[WIP] defects, contacts, implicit constraints, multinode constraints with cx_intermediates, ... #946

EveCharbie · 2025-03-24T13:03:52Z

This change is

pariterre

Reviewed 79 of 133 files at r1, all commit messages.
Reviewable status: 79 of 133 files reviewed, 33 unresolved discussions

bioptim/dynamics/dynamics_functions.py line 151 at r1 (raw file):

        dxdt, defects = None, None
        if not isinstance(nlp.ode_solver, OdeSolver.COLLOCATION):

Reverse the condition (if ...)

EDIT: Actually compare the ".defects_type" with a single if-else level

bioptim/dynamics/dynamics_functions.py line 159 at r1 (raw file):

                dxdt = nlp.cx(nlp.states.shape, ddq.shape[1])
                dxdt[nlp.states["q"].index, :] = horzcat(*[dq for _ in range(ddq.shape[1])])
                dxdt[nlp.states["qdot"].index, :] = ddq

You are allowed to break fatigue by removing this "if"

bioptim/dynamics/dynamics_functions.py line 177 at r1 (raw file):

                if fatigue is not None and "tau" in fatigue:
                    derivative = fatigue["tau"].dynamics(derivative, nlp, states, controls)

You are allowed to break "fatigue"

bioptim/dynamics/dynamics_functions.py line 266 at r1 (raw file):

        dxdt, defects = None, None
        if not isinstance(nlp.ode_solver, OdeSolver.COLLOCATION):

same

bioptim/dynamics/dynamics_functions.py line 352 at r1 (raw file):

        dxdt, defects = None, None
        if not isinstance(nlp.ode_solver, OdeSolver.COLLOCATION):

Same

bioptim/dynamics/dynamics_functions.py line 436 at r1 (raw file):

        dxdt, defects = None, None
        if not isinstance(nlp.ode_solver, OdeSolver.COLLOCATION):

Same

bioptim/dynamics/dynamics_functions.py line 578 at r1 (raw file):

        )

        dxdt, defects = None, None

Same

bioptim/dynamics/dynamics_functions.py line 662 at r1 (raw file):

        dxdt, defects = None, None
        if not isinstance(nlp.ode_solver, OdeSolver.COLLOCATION):

Same

bioptim/dynamics/dynamics_functions.py line 893 at r1 (raw file):

        dxdt, defects = None, None
        if not isinstance(nlp.ode_solver, OdeSolver.COLLOCATION):

Same

bioptim/dynamics/dynamics_functions.py line 1031 at r1 (raw file):

        dxdt, defects = None, None
        if not isinstance(nlp.ode_solver, OdeSolver.COLLOCATION):

Same

bioptim/dynamics/dynamics_functions.py line 1343 at r1 (raw file):

        dxdt, defects = None, None
        if not isinstance(nlp.ode_solver, OdeSolver.COLLOCATION):

Same

bioptim/dynamics/configure_problem.py line 194 at r1 (raw file):

        """

        _check_contacts_in_biorbd_model(contact_type, nlp.model, nlp.phase_idx)

list of "contact_type"

bioptim/dynamics/configure_problem.py line 202 at r1 (raw file):

        ConfigureProblem.configure_qddot(ocp, nlp, as_states=False, as_controls=False, as_states_dot=True)

        if contact_type == ContactType.RIGID_IMPLICIT:

Since for now, they are mutually exclusive, raise if len(contact_types) > 1

if contact_types in ...

bioptim/dynamics/configure_problem.py line 211 at r1 (raw file):

                as_states_dot=False,
            )
        elif contact_type == ContactType.RIGID_EXPLICIT:

not elif

bioptim/dynamics/configure_problem.py line 289 at r1 (raw file):

        )

        name_q_joints = [str(i) for i in range(nb_root, nb_q)]

Revert?

bioptim/dynamics/configure_problem.py line 370 at r1 (raw file):

        contact_type: ContactType = ContactType.NONE,
        with_friction: bool = False,
        with_cholesky: bool = False,

Consider using "DynamicOptions"?

bioptim/dynamics/configure_problem.py line 394 at r1 (raw file):

            A list of values to pass to the dynamics at each node. Experimental external forces should be included here.
        """
        with_contact = contact_type == ContactType.RIGID_EXPLICIT

Do as torque_driven

bioptim/dynamics/configure_problem.py line 548 at r1 (raw file):

        """
        with_contact = contact_type == ContactType.RIGID_EXPLICIT

Do as torque_driven

bioptim/dynamics/configure_problem.py line 549 at r1 (raw file):

