Andrea Del Prete

Dear @egordv , thank you for the interesting questions. I'm glad you enjoy TSID. I think it should be possible to make TSID work with this kind of robots. >...

At the moment there's no way to specify which joints are passive in TSID, expect for the floating base, but it's a feature that can be added. I would first...

This issue has been inactive for a while now, so I close it, but feel free to re-open it if you need to.

Sure that would be possible. But could I ask you in which scenario you need such method? If you create a `TrajectorySE3Constant`, you can directly specify an SE3 object in...

> There are these features already exposed in Pinocchio: `SETToXYZQuat` Actually `SE3ToVector` does something different, see here: https://github.com/stack-of-tasks/tsid/blob/master/src/math/utils.cpp#L32

Sorry @EtienneAr for the long delay, I dropped the ball on this one. Do you still need `SE3ToVector` in Python? If so, I am in favor of adding this feature.

Good question, but I don't have a good answer unfortunately. This is a difficult problem, at least in theory, and I don't have much experience with that in practice. You...

I close the issue as it has been inactive for a while now.

That's interesting. Personally I think it could be useful for other TSID's users, so it would be great to integrate it in TSID.

Any news on this subject?