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duburcqa

[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...

duburcqa

[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...

duburcqa

[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.

duburcqa

[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`....

duburcqa

It would make the code cleaner and easier to optimize.

duburcqa

It has no advantage against HDF5.

duburcqa

WIP: [core] Add transmission abstraction.

23

start modifying `AbstractMotor` and `BasicMotors`, add initial files for transmission

fabinsch

[core] Add force getter to AbstractConstraint

1

`virtual pinocchio::Force computeForce(pinocchio::ReferenceFrame rf) const = 0;`

duburcqa

`fext` is not updated based on the value of the lagrangian multipliers of the problems for user-specified constraints.

duburcqa