idyntree

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Strange behavior of YARPConversions templated functions

4

I'm facing a strange behavior in the `YARPConversion` helper function. `iDynTree` has generic templates, such as: https://github.com/robotology/idyntree/blob/d4a1cf98a80391937da6a040982c72764aec9a86/src/yarp/include/iDynTree/yarp/YARPConversions.h#L178-L185 and functions, which their presence should prevent the template to be instantiated. An...

diegoferigo

Add the possibility to force the height of the contact link in the `LeggedOdometry`

14

In the `SimpleLeggedOdometry` class the position of the fixed foot is evaluated by solving a forward kinematics problem. In details: https://github.com/robotology/idyntree/blob/114671fb1a012f6214b35b8462d463fea99781fd/src/estimation/src/SimpleLeggedOdometry.cpp#L250-L254 In the case of flat ground, the z coordinate...

GiulioRomualdi

Implement inverse velocity kinematic solver

2

I am currently working on the implementation of a solver for inverse-velocity-kinematics in view of implementing velocity integration based inverse kinematics solver. The implementation can be found in [`lrapetti/idyntree/feature/inverse-velocity-kinematics`](https://github.com/lrapetti/idyntree/tree/feature/inverse-velocity-kinematics). @traversaro...

lrapetti

Update InstallBasicPackageFiles.cmake to allow embedded installs

6

In ORCA https://github.com/syroco/orca i'm embedding idyntree as an external dependencies (via`add_subdirectories(external/idyntree)` ). In `InstallBasicPackageFiles.cmake` it'd be great to change all the `${CMAKE_SOURCE_DIR}` to `${PROJECT_SOURCE_DIR}` and `${CMAKE_BINARY_DIR}` to `${PROJECT_BINARY_DIR}`. Now they...

ahoarau

Error in parsing URDF model if missing a new line at the end of the .urdf

8

Today, when I tried to load a .urdf model with the `loadModelFromFile` method via Matlab bindings, it gave me this error: ```matlab test = iDynTree.ModelLoader(); test.loadModelFromFile('model.urdf','urdf') [ERROR] :: modelFromURDFString :...

claudia-lat

Propagate to non-KDL classes the improved definition of URDF "fake link" introduced in https://github.com/robotology/idyntree/pull/246

1

PR 246 : https://github.com/robotology/idyntree/pull/246 Allow to have two fake links (i.e. "additional frames") connected to one another through fixed joints. This happens on the Walkman model. This reduces to modify...

traversaro

The default rotation parametrization of Inverse Kinematics uses quaternions but it causes Ipopt crashes

1

We (@Yeshasvitvs ) were facing a strange segfault problem when using the IK. [Here](https://github.com/Yeshasvitvs/human-dynamics-estimation/blob/17e345aae88a709a2e023a1d18071358b7bba450/devices/HumanStateProvider/tests/ipopt-test.cpp) the test. By adding the following line ``` ik.setRotationParametrization(iDynTree::InverseKinematicsRotationParametrizationRollPitchYaw); ``` it started working as expected. The...

S-Dafarra

Inverse Kinematics cleanup and improvements

5

We are a bit time-constrained now, but the InverseKinematics class would really benefit from a cleanup. We have several tests checking its behavior, so it should be relatively pain-free to...

traversaro

Timing statistics of IK

9

In this issue we collect timing statistics regarding the inverse kinematics with the aim of finding (and removing) potential bottlenecks. The IK is configured in the following way: - Robot:...

francesco-romano

Implement the derivative of inverse dynamics

1

Given a floating base system subject to a set of rigid constraints: \begin{equation} M \dot{\nu} + h = B\tau + J_c^\top f \\\\ J_c \dot{\nu} + \dot{J}_c \nu = 0...

gabrielenava