mahaarbo
mahaarbo
Hi! I'm testing out collision checking for a deformable mesh, and have run into a strange problem. If I define two collision objects, one is a box as an `fcl::Box`...
When speedtest fails to connect, it currently doesn't set the value in the database, just throws an error. It would be valuable to know when we no longer have connection...
Modify to allow for just a list of floats/ints and convert them to numpy arrays internally?
A minor speedup can be achieved in the pseudoinversecontroller if we use SX instead of MX. Aka, make everything SX functions where possible there.
If I recall correctly it's just in setup_problem_functions that it is required.
Currently the ModelPredictiveController does not have an initial problem solver. This can be a problem for situations where slack variables are required, or virtual variables. Not as big a problem...
PseudoInverseController has support for virtual vars, but doesn't actually try to solve them once so that they fit.
After implementing the MPC, it seems like lifting the initial conditions rather than taking them in as a parameter is a better option and can cause a speed-up.
Need some unittests. Minimal tests that can help: 1. [ ] Checking jacobians of a simple 1 D equality constraint 2. [ ] Create a SkillSpecification and count constraints 3....
Currently the github actions fail on the pytest run. The numerical values calculated are way off when compared to running them locally.