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Add Joint Limits #85

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echandler5956f opened this issue Apr 10, 2024 · 0 comments · Fixed by #82
Closed

Add Joint Limits #85

echandler5956f opened this issue Apr 10, 2024 · 0 comments · Fixed by #82
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enhancement New feature or request Legged

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It should be very easy to automatically add joint limits through pinocchio's model.lowerPositionLimit and model.upperPositionLimit. These bounds should be sent to LeggedDecisionDataBuilder to apply joint limits.
@echandler5956f echandler5956f added enhancement New feature or request Legged labels Apr 10, 2024
@echandler5956f echandler5956f self-assigned this Apr 10, 2024
echandler5956f added a commit that referenced this issue Apr 10, 2024
@echandler5956f
Addressed Issue #84, #Issue #85. Added joint limits and allows arbitr…
b94bc53 
…ary NLP solver options
@echandler5956f echandler5956f linked a pull request Apr 10, 2024 that will close this issue
Approximating Hessian to speed up IPOPT & generalizing #82
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Approximating Hessian to speed up IPOPT & generalizing echandler5956f/Galileo
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