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Tips on tuning the OCP_SOLVER for other URDFs #141

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larsrpe opened this issue Apr 30, 2024 · 0 comments
Open

Tips on tuning the OCP_SOLVER for other URDFs #141

larsrpe opened this issue Apr 30, 2024 · 0 comments

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@larsrpe
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larsrpe commented Apr 30, 2024 •
edited

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!
@larsrpe larsrpe changed the title Tips on tuning the OPC_SOLVER f Tips on tuning the OCP_SOLVER for other URDFs Apr 30, 2024
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