Daniele Pucci comments

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                                            Daniele Pucci

Timing statistics of IK

@S-Dafarra thanks a lot for the plots! Just a curiosity, which were the characteristics of the machine used for the tests? Probably, it would be nice to write them here...

Compute partial derivatives of jacobian columns w.r.t. to joint positions AKA Hessians

I think that sooner or later we have to implement the Hessian. Let's discuss this in view of the current lab activities, and understand a possible timeline CC @S-Dafarra

Document semantics difference between Pinocchio quantities and iDynTree KinDynComputations quantities

CC @robotology/iit-dynamic-interaction-control

Add inverseDynamics-variant that exposes internal joint 6D force/torques

This could be of interests to @lrapetti @Yeshasvitvs @claudia-lat for L5S1 internal force estimation in ergonomy evaluation

Document how to write allocation-free code using iDynTree's data structures and iDynTree::toEigen

CC @GiulioRomualdi @S-Dafarra @diegoferigo @kouroshD @InesSorrentino @lrapetti @Yeshasvitvs @nunoguedelha @fjandrad @MiladShafiee

[Visualizer] Cannot visualize models in two separate Visualizer objects

CC @traversaro @gabrielenava @S-Dafarra

Document the difference between iDynTree::Rotation and Eigen::Quaterniond

CC @robotology/iit-dynamic-interaction-control

Error in parsing URDF model if missing a new line at the end of the .urdf

CC @claudia-lat

Implement Domain Randomization

@diegoferigo @traversaro > Inertial parameters (inertia matrix, mass) Joint friction Contacts parameters External forces Link geometry I do not know if we can find a n easy way (like randomize...

Equation of motion of a pendulum modeled as a cylinder

@diegoferigo what are the above equations needed for?