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The current state of affairs for the ackermann example is shown below.
Some things to try:
- [ ] Create the sequential solutions: standing, walking with some tracking, walking with more tracking, etc…
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@PierreMartinon
```julia
@def ocp2 begin
s ∈ [0, 1], time
y = (x, tf) ∈ R², state
u ∈ R, control
dx = tf(s)^2 * u(s)
dtf = 0 # while 0 * u(s) is fine 😱 (1)
ẏ(s) == [dx…
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Dear all,
I need to test and port old fashion control algorithm. They need to perform computation on subtree of a humanoid robot. Typically it would consist in making inverse kinematic computations o…
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Hi,
Is there a way to add custom virtual site equations, just like you add custom forces? If not, could you point out which parts of the code I would need to change to add my custom virtual site?
…
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```
What steps will reproduce the problem?
1.
2.
3.
What is the expected output? What do you see instead?
Please use labels and text to provide additional information.
```
Original issue reporte…
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### -> submitter ORCID (or name)
0000-0002-2207-6837
### -> slug
sachau-2022-icesheet
### -> license
CC-BY-4.0
### -> alternative license URL
_No response_
### -> model category
community ben…
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Hello @jgeisler0303 ,
thanks very much for publishing this code, it has been very useful to get a handle on DDP. I have been working for some time on a C++ implementation of DDP which also relies o…
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Add support for the [FATROP solver](https://github.com/meco-group/fatrop) via the recently added support through CasADi's nlpsol.
Requires:
1. Adding FATROP as a dependency
2. Updating the CasADi…
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Hello, I am a student who has just come into contact with celestial mechanics. Recently, I have been reading the relevant papers of NRHO, but I can find few specific implementations. I have benefited …
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This might go someplace on the Books project roadmap, see #37.
The outline of outlines is as follows:
1. Schaum's Easy Outline of Calculus, Second Edition
2. Schaum's Easy Outline of College Algebra,…