If staticStability is True, then the acceleration from the guide is ignored during contact planning.
if tryQuasiStatic is True, when checking the reachability during the contact planning it start by calling 2-PAC and only call CROC if 2-PAC fail.
tryQuasiStatic was always set to False by default, with no python API to change this and only put to True in a few place in the code. As 2-PAC is a lot faster than CROC I do not see a reason where we want it to False when checking the reachability with a null init/final acceleration.
It make sense when we want to compute and retrieve the CoM trajectory from CROC between two states, but there is already a specific API for this that correctly set this value to False.
If
staticStabilityis True, then the acceleration from the guide is ignored during contact planning.if
tryQuasiStaticis True, when checking the reachability during the contact planning it start by calling 2-PAC and only call CROC if 2-PAC fail.tryQuasiStaticwas always set to False by default, with no python API to change this and only put to True in a few place in the code. As 2-PAC is a lot faster than CROC I do not see a reason where we want it to False when checking the reachability with a null init/final acceleration.It make sense when we want to compute and retrieve the CoM trajectory from CROC between two states, but there is already a specific API for this that correctly set this value to False.