acf986

This modification allows changing the level of continuity during optimization. A.k.a, if a 7th order polynomial spline is used, it can be only C3, or C2 continuous. Code is taken...

In optimization_problem_2d.cc, line 279~287 there is: ``` for (const auto& node_id_data : node_data_) { const bool frozen = frozen_trajectories.count(node_id_data.id.trajectory_id) != 0; C_nodes.Insert(node_id_data.id, FromPose(node_id_data.data.global_pose_2d)); problem.AddParameterBlock(C_nodes.at(node_id_data.id).data(), 3); if (frozen) { problem.SetParameterBlockConstant(C_nodes.at(node_id_data.id).data()); }...

==21682== Conditional jump or move depends on uninitialised value(s) ==21682== at 0x41E27D: computePos0(int, int const*, int const*, int const*, int const*, int*, int*) (cuttGpuModel.cpp:249) ==21682== by 0x41E429: computePos0(int, TensorConvInOut const*,...

[FEATURE] setJointStiffness()

9

**Is your feature request related to a problem? Please describe.** Would like to introduce some mechanical compliance during the joint control mode. **Describe the solution you'd like** Add a setJointStiffness()...

Documentations or papers

2

Sorry to bother, but is there any technical documents or papers that describe the detail of this MPC?

[BUG] getPrimitiveStates error no response from server

6

**Version information** - RDK: v0.10 - Robot software: v2.10.9 - OS: Ubuntu 20.04 **Describe the bug** Unlike in the previously reported issue [here](https://github.com/flexivrobotics/flexiv_rdk/issues/54), I am only calling getPrimitiveStates at 10Hz....

[FEATURE] Set arbitrary force control direction

3

**Is your feature request related to a problem? Please describe.** Currently the `SetForceControlAxis` and `SetForceControlFrame` functions can only set the force control direction aligned with the x/y/z axis of the...