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Refactored MotionPlanner so that objective can be passed separately. #277

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merged 3 commits into from
Aug 26, 2022
Merged

Refactored MotionPlanner so that objective can be passed separately. #277

merged 3 commits into from
Aug 26, 2022

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luisenp
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@luisenp luisenp commented Aug 24, 2022 •
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Motivation and Context

Motion planner objective can be created separately, allowing one to modify the objective before wrapping in an optimizer and TheseusLayer. Note that this is a breaking change, old MotionPlanner code won't work anymore.

Closes #272

@luisenp luisenp requested a review from mhmukadam August 24, 2022 20:10
@facebook-github-bot facebook-github-bot added the CLA Signed This label is managed by the Facebook bot. Authors need to sign the CLA before a PR can be reviewed. label Aug 24, 2022
This was referenced Aug 25, 2022
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mhmukadam reviewed Aug 25, 2022
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Looks great!

@luisenp luisenp merged commit 73c5b32 into main Aug 26, 2022
@luisenp luisenp deleted the lep.separate_motion_planner_objective branch August 26, 2022 15:46
suddhu pushed a commit to suddhu/theseus that referenced this pull request Jan 21, 2023
@luisenp
Refactored MotionPlanner so that objective can be passed separately. (f…
c082987 
…acebookresearch#277)

* Refactored MotionPlanner so that objective can be passed separately.

* Made MotionPlannerObjective accessible from theseus.utils.examples.

* Removed irrelevant text from notebooks.
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@mhmukadam mhmukadam mhmukadam approved these changes

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