Using tsid in crocoddyl to generate warm start
Hi This is just a question and not a task.
Currently, to create the initial trajectory for warm starting the locomotion problem, I am using tsid to solve the problem via inverse dynamics. Then I dump the output trajectories and load them in the locomotion script to initialize the shooting problem.
I would prefer directly using tsid in the script to generate the warm start. (However, this means that I add another dependency of tsid on the script.)
What do you think?