7.7.24 ploty_sliding block #185
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Was this from a branch as it should be? |
Yes! |
I hope, more than just plain luck...! |
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The computation time is relatively large compared to the other examples: Also some issues still: |
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Running time: other issues: |
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If you are not building the documentation locally, you will not see all of the errors/warnings nor will you get the full timings. |
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You told me this: I am running these .py simulations in VSC, maybe this causes the problems? |
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You have python setup already. You can run it many ways: jupyter, vs code, command prompt, etc. The command prompt is the most basic and universal way to interact with python, thus all instructions we provide in development is for the command prompt. If we explain the hundreds of ways to interact with python in our readme's, they'd be miles long. I sent the two software carpentry lessions: shell (command prompt) and git. If you master those two lessons you have the basics in place. Everything else (github, jupyter, vs code) is just a glossy cover over those two things. |
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For example this is how I test your pull request at the command prompt (note this will have slight differences on windows): moorepants$ cd ~/src/opty/
opty(master)$ git fetch Peter230655 plot_sliding_block_2
remote: Enumerating objects: 33, done.
remote: Counting objects: 100% (31/31), done.
remote: Compressing objects: 100% (12/12), done.
remote: Total 22 (delta 15), reused 17 (delta 10), pack-reused 0
Unpacking objects: 100% (22/22), 7.34 KiB | 577.00 KiB/s, done.
From github.com:Peter230655/opty
* branch plot_sliding_block_2 -> FETCH_HEAD
* [new branch] plot_sliding_block_2 -> Peter230655/plot_sliding_block_2
opty(master)$ git checkout --track Peter230655/plot_sliding_block_2
branch 'plot_sliding_block_2' set up to track 'Peter230655/plot_sliding_block_2'.
Switched to a new branch 'plot_sliding_block_2'
opty(plot_sliding_block_2)$ conda env create -f opty-dev-env.yml
<lots of conda install output>
opty(plot_sliding_block_2)$ conda activate opty-dev
(opty-dev) opty(plot_sliding_block_2)$ which python
/home/moorepants/miniconda/envs/opty-dev/bin/python
(opty-dev) opty(plot_sliding_block_2)$ cd docs/
(opty-dev) docs(plot_sliding_block_2)$ make clean
Removing everything under '_build'...
(opty-dev) docs(plot_sliding_block_2)$ make html
Running Sphinx v7.3.7
making output directory... done
Using Sphinx-Gallery to convert rst text blocks to markdown for .ipynb files.
[autosummary] generating autosummary for: api.rst, examples.rst, examples/index.rst, examples/plot_betts2003.rst, examples/plot_drone.rst, examples/plot_one_legged_time_trial.rst, examples/plot_parallel_park.rst, examples/plot_pendulum_swing_up_fixed_duration.rst, examples/plot_pendulum_swing_up_variable_duration.rst, examples/plot_sliding_block.rst, examples/plot_two_link_pendulum_on_a_cart.rst, examples/sg_execution_times.rst, index.rst, sg_execution_times.rst, theory.rst
generating gallery...
generating gallery for examples... [100%] plot_one_legged_time_trial.py
******************************************************************************
This program contains Ipopt, a library for large-scale nonlinear optimization.
Ipopt is released as open source code under the Eclipse Public License (EPL).
For more information visit https://github.com/coin-or/Ipopt
******************************************************************************
This is Ipopt version 3.14.16, running with linear solver MUMPS 5.7.2.
