Markus Giftthaler

Hi @acxz, thanks for your interest in the CT! We did not implement DDP and actually we are not planning to add DDP support. The CT implements iLQR, for example,...

Sure!

GN = Gauss Newton. Before touching anything, I would recommend you to carefully study the [associated publication](https://www.google.com/url?sa=t&rct=j&q=&esrc=s&source=web&cd=1&cad=rja&uact=8&ved=2ahUKEwjduo2Y_qzmAhWtM-wKHQorAu0QFjAAegQIBBAB&url=https%3A%2F%2Farxiv.org%2Fabs%2F1711.11006&usg=AOvVaw39I-mGuWFVKzITyntR2JBH). For DDP you would need to modify the LQ-approximation part to become a...

I assume I can close this now.

Hi @acxz, for developing, I would probably choose the same approach like you. In the end, however, once you have a working implementation, we should think of how to merge...

Sure, please do not hesitate to come back with questions!

Sure! And just in case, such small things can always be refactored quickly! On Sat, May 16, 2020, 18:16 acxz wrote: > @markusgft another quick semantics > question. What variable...

How many joints does the robot have? > Am 27.07.2021 um 17:39 schrieb Julius Sustarevas ***@***.***>: > >  > I have a similar error, but its in matrix +...

@neunertm, fyi!

Hi @awa152, yes, this term is going to fail if the Jacobian is singular, therefore it is not optimal to use it. You could consider adding some [Tikhonov ](https://en.wikipedia.org/wiki/Tikhonov_regularization) style...