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Extend Support for Mimic Joint #2441

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Extend Support for Mimic Joint #2441

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Commits on Oct 28, 2024

  1. Add Urdf support for mimic joint (revolute and prismatic)

    Megane Millan committed Oct 28, 2024
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  2. Sample Model : Now support a mimic joint at the end if wanted

    Megane Millan committed Oct 28, 2024
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  3. [Joints] Added support for nj and idx_j

    Megane Millan committed Oct 28, 2024
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  4. [Joint] Mimic joint is now based on the variant and not templated

    Megane Millan committed Oct 28, 2024
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  5. [Model] Support for nj and idx_j

    Megane Millan committed Oct 28, 2024
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  6. [Data] Jacobian is now indexed on nj

    Megane Millan committed Oct 28, 2024
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  7. [LieGroup] Neutral Specialization for mimic joints

    Megane Millan committed Oct 28, 2024
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  8. [Serialization] Fix serialization

    Megane Millan committed Oct 28, 2024
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  9. [Unittest] Fix unittest

    Megane Millan committed Oct 28, 2024
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  10. [unittest] Fix for mimic

    Megane Millan committed Oct 28, 2024
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  11. [Python] Add bindings

    Megane Millan committed Oct 28, 2024
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  12. [Urdf] Add possibility to use mimic or not

    Megane Millan committed Oct 28, 2024
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  13. [Serialization] Fix Test and serialization

    Megane Millan committed Oct 28, 2024
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  14. [Mimic] Joint Tpl instead of JointBase

    Megane Millan committed Oct 28, 2024
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  15. [Broken test] copy visitor from variant to variant

    Megane Millan committed Oct 28, 2024
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  16. Add mimic to shortcuts

    Megane Millan committed Oct 28, 2024
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  17. wip

    Megane Millan committed Oct 28, 2024
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  18. Copy constructor instead of =

    Megane Millan committed Oct 28, 2024
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  19. [EtienneAr feedback] Add mimic constructor for different primay/secon… 

    …dary joint types
    Megane Millan committed Oct 28, 2024
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  20. [EtienneAr feedback] Move transferVariant to joint-basic-visitors and… 

    … document it
    Megane Millan committed Oct 28, 2024
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  21. [EtienneAr feedback] PoC: fix appendModel

    Megane Millan committed Oct 28, 2024
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  22. [EtienneAr feedback] Fix sample model for mimic in manipulator

    Megane Millan committed Oct 28, 2024
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  23. [EtienneAr feedback] Joint Mimic jointConfigSelector_impl follows con… 

    …ventions en return a 0 length vector (and apply pre-commit formatting)
    Megane Millan committed Oct 28, 2024
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  24. [EtienneAr feedback] Fix appendToModel when mimic joint in model

    Megane Millan committed Oct 28, 2024
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  25. [EtienneAr feedback] Apply pre-commit

    Megane Millan committed Oct 28, 2024
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  26. [EtienneAr feedback] Turn on mimic joint in model, reachable-workspac… 

    …e, sample-models unittest
    Megane Millan committed Oct 28, 2024
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  27. [EtienneAr feedback] Split jointCols jointRows and jointBLock for ful… 

    …l and reduced system
    Megane Millan committed Oct 28, 2024
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  28. [URDF] Modified the way mimic joint are added (still broken for romeo… 

    …....)
    Megane Millan committed Oct 28, 2024
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  29. [urdf] Fix parsing of mimic joints

    Megane Millan committed Oct 28, 2024
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  30. [Example] Fix to include mimic

    Megane Millan committed Oct 28, 2024
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  31. [robot_wrapper] Fix to include mimic

    Megane Millan committed Oct 28, 2024
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  32. Merge branch

    Megane Millan committed Oct 28, 2024
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  33. [RNEA] Modify to take mimic into account

    Megane Millan committed Oct 28, 2024
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  34. [Mimic] Modify to be able to mimic from base to Tpl

    Megane Millan committed Oct 28, 2024
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  35. [SampleModel] Test to compare a mimic and non mimic model

    Megane Millan committed Oct 28, 2024
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  36. [Data] Check on mimic is disable for now

    Megane Millan committed Oct 28, 2024
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  37. Working test

    Megane Millan committed Oct 28, 2024
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  38. [EtienneAr feedback] Fix RNEA: initialize tau to zero before summing

    Megane Millan committed Oct 28, 2024
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  39. [EtienneAr feedback] Fix crba for mimic joints

    Megane Millan committed Oct 28, 2024
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  40. [EtienneAr feedback] Test crba before rnea for mimic joints

    Megane Millan committed Oct 28, 2024
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  41. [EtienneAr feedback] Port crba fix to algorithm with other convention

