Tips on tuning the OCP_SOLVER for other URDFs

[larsrpe]

Hi, thanks for this very cool software. I am trying to use it on my custom URDFs, however I struggle to make the algorithm converge using the default parameters. I adapted the anymal_jump_sto.cpp example with my custom quadruped. However I cant make it converge. Do you have any tips for tuning? Thanks in advance!