Implement better motor model#1475

Draft

spacey-sooty wants to merge 53 commits into

SleipnirGroup:mainfrom

spacey-sooty:motor-modelling

Commits on May 31, 2026

vibed CI benchmark bot

witherrrr
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increase sccache timeout skull

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bump to GCC14

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clarify CI name

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remove hyperfine warmup

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parallelize, revamp bench CI

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oops, fix CI

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fix SVG rendering

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put CI on arm for speed?

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sort names

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clean up report

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svg too big go back

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add wpt rendering

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move CI renders to hidden ref

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clean, speed up CI

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bench timeout

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Revert "bench timeout"

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new bench timeouts

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update CI report to clarify run cnt

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way more test benches

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global variant/dt tables

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CI bench header improvement

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rework CI bench parallelism

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MORE CI PARALLELISM

witherrrr
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[trajoptlib] Rough draft of more accurate motor model
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tmp
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new formulation from discord, need to integrate into choreo
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some ui progress
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latest changes
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rumours of a functional ui, nonfinite initial guess errors tho
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oops
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Merge pull request #1 from witherrrr/motor-modelling

witherrrr
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proper units pass through
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wheel scrub penalization

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try linear scrub

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Revert "try linear scrub"

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better c_scrub value

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formulation cleanup faster gen

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use tire slip angle formulation

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add brake force constraint

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re-formulate for solver robustness

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fix: init guess inflated samp_cnt

witherrrr
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min-width anti-tunneling fix

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feat: add kS to model (works!)

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lint, add comments

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lint, add comments

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add comments

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update test chors

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try initial force guess

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try exponential profile

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perf: factor heading trig out of net-torque sum

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change default dt to 0.02
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fmt
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