Add support for Primal-Dual LIPA to MPX (and open way for other constrained solvers).#18
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joaospinto wants to merge 3 commits into
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Add support for Primal-Dual LIPA to MPX (and open way for other constrained solvers).#18joaospinto wants to merge 3 commits into
joaospinto wants to merge 3 commits into
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Wires primal-dual-lipa (https://github.com/joaospinto/primal-dual-lipa) into mpx as a third solver_mode option alongside primal_dual and fddp.
Adds `--video PATH` to `offline_task.py`, with playback fps defaulted to `1/config.dt` so trajectories play at wall-clock speed. The three LIPA configs switch to sequential LQR so offline runs converge bit-deterministically.
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Repo: https://github.com/joaospinto/primal-dual-lipa
Paper: https://arxiv.org/pdf/2509.16370