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loco-3d / sl1m

Implementation of the sl1m solver for multi contact planning
BSD 2-Clause "Simplified" License
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Topic/fix inclined surfaces #28

Closed thomascbrs closed 1 year ago

thomascbrs commented 1 year ago

Hi,

I noticed a bug when using inclined surfaces. It seems coming from the computation of the inequalities from the vertices. I added a standalone scenario with inclined surfaces in a first commit and then the fix in the inequalities.

thomascbrs commented 1 year ago

Yes indeed, but it might be difficult to evaluate the stand alone scenarios. Why cannot you test the branch ? Is there a problem with the standalone scenario ? Here is the results I have with the standalone scenario with inclined surfaces before and after the changes : sl1m_inclined_bug sl1m_inclined_fix

MaximilienNaveau commented 1 year ago

Ok very good! we should merge that! I realize I can clone your fork and test. Though you ran have put the result here so let's merge!