Antoine Hoarau

MD5 calculation

3

Hi, It's not clear to me if we can use milo to hash files on the disk. Also, I would very much appreciate an MD5 hashing function. Best,

Reduces CMake message() verbosity to TRACE for dev-related variables. You can of course still get them by calling `cmake .. --log-level TRACE` Another option would be to simply remove those...

Math formulation

1

Right now tasks are written as `|| E + f || ` , and each task can compute it's own quadratic cost (Hessian and gradient). All task's costs are summed...

As we are declaring per-tasks variables (acceleration , torque and wrench ), we might be able to build the problem dynamically (right now acceleration and torque are fixed ). Dynamics...

Fixed / Floating frame

2

I'm thinking about having 2 functions in `orca::robot::RobotModel` to differenciate fixed base and floating robots: ```c++ robot->setFixedBaseFrame("base_of_the_manipulator"); // robot is fixed somewhere in the world. // and robot->setFloatingFrame("pelvis"); // robot...