Adam Heins

Feature/hard inequality constraints

2

With reference to #30, this in an in-progress PR for implementing hard inequality constraint support via the HPIPM interface. I've done a basic implementation of general inequality constraints, which seems...

Hard inequality constraints for SQP solver

1

**Is your feature request related to a problem? Please describe.** I would like to use hard inequality constraints with the SQP solver (based on HPIPM), rather than just soft constraints...

**Describe the bug** It seems that the current version of the robotics toolbox uses a recent version of the [pgraph](https://github.com/petercorke/pgraph-python) API, which is not yet released on PyPI. As such,...

Couple lateral friction constraint magnitudes.

2

As has been noted [before](https://pybullet.org/Bullet/phpBB3/viewtopic.php?t=12847), PyBullet has an odd behavior where the friction force exerted on an object depends on its orientation. For a small self-contained example, see [this gist](https://gist.github.com/adamheins/b64651ab072ca2f1f7b44ed7bacea71d),...

Failure to solve QP with equality at the boundary

2

The dense QP solver (used here via the Python interface) fails on the following example. Notice that the QP is box-constrained with a single equality constraint that requires the first...