Silvio Traversaro

Write example on use the collision and visual elements in iDynTree::Model

1

Any way we can have a demo on how to use/get/read/dostuff with the collision and visual elements ? _Originally posted by @ahoarau in https://github.com/robotology/idyntree/issues/496#issuecomment-524758603_

Support URDF export

1

This was a functionality available in the old KDL-based iDynTree, but that was never ported to the new standalone iDynTree. Related issues and previous PRs: * https://github.com/robotology/idyntree/issues/161 * https://github.com/robotology/idyntree/pull/382

Full Test Suite does not run on OS X

3

- [ ] Valgrind fails because of some false positives on OS X standard library. - [ ] Python test fails ( https://travis-ci.org/robotology/idyntree/jobs/124131468#L6639 ): ``` 44/44 Test #44: PythonGeometryTests ..............................***Exception:...

Compute partial derivatives of jacobian columns w.r.t. to joint positions AKA Hessians

14

@S-Dafarra asked about this. This derivative have the nice properties that everything boils down to a lot of 6D cross product between all the joint motion subspace vectors. References on...

I think this should be in the main readme of idyntree not only in this pr I thought it was there but I could not find a mention to it...

IDYNTREE_COMPILES_OPTIMALCONTROL fails to compile on Windows in devel with Visual Studio 2019

1

Probably due to some missing `#include ` in Worhp-related files.

The lua bindings of iDynTree are not installed. See relevant code in YARP: https://github.com/robotology/yarp/blob/master/bindings/lua/CMakeLists.txt#L21 .

Support std::vector<std::string> function parameters in Matlab/Python

6

We started to use a lot of instances of `std::vector` as input/output parameter of function and methods. We need to properly modify SWIG `.i` configuration files to make sure that...

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...

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...