Number of nonzeros in equality constraint Jacobian...: 91885
Number of nonzeros in inequality constraint Jacobian.: 0
Number of nonzeros in Lagrangian Hessian.............: 0
Total number of variables............................: 4241
variables with only lower bounds: 0
variables with lower and upper bounds: 2121
variables with only upper bounds: 0
Total number of equality constraints.................: 3181
Total number of inequality constraints...............: 0
inequality constraints with only lower bounds: 0
inequality constraints with lower and upper bounds: 0
inequality constraints with only upper bounds: 0
iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls
0 2.0000000e-02 6.84e+02 1.46e-05 0.0 0.00e+00 - 0.00e+00 0.00e+00 0
1 1.9179269e-02 6.80e+02 3.25e+03 1.0 6.16e+02 - 1.28e-02 1.03e-02f 1
2 1.9031353e-02 6.79e+02 8.15e+03 2.0 5.27e+02 - 1.36e-01 2.59e-03f 1
3 1.8883513e-02 6.78e+02 6.45e+04 3.1 5.11e+02 - 3.18e-02 3.07e-03h 1
4 1.8891090e-02 6.78e+02 7.92e+04 -4.3 5.01e+02 - 7.94e-04 1.33e-04h 1
5 1.8923894e-02 6.77e+02 1.00e+05 3.6 7.85e+02 - 1.34e-03 6.70e-04h 1
6 1.9050732e-02 6.77e+02 1.10e+06 3.6 4.89e+02 - 5.10e-03 5.02e-04h 1
7 1.9610477e-02 6.76e+02 2.68e+06 3.6 2.87e+02 - 5.19e-03 1.54e-03h 1
8 1.9694127e-02 6.76e+02 3.38e+06 3.6 5.93e+02 - 6.80e-04 2.56e-04h 1
9 1.9874606e-02 6.75e+02 3.81e+06 3.6 7.94e+02 - 6.31e-04 5.63e-04h 1
<lots of ipopt output>
iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls
200 2.4607361e-02 3.79e-05 1.04e-09 -11.0 8.13e-03 - 1.00e+00 1.00e+00H 1
201 2.4607361e-02 1.20e-05 3.15e-10 -11.0 4.21e-03 - 1.00e+00 1.00e+00H 1
202 2.4607361e-02 1.72e-07 2.87e-11 -11.0 5.91e-04 - 1.00e+00 1.00e+00H 1
203 2.4607361e-02 5.50e-06 3.03e-09 -11.0 4.64e-03 - 1.00e+00 6.25e-02h 5
204 2.4607361e-02 1.34e-11 1.97e-11 -11.0 1.98e-07 -4.0 1.00e+00 1.00e+00h 1
Number of Iterations....: 204
(scaled) (unscaled)
Objective...............: 2.4607360894979963e-02 2.4607360894979963e-02
Dual infeasibility......: 1.9668184546835490e-11 1.9668184546835490e-11
Constraint violation....: 1.3385070829485812e-11 1.3385070829485812e-11
Variable bound violation: 1.0734583222316019e-08 1.0734583222316019e-08
Complementarity.........: 1.0000000671879242e-11 1.0000000671879242e-11
Overall NLP error.......: 1.9668184546835490e-11 1.9668184546835490e-11
Number of objective function evaluations = 287
Number of objective gradient evaluations = 192
Number of equality constraint evaluations = 287
Number of inequality constraint evaluations = 0
Number of equality constraint Jacobian evaluations = 206
Number of inequality constraint Jacobian evaluations = 0
Number of Lagrangian Hessian evaluations = 0
Total seconds in IPOPT = 5.985
EXIT: Optimal Solution Found.
computation time summary:
- ../examples-gallery/plot_one_legged_time_trial.py: 46.76 sec 0.0 MB
- ../examples-gallery/plot_betts2003.py: 0.00 sec 0.0 MB
- ../examples-gallery/plot_drone.py: 0.00 sec 0.0 MB
- ../examples-gallery/plot_parallel_park.py: 0.00 sec 0.0 MB
- ../examples-gallery/plot_pendulum_swing_up_fixed_duration.py: 0.00 sec 0.0 MB
- ../examples-gallery/plot_pendulum_swing_up_variable_duration.py: 0.00 sec 0.0 MB
- ../examples-gallery/plot_sliding_block.py: 0.00 sec 0.0 MB
- ../examples-gallery/plot_two_link_pendulum_on_a_cart.py: 0.00 sec 0.0 MB
building [mo]: targets for 0 po files that are out of date
writing output...
building [html]: targets for 15 source files that are out of date
updating environment: [new config] 15 added, 0 changed, 0 removed
This is Ipopt version 3.14.16, running with linear solver MUMPS 5.7.2.
