We should consider setting the contact_test_type of the Trajopt composite profile to FIRST or CLOSEST. The default setting of ALL tends to generate lots of cost equations and make Trajopt run unnecessarily slow, especially for larger convex hull shapes or when operating close to large obstacles
marip8
commented
4 months ago
We should consider setting the
contact_test_typeof the Trajopt composite profile toFIRSTorCLOSEST. The default setting ofALLtends to generate lots of cost equations and make Trajopt run unnecessarily slow, especially for larger convex hull shapes or when operating close to large obstacles