crocoddyl
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loco-3d
Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
Preview v2
This PR contains several new features that will be released in Crocoddyl v2.0.0. Below I provide a summary of these new features: - API extension to store equality and inequality...
CMake Error: INSTALL(EXPORT) given unknown export "crocoddylTargets" The crocoddyTargets.cmake file thus is not generated
Hi! Thanks for this wonderful library. - I have a question here: I want to use the crocoddyl to control a six-legged robot (**per leg with three joints**). I modified...
Minor enhancements for the 1D contact model . Related to #812 - Add a mask for constraint dimension selection . The user selects optionally `type` in `{0,1,2}` for `{x,y,z}` the...
- [x] Add configuration for multithreading (e.g. clang multithreading fails unittests, cf. #1026) - handled in #1028 - [x] Build and test in Debug and Release mode (handled in #1028)...
https://github.com/loco-3d/crocoddyl/blob/d59b9be9f6c3f90b07dda12e5c14d8889cdc2214/src/multibody/actions/impulse-fwddyn.cpp#L122 From my knowledge of Eigen, `selfadjointView` may lead to slow computations. It may be better to fill the entire mass matrix M and then performing the dense computations.
I posted an issue in pinocchio recently where my robot contains thrusters and revolute joints, where the relative placement of the thrusters with respect to the base frame varies based...
This issue has been reported by @jcarpent in https://github.com/loco-3d/crocoddyl/pull/980#discussion_r679776248. As described in that discussion thread, the solution is to store 1. the SVD structure in the action-data structures 2. the...