feat: 第一次提交
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# Default ignored files
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/shelf/
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/workspace.xml
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# Editor-based HTTP Client requests
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/httpRequests/
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# Datasource local storage ignored files
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/dataSources/
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/dataSources.local.xml
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<component name="InspectionProjectProfileManager">
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<profile version="1.0">
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<option name="myName" value="Project Default" />
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<inspection_tool class="PyCompatibilityInspection" enabled="true" level="WARNING" enabled_by_default="true">
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<option name="ourVersions">
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<value>
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<list size="2">
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<item index="0" class="java.lang.String" itemvalue="3.9" />
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<item index="1" class="java.lang.String" itemvalue="3.11" />
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</list>
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</value>
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</option>
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</inspection_tool>
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</profile>
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</component>
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@ -0,0 +1,6 @@
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<component name="InspectionProjectProfileManager">
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<settings>
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<option name="USE_PROJECT_PROFILE" value="false" />
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<version value="1.0" />
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</settings>
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</component>
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<?xml version="1.0" encoding="UTF-8"?>
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<project version="4">
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<component name="Black">
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<option name="sdkName" value="Python 3.12 (mpc_python12)" />
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</component>
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<component name="ProjectRootManager" version="2" project-jdk-name="Python 3.12 (mpc_python12)" project-jdk-type="Python SDK" />
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<component name="PythonCompatibilityInspectionAdvertiser">
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<option name="version" value="3" />
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</component>
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</project>
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<?xml version="1.0" encoding="UTF-8"?>
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<project version="4">
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<component name="ProjectModuleManager">
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<modules>
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<module fileurl="file://$PROJECT_DIR$/.idea/mpc_python.iml" filepath="$PROJECT_DIR$/.idea/mpc_python.iml" />
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</modules>
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</component>
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</project>
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@ -0,0 +1,14 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<module type="PYTHON_MODULE" version="4">
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<component name="NewModuleRootManager">
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<content url="file://$MODULE_DIR$">
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<excludeFolder url="file://$MODULE_DIR$/venv" />
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</content>
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<orderEntry type="jdk" jdkName="Python 3.12 (mpc_python12)" jdkType="Python SDK" />
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<orderEntry type="sourceFolder" forTests="false" />
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</component>
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<component name="PyDocumentationSettings">
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<option name="format" value="PLAIN" />
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<option name="myDocStringFormat" value="Plain" />
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</component>
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</module>
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@ -0,0 +1,6 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<project version="4">
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<component name="VcsDirectoryMappings">
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<mapping directory="" vcs="Git" />
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</component>
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</project>
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@ -9,12 +9,12 @@ This mainly uses **[CVXPY](https://www.cvxpy.org/)** as a framework. This repo c
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* To run the pybullet demo:
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```bash
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python3 mpc_demo_pybullet.py
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python3 ./mpc_pybullet_demo/mpc_demo_pybullet.py
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```
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* To run the simulation-less demo (simpler demo that does not use pybullet, useful for debugging):
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```bash
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python3 mpc_demo_pybullet.py
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python3 ./mpc_pybullet_demo/mpc_demo_nosim.py
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```
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In both cases the script will promt the user for `enter` before starting the demo.
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@ -11,9 +11,22 @@
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},
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{
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"cell_type": "code",
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"execution_count": 1,
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"metadata": {},
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"outputs": [],
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"execution_count": 2,
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"metadata": {
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"ExecuteTime": {
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"end_time": "2024-10-22T08:05:56.118290Z",
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"start_time": "2024-10-22T08:05:46.550696Z"
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}
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},
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"outputs": [
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{
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"name": "stderr",
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"output_type": "stream",
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"text": [
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"Matplotlib is building the font cache; this may take a moment.\n"
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]
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}
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],
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"source": [
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"import numpy as np\n",
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"from scipy.integrate import odeint\n",
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@ -177,8 +190,13 @@
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},
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{
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"cell_type": "code",
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"execution_count": 4,
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"metadata": {},
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"execution_count": 3,
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"metadata": {
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"ExecuteTime": {
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"end_time": "2024-10-22T08:06:14.547915Z",
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"start_time": "2024-10-22T08:06:14.544585Z"
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}
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},
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"outputs": [],
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"source": [
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"# Define process model\n",
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@ -220,15 +238,23 @@
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},
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{
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"cell_type": "code",
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"execution_count": 5,
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"metadata": {},
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"execution_count": 4,
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"metadata": {
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"ExecuteTime": {
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"end_time": "2024-10-22T08:06:17.956990Z",
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"start_time": "2024-10-22T08:06:17.847071Z"
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}
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},
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"outputs": [
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{
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"CPU times: user 3.39 ms, sys: 0 ns, total: 3.39 ms\n",
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"Wall time: 2.79 ms\n"
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"ename": "NameError",
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"evalue": "name 'M' is not defined",
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"output_type": "error",
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"traceback": [
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"\u001B[0;31m---------------------------------------------------------------------------\u001B[0m",
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"\u001B[0;31mNameError\u001B[0m Traceback (most recent call last)",
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"File \u001B[0;32m<timed exec>:1\u001B[0m\n",
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"\u001B[0;31mNameError\u001B[0m: name 'M' is not defined"
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]
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}
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],
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@ -443,9 +469,9 @@
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],
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"metadata": {
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"kernelspec": {
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"display_name": "Python [conda env:.conda-jupyter] *",
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"name": "python3",
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"language": "python",
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"name": "conda-env-.conda-jupyter-py"
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"display_name": "Python 3 (ipykernel)"
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},
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"language_info": {
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"codemirror_mode": {
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@ -1,6 +1,6 @@
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pybullet==2.7.2
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cvxpy==1.0.28
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pybullet>=2.7.2
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cvxpy>=1.0.28
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dccp
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numpy>=1.22
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osqp==0.6.1
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scipy==1.10.0
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osqp>=0.6.1
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scipy>=1.10.0
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