Merge pull request #302 from fabinsch/fix-settings-feasible-qp-layer

Set `primal_infeasibility_solving` to False for feasible forward in `QPFunction`
Simple-Robotics · Feb 13, 2024 · e0ee3c7 · e0ee3c7
2 parents 4540213 + 1265b0c
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -6,6 +6,9 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+### What's Changed
+* Changed `primal_infeasibility_solving` to `False` for feasible QPs ([#302](https://github.com/Simple-Robotics/proxsuite/pull/302))
+
 ## [0.6.3] - 2024-01-23
 
 ### Fixed

diff --git a/bindings/python/proxsuite/torch/qplayer.py b/bindings/python/proxsuite/torch/qplayer.py
@@ -120,7 +120,7 @@ def forward(ctx, Q_, p_, A_, b_, G_, l_, u_):
 
             for i in range(nBatch):
                 qp = ctx.vector_of_qps.init_qp_in_place(ctx.nz, ctx.neq, ctx.nineq)
-                qp.settings.primal_infeasibility_solving = True
+                qp.settings.primal_infeasibility_solving = False
                 qp.settings.max_iter = maxIter
                 qp.settings.max_iter_in = 100
                 default_rho = 5.0e-5