convertProblemToLp, solveMIP and solveMIPGurobi take an extra optional argument constraint_init_pos_surface (default value is similar to the previous behavior).
If constraint_init_pos_surface is True, the contacts of the first phase are not constrained to belong to the given surface candidates.
Remove the call to numpy print_option that truncated all the outputs of float from numpy.
Store the selected surface by MIP inside the PhaseDat dict
Store the surface normal in the phaseData[S] list
Add a script to convert output of SL1M to multicontact API ContactSequence object
stonneau
commented
3 years ago
convertProblemToLp,solveMIPandsolveMIPGurobitake an extra optional argumentconstraint_init_pos_surface(default value is similar to the previous behavior). Ifconstraint_init_pos_surfaceis True, the contacts of the first phase are not constrained to belong to the given surface candidates.