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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...

adamheins

Efficiency with larger legged systems

4

Dear ocs2 development team, First and foremost congratulations for the great work and thank you for sharing this with the community. I am exploring ocs2 for our quadruped bi-manual Centauro...

IoannisDadiotis

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...

adamheins

In the legged robot example the default tracking cost penalizes deviation of the state and input from desired ones. The latter are continuously updated by the `legged_robot_mpc_target` topic. However in...

IoannisDadiotis

In the centroidal model, Contact force and joint velocity are used as input variable.In optimization, I want to limit the rate of contact force and joint velocity. How should I...

craipy-hub

It seems that a cpp file to "SegmentedPlanesSignedDistanceField.h" is missing in ocs2_robotic_examples/ocs2_perceptive_anymal/segmented_planes_terrain_model/src

1

In OCS2 V12.0 Errors /home/user/ocsws/src/ocs2/ocs2_robotic_examples/ocs2_perceptive_anymal/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesSignedDistanceField.h: In constructor ‘switched_model::SegmentedPlanesSignedDistanceField::SegmentedPlanesSignedDistanceField(const grid_map::GridMap&, const string&, double, double)’: /home/user/ocsws/src/ocs2/ocs2_robotic_examples/ocs2_perceptive_anymal/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesSignedDistanceField.h:23:59: error: no matching function for call to ‘grid_map::SignedDistanceField::SignedDistanceField(const grid_map::GridMap&, const string&, double&, double&)’ 23 | :...

Mayflyday

catkin

9

when i catkin build OCS2,the bug is "CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration file provided by "convex_plane_decomposition" with any of the following names: convex_plane_decompositionConfig.cmake convex_plane_decomposition-config.cmake...

frieden-ls

Run my own robot occur a problem

7

Hi, When I configured my robot using ocs2_legged_robot as an example, the following error occurred:  How should I define my input to ensure that the MPC runs successfully?

Zcyyy

Foot contact

3

Hi, Could anyone suggest how to ignore foot contact in legged robot please? Thanks

impet14

get value

1

how can I get the ocs2::ad_scalar_t basic type double

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