Silvio Traversaro
Silvio Traversaro
> Thanks @traversaro for your proof of concept and for the write up. Having a high quality MuJoCo plugin in Ignition would be great. Great! I guess that a problem...
For reference, the linked document was https://www.researchgate.net/profile/Daniele_Pucci/publication/312200239_A_Unified_View_of_the_Equations_of_Motion_used_for_Control_Design_of_Humanoid_Robots/links/5878dd9708aed3826ae1d3a3/A-Unified-View-of-the-Equations-of-Motion-used-for-Control-Design-of-Humanoid-Robots.pdf , but probably you can find more on this in Chapter 3 of my PhD thesis: https://traversaro.github.io/phd-thesis/traversaro-phd-thesis.pdf .
Another useful document on notation may be https://research.tue.nl/en/publications/multibody-dynamics-notation-version-2 .
Write tutorial on loading iDynTree::Model from URDF, do some modification, and write it back to URDF
fyi @CarlottaSartore @VenusPasandi @fabiodinatale @valentino-razza @Nicogene @GrmanRodriguez
I think that for this version using the fact that if one specifies `""` for meshFilePrefix this is interpreted as the fact that `meshFilePrefix` should not be used and instead...
> > > If I understood the problem, I think as it is written now it will create problems if we remove the variable `meshFilePrefix` in the future. But at...
> > > > Will existing code like: > > [visualizer,objects]=iDynTreeWrappers.prepareVisualization(KinDynModel,meshFilePrefix,... > > 'color',[1,1,1],'transparency',1, 'name', ['Plot frame ', robotName], 'reuseFigure', 'name'); > > continue to work as meshFilePrefix will go...
Hi @fjandrad, thanks for reporting this. Probably we could move that to a separate issue. cc @CarlottaSartore
I added a few comments in the commits. In general take everything you find in the existing inverse kinematics class with a grain of salt, see https://github.com/robotology/idyntree/issues/282 .
~**Note: to read this issue you need to have some browser plugin that renders LaTeX text in GitHub comments, such as https://github.com/traversaro/github-mathjax-firefox or https://chrome.google.com/webstore/detail/github-with-mathjax/ioemnmodlmafdkllaclgeombjnmnbima), sorry for the trouble.**~ I suspect...