Adam Heins

It appears that the issue is fixed for me if I make the change proposed in [this PR](https://github.com/aclements/latexrun/pull/55). It seems that latexrun doesn't account for the `.bcf` file output by...

Okay, a number of new changes: 1. Fixed the construction of the constraint matrices in the HPIPM interface, and also reduced data copying significantly. 2. New tests in `ocs2_sqp`, as...

I can take a look at this now that https://github.com/giaf/hpipm/pull/135 is merged.

Nice catch! I just updated the code to now get the first friction constraint based on its index, rather than the old (potentially invalid) reference.

Apologies, you are quite right: I mixed up the problem I was looking at. The primal solution should indeed be `[-0.5, -1.45714286, -0.8]`, which is the solution that HPIPM does...

This issue is quite old by now, but in case someone else runs into this with a deadline too close to try switching to another solver (like me!), I ran...