    Megane Millan committed Oct 28, 2024
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  42. [EtienneAr feedback] Port crba fix to rnea, compute-all-terms and con… 

    …strained-dynamics
    Megane Millan committed Oct 28, 2024
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  43. [EtienneAr feedback] Revert useless change on Fcrb in crna.hxx

    Megane Millan committed Oct 28, 2024
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  44. [EtienneAr feedback] Make M matrix symetric in test

    Megane Millan committed Oct 28, 2024
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  45. [EtienneAr feedback] Properly use data.nle instead of rnea

    Megane Millan committed Oct 28, 2024
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  46. [EtienneAr feedback] Fix crba for mimic joints

    Megane Millan committed Oct 28, 2024
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  47. [EtienneAr feedback] Fix RNEA after chage for mimic joints

    Megane Millan committed Oct 28, 2024
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  48. [example] Change buildModelUrdf - added mimic bool

    Megane Millan committed Oct 28, 2024
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  49. [mimic-joint] Added support for FreeFlyer

    Megane Millan committed Oct 28, 2024
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  50. [unittest] Added bool mimic to build urdf

    Megane Millan committed Oct 28, 2024
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  51. [Joint] Split Joint ConfigSelector in two functions

    Megane Millan committed Oct 28, 2024
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  52. Apply pre-commit

    Megane Millan committed Oct 28, 2024
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  53. Split JointVelocitySelector in two functions

    Megane Millan committed Oct 28, 2024
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  54. Apply pre-commit

    Megane Millan committed Oct 28, 2024
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  55. [EtienneAr feedback] Add more test for joint mimic in non trivial cases

    Megane Millan committed Oct 28, 2024
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  56. [EtienneAr feedback] Fix scaling and offset in mimic joint calc

    Megane Millan committed Oct 28, 2024
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  57. [EtienneAr feedback] WiP: Fix ConfigVectorAffineTransform template sp… 

    …ecialization
    Megane Millan committed Oct 28, 2024
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  58. [EtienneAr feedback] Make visitor for config vector affine transform

    Megane Millan committed Oct 28, 2024
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  59. [EtienneAr feedback] Move configVectorAffineTransform code to joint-b… 

    …asic-visitor
    Megane Millan committed Oct 28, 2024
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  60. [EtienneAr feedback] Add more test cases for config vector affine tra… 

    …nsforms
    Megane Millan committed Oct 28, 2024
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  61. [EtienneAr feedback] Test affine transform for identity and non ident… 

    …ity cases
    Megane Millan committed Oct 28, 2024
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  62. [EtienneAr feedback] Cleaner floating point comparison for NoAffineTr… 

    …ansform assert
    Megane Millan committed Oct 28, 2024
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  63. [EtienneAr feedback] keep original q and v in JointDataMimic

    Megane Millan committed Oct 28, 2024
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  64. [EtienneAr feedback] [Mimic] Set indexes of ref joint to 0

    Megane Millan committed Oct 28, 2024
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  65. [EtienneAr feedback] Fix mimic test for slightly new convention of re… 

    …f joint idx_q, idx_v set to 0
    Megane Millan committed Oct 28, 2024
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  66. [EtienneAr feedback] Fix serialization for mimic joint with setIndexes

    Megane Millan committed Oct 28, 2024
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  67. [bindings] Added mimic to context

    Megane Millan committed Oct 28, 2024
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  68. [parser] remove std::cout

    Megane Millan committed Oct 28, 2024
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  69. [bindings] BROKEN - Added specialization for mimic joint in bindings

    Megane Millan committed Oct 28, 2024
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  70. [python] Added jointModelMimicable to context

    Megane Millan committed Oct 28, 2024
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  71. [bindings] Fix mimic specialization for constructor

    Megane Millan committed Oct 28, 2024
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  72. [context] Added mimicable joint

    Megane Millan committed Oct 28, 2024
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  73. [bindings] Finished specialization for mimic

    Megane Millan committed Oct 28, 2024
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  74. {Joints@ Added mimicable trait

    Megane Millan committed Oct 28, 2024
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  75. [Visitor] Change TransferVariant visitor into checkMimic visitor

    Megane Millan committed Oct 28, 2024
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  76. [Joint] Remove mimicable joint collection

    Megane Millan committed Oct 28, 2024
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  77. [Joint] Use check mimic for jointMimic constructor

    Megane Millan committed Oct 28, 2024
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  78. [bindings] Make bindings conform to new jointMimic

    Megane Millan committed Oct 28, 2024
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  79. [EtienneAr feedback] Make random humanoid with mimic joint

    Megane Millan committed Oct 28, 2024
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  80. [EtienneAr feedback] Fix size in jointBlock

    Megane Millan committed Oct 28, 2024
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  81. [EtienneAr feedback] Fix mimic serialization for joint_q joint_v

