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Some insights on multiple shooting and direct collocation methods, pros and cons, most promising approach for the gap_crossing task implemented using optimal_control methodologies.
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When trying to use collocation to solve a DIRECT optimization problem for the orbit raising example, I faced a "KeyError : 'name'".
This is the code I added to the example :
`beluga.solve(ocp=oc…
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MPC is the defacto standard these days. While DWB is closely related, it is not as extensive and configurable based on model types and base characteristics.
Something to spend some real time thinki…
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In the examples, sim_L2M2019_controller1.py gives a really good simulation of the model. I tried to change to forward speed in the init pose but the simulation failed in a few steps. I wonder if it is…
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- [x] I'd be willing to implement this feature
- [ ] This feature can already be implemented through a plugin
**Describe the user story**
If packages were stored in a simple folder without zipp…
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**Submitting author:** @robfalck (Rob Falck)
**Repository:** https://github.com/OpenMDAO/dymos
**Version:** 1.0.0
**Editor:** @dpsanders
**Reviewer:** @goerz, @thowell
**Archive:** 10.5281/zenodo.4646…
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I'm trying to use direct collocation with a custom urdf robot. To do this I need to initialize the the MultibodyPlant with time_step=0.0. However, the program fails with a segfault. I've added a code …
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I'm currently working my way through the examples to try and understand the awebox toolbox.
However running mpc_close_loop.py with the default exceptions throws the following exception:
```
Tra…
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Let's find some nice papers on OC used to plan trajectories for biped and quadruped robots.
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**Module 1, Introduction to AntConc:** Here and elsewhere I see a few typos/spellings and a couple of phrasings that sound awkward to me, but maybe these are still works in progress(?) and I'm not sur…