Silvio Traversaro

This have been fixed at the YCM level ( https://github.com/robotology/ycm/issues/162 ), we just need to update the vendored files in iDynTree.

Can you think about a possible change in the SimpleLeggedOdometry API to support this use case?

Some of the steps described by @prashanthr05 seems to be something that it could make sense to have inside the API, even without anything specific to Z.

Fixed by https://github.com/robotology/idyntree/pull/525 .

The code to modify is in: * https://github.com/robotology/idyntree/blob/fb68adf8d730969a072bd32f9f175cedc22fc397/src/model_io/urdf/src/JointElement.cpp#L142 * https://github.com/robotology/idyntree/blob/fb68adf8d730969a072bd32f9f175cedc22fc397/src/model_io/urdf/src/JointElement.cpp#L50 * https://github.com/robotology/idyntree/blob/fb68adf8d730969a072bd32f9f175cedc22fc397/src/model_io/urdf/src/URDFDocument.cpp#L178 It would make a lot of sense to ad an example of a model with a `floating` joint...

Did you installed the `liboctave-dev` package?

It depends what you need to compute for the floating base part. Depending on the choice of the frame velocity representation, the joint part of the jacobian may or may...

FYI @mpbos This is a bit hard to understand know, but it is definitely related to your master thesis work.

Related code in Pinocchio: * https://github.com/stack-of-tasks/pinocchio/blob/v1.2.9/bindings/python/scripts/derivative/dcrba.py * https://github.com/stack-of-tasks/pinocchio/blob/devel/src/algorithm/kinematics-derivatives.hxx Related code in DART (warning: time derivative): * https://github.com/dartsim/dart/blob/a206b1995a4c4ee96de691351cb109b808d0a347/dart/dynamics/BodyNode.cpp#L2398 Related code in KDL (warning: time derivative): * https://github.com/orocos/orocos_kinematics_dynamics/blob/master/orocos_kdl/src/chainjnttojacdotsolver.cpp#L117 (related to https://github.com/orocos/orocos_kinematics_dynamics/blob/master/orocos_kdl/src/chainjnttojacdotsolver.hpp#L37 )

Yep, but if you expand the use of any velocity with $\mathrm{v} = J \nu$, you almost obtain the partial derivatives w.r.t. to the joint positions.