    Megane Millan committed Oct 28, 2024
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  82. [EtienneAr feedback] Remove problematic testcase for mimic in python

    Megane Millan committed Oct 28, 2024
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  83. [EtienneAr feedback] Add slightly more test on sample models for mimic

    Megane Millan committed Oct 28, 2024
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  84. [EtienneAr feedback] Fix rebase conflict

    Megane Millan committed Oct 28, 2024
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  85. [EtienneAr feedback] Activate mimic for joint-jacobian test

    Megane Millan committed Oct 28, 2024
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  86. [EtienneAr feedback] Fix some size for mimic col/row selection

    Megane Millan committed Oct 28, 2024
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  87. [EtienneAr feedback] Fix joint jacobians computation for mimic

    Megane Millan committed Oct 28, 2024
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  88. [EtienneAr feedback] WiP fix crba malloc

    Megane Millan committed Oct 28, 2024
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  89. [EtienneAr feedback] Remove temporary variables before return for joi… 

    …nt mimic
    Megane Millan committed Oct 28, 2024
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  90. [EtienneAr feedback] Add stack allocation feature for JointMotionSubs… 

    …paceTpl class and remove dedicated class
    Megane Millan committed Oct 28, 2024
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  91. [CRBA] Update computation of Ag

    Megane Millan committed Oct 28, 2024
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  92. [EtienneAr feedback] Small serialization fix after changes in JoitMot… 

    …ionSubspaceTpl
    Megane Millan committed Oct 28, 2024
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  93. [EtienneAr feedback] Fix on Jcom for mimic

    Megane Millan committed Oct 28, 2024
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  94. [EtienneAr feedback] Fix corriolis computation for mimic leading

    Megane Millan committed Oct 28, 2024
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  95. [EtienneAr feedback] Enable mimic in rnea tests

    Megane Millan committed Oct 28, 2024
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  96. [EtienneAr feedback] Define MaxDim in ScaledJointMotionSubspace and f… 

    …ix mimic test with it
    Megane Millan committed Oct 28, 2024
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  97. [EtienneAr feedback] Add dedicated mimic test for crba

    Megane Millan committed Oct 28, 2024
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  98. [EtienneAr feedback] Template ScaledMotionSubspace on MaxDim

    Megane Millan committed Oct 28, 2024
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  99. [EtienneAr feedback] Add getRelativePlacement method for kinematics

    Megane Millan committed Oct 28, 2024
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  100. [EtienneAr feedback] add patch to crba for mimic joints

    Megane Millan committed Oct 28, 2024
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  101. [EtienneAr feedback] Update comment and remove hardcoded max size for… 

    … crba patch
    Megane Millan committed Oct 28, 2024
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  102. [EtienneAr feedback] Make random humanoid with mimic joint

    Megane Millan committed Oct 28, 2024
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  103. [algorithm/model] Added a function to transform a joint into a mimic

    Megane Millan committed Oct 28, 2024
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  104. [unittest/model] Added test for transformIntoJointMimic

    Megane Millan committed Oct 28, 2024
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  105. Apply pre-commit

    Megane Millan committed Oct 28, 2024
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  106. Fix rebase

    Megane Millan committed Oct 28, 2024
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  107. [Algorithm/model] Remove useless if

    Megane Millan committed Oct 28, 2024
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  108. [EtienneAr feedback] Fix crba in local convention to prevent heap all… 

    …ocation
    Megane Millan committed Oct 28, 2024
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  109. [EtienneAr feedback] Add assert for crba in world convention with mim… 

    …ic joints
    Megane Millan committed Oct 28, 2024
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  110. [EtienneAr feedback] More exhaustive testing of crba for mimic

    Megane Millan committed Oct 28, 2024
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  111. [EtienneAr feedback] Remove useless override of joint{Config,Velocity… 

    …}From{Nv,Dof}Selector_impl and patch base FromDof ones
    Megane Millan committed Oct 28, 2024
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  112. [EtienneAr feedback] Fix selectConfigFromDof for JointModelTpl in the… 

    … case of a mimic by using a visitor
    Megane Millan committed Oct 28, 2024
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  113. [EtienneAr feedback] Fix ConfigSelectorFromDof visitor

    Megane Millan committed Oct 28, 2024
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  114. [EtienneAr feedback] Fix CRBA test for mimic, and remove mimic in wor… 

    …ld convention test
    Megane Millan committed Oct 28, 2024
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  115. [EtienneAr feedback] Fix G matric for mimic crba test

    Megane Millan committed Oct 28, 2024
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  116. [EtienneAr feedback] Patch warnings in mimic crba test

    Megane Millan committed Oct 28, 2024
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  117. [Algorithm/crba] Fix world convention for mimic joints

