exotica
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ipab-slmc
Extensible Optimization Framework
- Turn on/off and set initial damping - Turn on/off backtracking line search
To quickly integrate new solvers and problems we find ourselves continuously creating and copy-pasting the same sequence of files: exotica_plugins.xml, initialisers, headers, etc. - would be good to have a...
There must be a bug - Vlad reported the same thing yesterday - here with a few plots: ### No smoothing  ### Velocity smoothing  ### Acceleration smoothing ...
Now that we are implementing dynamic problems, the incorrect handling of the floating-base is coming to bite us - it is not straight-forward to extract and propagate the sizes of...
If I created a task: ```C++ REGISTER_TASKMAP_TYPE("HeatMapScore", exotica::HeatMap); class HeatMap : public TaskMap, public Instantiable { ... } ``` with ```XML ``` and initialiser: ```C++ class HeatMap extend ``` It's...
The initialiser definition supports `Required` and `Optional` parameters. What is the intended behaviour of those? The `Optional` can be used with and without default argument (set via `=`). `Required` on...
When the damping is set to 0, AICO and BayesianIK produce NaN. The source of this is the update of `Sinv` in the forward message. The underlying reason is our...
A taskmap cannot update its requested frames in `frames_` after the taskmap has been created: Doing so breaks the batch kinematics especially for multi-timestep kinematics.
1. load object via add_object (mesh) 2. update the problem -> segfault if custom links are defined and a scene is loaded separately
Maybe in a revamp of the scene management of static and moving obstacles. There is a nomenclature confusion for sure, and at least one bug that can lead to a...