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Published 20 hours ago • verified publisher icon stack-of-tasks

TaskJointPosVelAccBounds: Swapped default values for qMin/qMax

Open paulinejmaurice opened this issue 3 years ago • 1 comments

In the constructor of the TaskJointPosVelAccBounds class, qMin is set to +1e10 (positive value) and qMax -1e10 (negative value), such that qMin > qMax. I believe this should be the opposite, right? This is not crucial as long as position limits are reset after (which is the normal use), but in case someone were to set only velocity limits and use default position limits, this might lead to an infeasible problem.

paulinejmaurice avatar Mar 02 '22 12:03 paulinejmaurice

You are right @paulinejmaurice ! Thanks for spotting this. Can you do a PR to fix this?

andreadelprete avatar Mar 02 '22 13:03 andreadelprete

This has been fixed with #159

andreadelprete avatar Oct 26 '22 13:10 andreadelprete