Number of nonzeros in equality constraint Jacobian...: 49990
Number of nonzeros in inequality constraint Jacobian.: 0
Number of nonzeros in Lagrangian Hessian.............: 0
Total number of variables............................: 10001
variables with only lower bounds: 0
variables with lower and upper bounds: 0
variables with only upper bounds: 0
Total number of equality constraints.................: 9998
Total number of inequality constraints...............: 0
inequality constraints with only lower bounds: 0
inequality constraints with lower and upper bounds: 0
inequality constraints with only upper bounds: 0
iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls
0 0.0000000e+00 7.76e+01 0.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0
1 6.7321529e-01 8.09e+00 5.16e+01 -11.0 3.72e+01 - 1.00e+00 1.00e+00h 1
2 1.3718868e+00 1.57e+00 5.39e+01 -11.0 1.02e+01 - 1.00e+00 1.00e+00h 1
3 1.4050365e+00 1.98e-01 3.66e+01 -11.0 2.36e+00 - 1.00e+00 1.00e+00h 1
4 1.4015386e+00 2.14e-03 2.98e+00 -11.0 1.22e-01 - 1.00e+00 1.00e+00h 1
5 1.3967390e+00 4.05e-07 2.46e-03 -11.0 2.46e-03 - 1.00e+00 1.00e+00h 1
6 1.2710070e-01 6.28e-02 4.15e-01 -11.0 7.18e-01 - 1.00e+00 1.00e+00f 1
7 1.2374339e-01 1.50e-03 7.61e-03 -11.0 7.82e-02 - 1.00e+00 1.00e+00h 1
8 1.2348293e-01 8.47e-05 2.99e-04 -11.0 2.08e-02 - 1.00e+00 1.00e+00h 1
9 1.2348264e-01 1.94e-08 2.84e-05 -11.0 4.14e-04 - 1.00e+00 1.00e+00h 1
iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls
10 1.2348264e-01 5.10e-11 1.96e-09 -11.0 1.96e-05 - 1.00e+00 1.00e+00h 1
Number of Iterations....: 10
(scaled) (unscaled)
Objective...............: 1.2348263509146683e-01 1.2348263509146683e-01
Dual infeasibility......: 1.9599363061326147e-09 1.9599363061326147e-09
Constraint violation....: 5.0980553112367488e-11 5.0980553112367488e-11
Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00
Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00
Overall NLP error.......: 1.9599363061326147e-09 1.9599363061326147e-09
Number of objective function evaluations = 11
Number of objective gradient evaluations = 11
Number of equality constraint evaluations = 11
Number of inequality constraint evaluations = 0
Number of equality constraint Jacobian evaluations = 11
Number of inequality constraint Jacobian evaluations = 0
Number of Lagrangian Hessian evaluations = 0
Total seconds in IPOPT = 0.448
EXIT: Optimal Solution Found.
reading sources... [100%] theory
/home/moorepants/src/opty/opty/direct_collocation.py:docstring of opty.direct_collocation.ConstraintCollocator:28: WARNING: Inline literal start-string without end-string.
