Planar hand example works well with the new IrsLqr API.

hjsuh94 / irs_mpc

iRS-LQR: iterative Randomized Smoothing LQR

MIT License

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Planar hand example works well with the new IrsLqr API. #15

Closed pangtao22 closed 3 years ago

pangtao22 commented 3 years ago

IrsLqr now computes dynamics gradient using only the active constraints by default. Planar hand is the first example to demonstrate that this works well with the new IrsLqr API since the last refactor.

This change is

hjsuh94 commented 3 years ago