Comments (1)
cmastalli
commented on June 12, 2024
Hi @lrchit,
As indicated in the error message, there is a discrepancy in the number of contacts between the model and its associated data, which is not allowed for obvious reasons. Moreover, it is highly inefficient to allocate data each time.
In Crocoddyl, we've prioritized maximum efficiency. Instead of the aforementioned approach, it's advisable to pre-allocate data for all four feet. Subsequently, you can conveniently toggle the activation or deactivation of contact constraints through the provided link
Crocoddyl is excellently suited for Model Predictive Control (MPC) applications. I highly recommend reviewing the following videos (and papers) which showcase various MPC methodologies developed in collaboration with colleagues::
Regrettably, due to resource constraints, we are unable to provide further feedback on your current developments. Therefore, I must close this issue at present.
from crocoddyl.
Related Issues (20)
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