Use the polish algorithm in OSQP for computing the contact forces

ami-iit / matlab-whole-body-simulator

A robot simulator running on simulink

BSD 3-Clause "New" or "Revised" License

31 stars 9 forks source link

Use the polish algorithm in OSQP for computing the contact forces #83

Closed VenusPasandi closed 1 year ago

VenusPasandi commented 1 year ago

In the latest version of WBtoolbox (i.e. v5.5.0), we have an option to enable the polish algorithm for OSQP block. The polish algorithm increases the accuracy of the solution. It will be useful to use this option in simulator.