User-proof method for computing the floating-base DoF in actuation #1160
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nim65s
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Jan 27, 2024
Upstream changes:
## [2.0.2] - 2023-12-07
* Added nu, ng, and nh setters for Python bindings in loco-3d/crocoddyl#1192
* Added CHANGELOG.md in loco-3d/crocoddyl#1188
* Supported nu==0 in actuation models in loco-3d/crocoddyl#1188
* Included Python bindings for Crocoddyl exceptions by cmastalli in loco-3d/crocoddyl#1186
* Updated cmake submodule update by jcarpentier in loco-3d/crocoddyl#1186
* Fixed getters for contraints bounds by skleff1994 in loco-3d/crocoddyl#1180
* Extended solver abstract and callbacks for arbitrary solvers by cmastalli in loco-3d/crocoddyl#1179
* Fixed the check of pair_id in collision residual by ArthurH91 in loco-3d/crocoddyl#1178
* Exploited control-residual structure when computing Lu, Luu by cmastalli in loco-3d/crocoddyl#1176
* Added LWA fram convention and introduced different axis for 1d contacts by skleff1994 in loco-3d/crocoddyl#1172
* Python bindings for setting control bounds by cmastalli in loco-3d/crocoddyl#1171
* Fixed missed scalar in cost sum and activation data by cmastalli in loco-3d/crocoddyl#1165
* Added actuation unit tests by cmastalli in loco-3d/crocoddyl#1161
* Introduced method for obtaining the dimension of floating-bases by cmastalli in loco-3d/crocoddyl#1160
* Fixed set_reference in state residual by cmastalli in loco-3d/crocoddyl#1158
* Enabled CONDA CI jobs with CppADCodeGen by cmastalli in loco-3d/crocoddyl#1156
* Added other CI jobs by cmastalli in loco-3d/crocoddyl#1152
* Fixed compiltation issue when building with CppADCodeGen by cmastalli in loco-3d/crocoddyl#1151
* Fixed include order used in frames.cpp by ManifoldFR in loco-3d/crocoddyl#1150
nim65s
added a commit
to nim65s/robotpkg
that referenced
this pull request
Jan 29, 2024
Upstream changes:
## [2.0.2] - 2023-12-07
* Added nu, ng, and nh setters for Python bindings in loco-3d/crocoddyl#1192
* Added CHANGELOG.md in loco-3d/crocoddyl#1188
* Supported nu==0 in actuation models in loco-3d/crocoddyl#1188
* Included Python bindings for Crocoddyl exceptions by cmastalli in loco-3d/crocoddyl#1186
* Updated cmake submodule update by jcarpentier in loco-3d/crocoddyl#1186
* Fixed getters for contraints bounds by skleff1994 in loco-3d/crocoddyl#1180
* Extended solver abstract and callbacks for arbitrary solvers by cmastalli in loco-3d/crocoddyl#1179
* Fixed the check of pair_id in collision residual by ArthurH91 in loco-3d/crocoddyl#1178
* Exploited control-residual structure when computing Lu, Luu by cmastalli in loco-3d/crocoddyl#1176
* Added LWA fram convention and introduced different axis for 1d contacts by skleff1994 in loco-3d/crocoddyl#1172
* Python bindings for setting control bounds by cmastalli in loco-3d/crocoddyl#1171
* Fixed missed scalar in cost sum and activation data by cmastalli in loco-3d/crocoddyl#1165
* Added actuation unit tests by cmastalli in loco-3d/crocoddyl#1161
* Introduced method for obtaining the dimension of floating-bases by cmastalli in loco-3d/crocoddyl#1160
* Fixed set_reference in state residual by cmastalli in loco-3d/crocoddyl#1158
* Enabled CONDA CI jobs with CppADCodeGen by cmastalli in loco-3d/crocoddyl#1156
* Added other CI jobs by cmastalli in loco-3d/crocoddyl#1152
* Fixed compiltation issue when building with CppADCodeGen by cmastalli in loco-3d/crocoddyl#1151
* Fixed include order used in frames.cpp by ManifoldFR in loco-3d/crocoddyl#1150
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This PR proposes a method that obtains the right dimension of the floating bases. This includes cases where the user passes a model without a
root_joint.