Alexis DUBURCQ

Bashlash can be implemented in the exact same way as flexible joints by a virtual joint with co-located with the true one and with the same DoFs. The "flexible" name...

[python] Rationalize Python dependencies

2

Remove dependency to `h5py`, `trimesh`, `scipy`, and `tree`: - [x] `tree`: parse of variable names structure for variable registration. It could even be moved to C++, or boost::python bindings. -...

- It enables keyboard control, and trigger events such as throwing stuff to the robot - It allows for more interactive replay, with time bar and sleep ratio control, export...

[core] Take advantage of newly introduced `HeightField` in hppfcl

3

Proper support of heigthmap has been added to hpp-fcl. It should be used in place of the current implementation of collision detection. It would be more generic than the current...

[python/viewer] Update contact sensor data when replaying log file.

1

It only requires to restore sensors and motors originally attached to the robot when building robot from log, which is not the case for now. This could be done by...

[core] Add dedicated closed-loop constraint.

1

What is expected is to provide the desired type of joint (as input of specialization) and emulate it.

[core] Leveraging new features introduced by Pinocchio 2.9

2

- `aba` now computes the acceleration and forces, no need to do it manually anymore when there is no constraint - armature are taking into account into algorithms, through `model.armature`....

It would make the code cleaner and easier to optimize.

It has no advantage against HDF5.