bharath2 / ilqr

iterative Linear Quadratic Regulator with constraints.

😄 I'm Bharath Chandra

• I'm currently pursuing masters in robotics at the University of Maryland, College Park.
• Email: [email protected]
• LinkedIn profile: Bharath Chandra

ilqr's Issues

py1 not defined when i run this code. There maybe a mistake write py1 as py2 in line 42

iLQR/examples/vehicle_control.py

Line 45 in b79a198

L = 0.2*(py1 - 1.5)**2

can you give the example to show the result of vehicle_control.py?

Cannot determine Numba type of <class 'function'>

Hi,
I am using a python environment named Firedrake (PDE solver) together with another libraries called pygmsh to implement a dynamical system inside the function f(x,u). When I try to run the code, it appears that one of my utility functions has an incompatibility with Numba, even though it doesn't use Numba at all.

Is there any way to make Numba invoked by ilqr ignore my functions?

errors in numba version

Hi,
when i try to run the code, it comes out some errors as follows:
`Traceback (most recent call last):
File "/home/ykezvd/workspace/iLQR/original/iLQR/examples/vehicle_control.py", line 70, in
xs, us, cost_trace = controller.fit(x0, us_init, 100)
File "/home/ykezvd/workspace/iLQR/original/iLQR/examples/../ilqr/controller.py", line 34, in fit
return run_ilqr(self.dynamics.f, self.dynamics.f_prime, self.cost.L,
File "/home/ykezvd/anaconda3/lib/python3.9/site-packages/numba/core/dispatcher.py", line 482, in _compile_for_args
error_rewrite(e, 'typing')
File "/home/ykezvd/anaconda3/lib/python3.9/site-packages/numba/core/dispatcher.py", line 423, in error_rewrite
raise e.with_traceback(None)
numba.core.errors.TypingError: Failed in nopython mode pipeline (step: nopython frontend)
Failed in nopython mode pipeline (step: nopython frontend)
Failed in nopython mode pipeline (step: nopython frontend)
No implementation of function Function() found for signature:

array(array(float64, 1d, C))

There are 4 candidate implementations:

• Of which 4 did not match due to:
  Overload in function '_OverloadWrapper._build..ol_generated': File: numba/core/overload_glue.py: Line 131.
  With argument(s): '(array(float64, 1d, C))':
  Rejected as the implementation raised a specific error:
  TypingError: Failed in nopython mode pipeline (step: nopython frontend)
  No implementation of function Function() found for signature:

  stub(array(float64, 1d, C))

There are 2 candidate implementations:
- Of which 2 did not match due to:
Intrinsic in function 'stub': File: numba/core/overload_glue.py: Line 35.
With argument(s): '(array(float64, 1d, C))':
Rejected as the implementation raised a specific error:
TypingError: array(float64, 1d, C) not allowed in a homogeneous sequence
raised from /home/ykezvd/anaconda3/lib/python3.9/site-packages/numba/core/typing/npydecl.py:487

`
It seems that there are some conflicts in numba version, and my version only support a homogeneous sequence, can you give a list of your python and numba version?

lowz not defined when i run this code.

iLQR/ilqr/utils.py

Line 42 in b79a198

cs.append((vars[i] - lowz[i])/diff)