/home/moorepants/src/opty/opty/direct_collocation.py:docstring of opty.direct_collocation.Problem:48: WARNING: Inline literal start-string without end-string.
looking for now-outdated files... none found
pickling environment... done
checking consistency... done
preparing documents... done
copying downloadable files... [100%] examples/plot_two_link_pendulum_on_a_cart.py
copying static files... done
copying extra files... done
done
writing output... [100%] theory
/home/moorepants/src/opty/docs/examples/index.rst:126: WARNING: Failed to create a cross reference. A title or caption not found: 'sphx_glr_examples_plot_sliding_block.py'
/home/moorepants/src/opty/docs/examples/index.rst:158: WARNING: toctree contains reference to document 'examples/plot_sliding_block' that doesn't have a title: no link will be generated
/home/moorepants/src/opty/docs/examples/index.rst:158: WARNING: toctree contains reference to document 'examples/plot_sliding_block' that doesn't have a title: no link will be generated
/home/moorepants/src/opty/docs/examples/index.rst:158: WARNING: toctree contains reference to document 'examples/plot_sliding_block' that doesn't have a title: no link will be generated
/home/moorepants/src/opty/docs/examples/index.rst:158: WARNING: toctree contains reference to document 'examples/plot_sliding_block' that doesn't have a title: no link will be generated
/home/moorepants/src/opty/docs/examples/index.rst:158: WARNING: toctree contains reference to document 'examples/plot_sliding_block' that doesn't have a title: no link will be generated
/home/moorepants/src/opty/docs/examples/index.rst:158: WARNING: toctree contains reference to document 'examples/plot_sliding_block' that doesn't have a title: no link will be generated
/home/moorepants/src/opty/docs/examples/index.rst:158: WARNING: toctree contains reference to document 'examples/plot_sliding_block' that doesn't have a title: no link will be generated
/home/moorepants/src/opty/docs/examples/index.rst:158: WARNING: toctree contains reference to document 'examples/plot_sliding_block' that doesn't have a title: no link will be generated
/home/moorepants/src/opty/docs/examples/index.rst:158: WARNING: toctree contains reference to document 'examples/plot_sliding_block' that doesn't have a title: no link will be generated
/home/moorepants/src/opty/docs/examples/sg_execution_times.rst:53: WARNING: Failed to create a cross reference. A title or caption not found: 'sphx_glr_examples_plot_sliding_block.py'
/home/moorepants/src/opty/docs/sg_execution_times.rst:53: WARNING: Failed to create a cross reference. A title or caption not found: 'sphx_glr_examples_plot_sliding_block.py'
generating indices... genindex py-modindex done
highlighting module code... [100%] opty.utils
writing additional pages... search done
copying images... [100%] examples/one-legged-time-trial.svg
dumping search index in English (code: en)... done
dumping object inventory... done
Sphinx-Gallery successfully executed 1 out of 1 file subselected by:
gallery_conf["filename_pattern"] = '/plot'
gallery_conf["ignore_pattern"] = '__init__\\.py'
after excluding 7 files that had previously been run (based on MD5).
embedding documentation hyperlinks...
embedding documentation hyperlinks for examples... [100%] plot_parallel_park.html
build succeeded, 14 warnings.
The HTML pages are in _build/html.
(opty-dev) docs(plot_sliding_block_2)$ firefox _build/html/examples/index.htmlAfter than my browser opens and I see the version of the documentation with your new additions: And you can see that the errors in the output of You have a Windows computer with different software installed than me, so the exact commands I typed above will likely not work for you, but if you adjust them for your setup, then you can do the same. The commands I run are the same commands that the automatic Github based systems run on every Pull request to build the documentation here: https://opty.readthedocs.io/latest/ |
Yes, you did! I saw the video, which somehow pointed to VSC git, so I thought I'd found an easier way. |
If you want to contribute to development with software, it is a necessity. You can minimize the use of it via various tools (glossy covers), but there are some aspects that simply have to be done at the command prompt. |
surely this will help me, as I see the commands and can copy them!! |
I think, you are right! Just seems harder than writing programs. I think, it was easier for me to modify KanesMethod to accept nonlinear motion constraints than to put my sliding block on a branch! :-( |
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Everything you type at the command prompt is a program. It is just written in BASH, Windows batch language, or the language of what ever shell/prompt you are using. |
I assume, that if you want to build house, you need to be able to handle a hammer a saw and a carpenter's square. Similr here. |
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There are also a million commands in Python :) |
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Fair enough - but at least I know some of them! :-) |
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