        """
        with_contact = contact_type == ContactType.RIGID_EXPLICIT
        _check_contacts_in_biorbd_model(contact_type, nlp.model, nlp.phase_idx)

..._in_biomodel

bioptim/dynamics/configure_problem.py line 620 at r1 (raw file):

            A list of values to pass to the dynamics at each node. Experimental external forces should be included here.
        """
        with_contact = contact_type == ContactType.RIGID_EXPLICIT

Do as ForwardDynamics

bioptim/dynamics/configure_problem.py line 624 at r1 (raw file):

        ConfigureProblem.configure_q(ocp, nlp, True, False)
        ConfigureProblem.configure_qdot(ocp, nlp, True, False, as_states_dot=True)

remove the "as_states_dot" argument and consider it as always "True"

bioptim/dynamics/configure_problem.py line 625 at r1 (raw file):

        ConfigureProblem.configure_q(ocp, nlp, True, False)
        ConfigureProblem.configure_qdot(ocp, nlp, True, False, as_states_dot=True)
        ConfigureProblem.configure_qddot(ocp, nlp, False, False, as_states_dot=True)

Please add "as_states=False", "as_controls=False"

bioptim/dynamics/configure_problem.py line 1061 at r1 (raw file):

        dynamics_defects = dynamics_eval.defects
        if isinstance(dynamics_defects, (list, tuple)):
            dynamics_defects = vertcat(*dynamics_defects)

Consider outputting only "dynamics" from here, effectively removing the if block below (remove implicit_dynamics_func)

bioptim/dynamics/configure_problem.py line 1748 at r1 (raw file):

            name in nlp.variable_mappings
            and nlp.variable_mappings["m"].to_first.map_idx != nlp.variable_mappings["m"].to_second.map_idx
        ):

If useful :
Class Bimaping:
is_unary?

bioptim/dynamics/configure_problem.py line 2150 at r1 (raw file):

def _check_contacts_in_biorbd_model(contact_type: ContactType, model: BioModel, phase_idx: int):

bimodel

bioptim/__init__.py line 224 at r1 (raw file):

    PhaseDynamics,
    OnlineOptim,
    ContactType,

Is this really mutually exclusive?

bioptim/dynamics/ode_solvers.py line 124 at r1 (raw file):

            polynomial_degree: int = 4,
            method: str = "legendre",
            defects_type: DefectType = DefectType.QDDOT_EQUALS_FORWARD_DYNAMICS,

QDDOT_IS_FORWARD_DYNAMICS?

bioptim/dynamics/ode_solvers.py line 282 at r1 (raw file):

            t = [self.t_ode(nlp)[0], self.t_ode(nlp)[1] - self.t_ode(nlp)[0]]
            dynamics_func = nlp.dynamics_func if not is_extra_dynamics else nlp.extra_dynamics_func[dynamics_index]
            implicit_dynamics_func = (

Not needed anymore

bioptim/examples/getting_started/how_to_plot.py line 20 at r1 (raw file):

# --- Plot the reintegration to confirm dynamics consistency --- #

Clean this

bioptim/dynamics/ode_solver_base.py line 192 at r1 (raw file):

            The index of the node currently initialized
        is_implicit
            If the dynamics is implicit or not

Remove

bioptim/examples/stochastic_optimal_control/arm_reaching_torque_driven_collocations.py line 193 at r1 (raw file):

        expand_dynamics=True,
        with_friction=True,
        ode_solver=OdeSolver.COLLOCATION,  # This will be overwritten by the SocpType

Should not?

bioptim/examples/getting_started/custom_dynamics.py line 82 at r1 (raw file):

    dxdt, defects = None, None
    if not isinstance(nlp.ode_solver, OdeSolver.COLLOCATION):

reverse

bioptim/examples/getting_started/custom_dynamics.py line 92 at r1 (raw file):

        defects = vertcat(slope_q, slope_qdot) * nlp.dt - vertcat(dq, ddq) * nlp.dt

    return DynamicsEvaluation(dxdt=dxdt, defects=defects)

REVERT FROM WHAT WAS SAID BEFORE

DynamicsEvaluation is actually necessary

Add a not why dxdt can or can be not declared when using COLLOCATION

EveCharbie

Reviewable status: 58 of 134 files reviewed, 33 unresolved discussions (waiting on @pariterre)

bioptim/__init__.py line 224 at r1 (raw file):