Jerry Zhi-Yang He

@glewis17 you can also use the navigation scenarios generated [here](https://github.com/StanfordVL/GibsonEnv/blob/master/gibson/data/README.md#navigation-benchmark-scenarios) For every building model, we generated 100 practical navigation scenarios, with their initial&target locations and waypoints. You can randomize robot...

You can use `env.robot.reset_new_pose(pos, orn)` to set the robot to arbitrary position and orientation. Pos is xyz position and orn is wxyz quaternion. Note that doing so may lead to...

[This project](https://github.com/locuslab/qpth) based on PyTorch may also be of interest. They implemented a batch QP solver (primal-dual interior-point method) which may be good enough for the use case of trajOpt....

Thanks for linking your benchmark code. I agree with the judgment call to go with IFOPT. For dense matrix operations, I think there will be very little speed gain from...