Alexis DUBURCQ

There are many other things we could add to this tutorial: - Adding constants / new variables to a log - doesn't make much sense on a simple pendulum, but...

[python] Add unit tests for Python native code

1

This is especially critical for 'dynamics' helpers because some methods are quite complex and it would be nice to validate them. It is pretty "easy" to do it. For instance,...

[misc] Add C++ / Python linters + static type checker

4

- [ ] For C++, clang-tidy and clang-format would do the job - [x] For Python, pylint + mypy seems pretty good

[gym] Add graphical node-base editor for pipeline design.

1

One option is to integrate [piper](https://github.com/leducp/Piper).

[python] Full support of EngineMultirobot in Python.

1

`Simulator` should be modified to support both Engine and EngineMultirobot. The same goes for `Viewer`. In the current implementation of Engine, some base methods are explicitly forbidden, which is a...

It is a preliminary step Howard the integration of Piper for pipeline design #239.

It would be more consistent, and enable to use a proper telemetry namespace for the engine. In addition, the telemetry namespace should be exposed as a static variable in Python.

Telemetry namespace of controllers should not be hard-coded, but defined at construction or initialization. Uniqueness should be ensured by EngineMultiRobot.

[Here](https://github.com/andreadelprete/consim) is the provided original implementation, based on Pinocchio. It would also be nice to increase the accuracy of the already existing integrators by taking into account that the velocity...