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Hi! For sqpmethod, you need to give options for the NLP solver and the underlying QP solver. The correct syntax is the following:
Or you can do:
Indeed, the documentation is not very clear about this. |
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Probably both. The developers said somewhere that the If you really wanna use a SQP method, try a professional solver such as WORHP or SNOPT. Or maybe try |
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I am trying to write an MPC for UR10, and I wanted to see if I can do it with casadi
As in the title, I don't understand how to properly use solver()
The documentation says it needs two dictionaries, one with options for nlpsol solver, and another for its plugin
However when I try to provide two dictionaries I always get error
"Unknown option: sqpmethod"
For example, this is how I did it initially
And this is the error message
I then read this discussion. The author there used only one dictionary and it seems to work. I modified my code to this
And received the following error
I then found this discussion. jgillis suggested that maybe problem is getting non convex and they should try to use regularization. So I did
But still get the same error as before
What am I doing wrong?
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