.toml
@@ -6,7 +6,6 @@ odeSolver = "euler_explicit"
 sensorsUpdatePeriod = 0.005
 controllerUpdatePeriod = 0.005
 logInternalStepperSteps = false
-computeExtraTerms = true
 randomSeed = 0
 
 # ============== Contact dynamics ===============

diff --git a/data/bipedal_robots/digit/digit_options.toml b/data/bipedal_robots/digit/digit_options.toml
@@ -6,7 +6,6 @@ odeSolver = "euler_explicit"
 sensorsUpdatePeriod = 0.005
 controllerUpdatePeriod = 0.005
 logInternalStepperSteps = false
-computeExtraTerms = true
 randomSeed = 0
 
 # ============== Ground dynamics ===============

diff --git a/data/quadrupedal_robots/anymal/anymal_options.toml b/data/quadrupedal_robots/anymal/anymal_options.toml
@@ -6,7 +6,6 @@ odeSolver = "euler_explicit"
 sensorsUpdatePeriod = 0.005
 controllerUpdatePeriod = 0.005
 logInternalStepperSteps = false
-computeExtraTerms = true
 randomSeed = 0
 
 # ============== Ground dynamics ===============

diff --git a/data/toys_models/ant/ant_options.toml b/data/toys_models/ant/ant_options.toml
@@ -6,7 +6,6 @@ odeSolver = "runge_kutta_4"
 sensorsUpdatePeriod = 0.01
 controllerUpdatePeriod = 0.01
 logInternalStepperSteps = false
-computeExtraTerms = true
 randomSeed = 0
 
 # ============== Contact dynamics ===============

diff --git a/python/jiminy_py/examples/double_pendulum.py b/python/jiminy_py/examples/double_pendulum.py
@@ -63,7 +63,6 @@ def internalDynamics(t, q, v, sensors_data, u_custom):
 engine_options["stepper"]["sensorsUpdatePeriod"] = 1.0e-3
 engine_options["stepper"]["controllerUpdatePeriod"] = 1.0e-3
 engine_options["stepper"]["logInternalStepperSteps"] = False
-engine_options["stepper"]["computeExtraTerms"] = False
 engine_options["stepper"]["randomSeed"] = 0
 engine_options['contacts']['model'] = "spring_damper"
 engine_options['contacts']['stiffness'] = 1.0e6