Closed echandler5956f closed 7 months ago
Currently, LeggedInterface has to manually check if user solver options correspond with casadi NLP solver options. This is ugly and not extensible. Instead, we should automatically pass options with the "nlp." prefix to casadi.
Currently, LeggedInterface has to manually check if user solver options correspond with casadi NLP solver options. This is ugly and not extensible. Instead, we should automatically pass options with the "nlp." prefix to casadi.