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TOPPRA Optionally Relax Constraints to Handle Numerically-Challenging Trajectories - #24798

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TOPPRA Optionally Relax Constraints to Handle Numerically-Challenging Trajectories#24798
cohnt wants to merge 1 commit into
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@cohnt

@cohnt cohnt commented Jul 30, 2026

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There have been long-running issues with TOPPRA being numerically brittle, and it has been causing a lot of problems lately for @sageshoyu and myself. This PR allows the user to relax the constraints if they have one of these brittle trajectories.

Closes #20619. I verified using a relaxation of 1e-5 fixes it.

+assignee:@sageshoyu for feature review


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@cohnt cohnt added the release notes: feature This pull request contains a new feature label Jul 30, 2026
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cohnt commented Jul 30, 2026

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Maybe we can also close #21381?

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Toppra Fails when Given Smooth-by-Construction Trajectory

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