    Megane Millan committed Oct 28, 2024
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  118. fix not working for all cases (spaced and parallel)

    Megane Millan committed Oct 28, 2024
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  119. [algo/crba] Fix for crba world (works for spaced and parallel)

    Megane Millan committed Oct 28, 2024
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  120. Fix crba world (small issue with parallel joint at the root where the… 

    … two subtree meet)
    Megane Millan committed Oct 28, 2024
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  121. Fix for world convention

    Megane Millan committed Oct 28, 2024
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  122. Make centroidal algorithm compatible with mimic and add tests

    Megane Millan committed Oct 28, 2024
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  123. Add mimic tests to rnea

    Megane Millan committed Oct 28, 2024
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  124. Add security

    Megane Millan committed Oct 28, 2024
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  125. [EtienneAr feedback] Fix getRelativePlacement and add unit test

    Megane Millan committed Oct 28, 2024
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  126. Add security

    Megane Millan committed Oct 28, 2024
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  127. [EtienneAr feedback] Fix ForceOperator for generic motion subspace an… 

    …d mimic and prevent any malloc
    Megane Millan committed Oct 28, 2024
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  128. [EtienneAr feedback] Patch previous fix on ForceOperator for motion s… 

    …ubspace tpl
    Megane Millan committed Oct 28, 2024
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  129. Fix some errrors for com computation

    Megane Millan committed Oct 28, 2024
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  130. [Rnea] Patch Algorithms for mimic

    Megane Millan committed Oct 28, 2024
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  131. remove mimic joints from test

    Megane Millan committed Oct 28, 2024
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  132. [unittest/rnea] Add more test

    Megane Millan committed Oct 28, 2024
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  133. Fix tests and remove modification for Coriolis Matrix

    Megane Millan committed Oct 28, 2024
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  134. [rnea] Remove useless setZero

    Megane Millan committed Oct 28, 2024
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  135. [Urdf] Rebase on new pinocchio release

    Megane Millan committed Oct 28, 2024
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  136. Add assert to non supported algorithms

    Megane Millan committed Oct 28, 2024
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  137. [algo/crba] Fix local convention for crba

    Megane Millan committed Oct 28, 2024
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  138. [EtienneAr feedback] Comment local fix for crba and don't use getRela… 

    …tivePlacement to remove redundant computations
    Megane Millan committed Oct 28, 2024
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  139. [EtienneAr feedback] Add comments to world fix for crba and factorize… 

    … code to prevent duplication
    Megane Millan committed Oct 28, 2024
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  140. Update examples

    Megane Millan committed Oct 28, 2024
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  141. [EtienneAr Feedback] Fix LOCAL enum ambiguity in getRelativePlacement

    Megane Millan committed Oct 28, 2024
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  142. [EtienneAr Feedback]Fix Scalar / int confusion for model index

    Megane Millan committed Oct 28, 2024
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  143. [EtienneAr Feedback] Fix explicit ConfigVectorAffineTransformVisitor … 

    …template parameters
    Megane Millan committed Oct 28, 2024
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  144. [EtienneAr Feedback] Fix Scalar / int confusion for joint mimic index

    Megane Millan committed Oct 28, 2024
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  145. [bindings/urdf] Rebasing

    Megane Millan committed Oct 28, 2024
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  146. Make code compile with CppAd

    Megane Millan committed Oct 28, 2024
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  147. [algo/crba] remove double function

    Megane Millan committed Oct 28, 2024
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  148. [unittest/kinematics] Cast to avoid errors

    Megane Millan committed Oct 28, 2024
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  149. [multibody/geometry] Force scalar to be double

    Megane Millan committed Oct 28, 2024
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  150. [multibody/op] Only do comparison when scalar=double

    Megane Millan committed Oct 28, 2024
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  151. Remove compilation warnings

    Megane Millan committed Oct 28, 2024
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  152. Fix crba and some tests for casadi

    Megane Millan committed Oct 28, 2024
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  153. [EtienneAr Feedback] Fix Scalar forced to double for GeometryObjects

    Megane Millan committed Oct 28, 2024
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  154. [EtienneAr Feedback] Fix casadi test for joint mimic

    Megane Millan committed Oct 28, 2024
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  155. [serialization] Fix template errors

    Megane Millan committed Oct 28, 2024
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  156. Fix examples

    Megane Millan committed Oct 28, 2024
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  157. Fix Serialization

    Megane Millan committed Oct 28, 2024
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  158. Fix examples

    Megane Millan committed Oct 28, 2024
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  159. [test/rnea] Try fix for windows

    Megane Millan committed Oct 28, 2024
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  160. [EtienneAr Feedback] Swap import order

    Megane Millan committed Oct 28, 2024
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  161. [EtienneAr Feedback] Fix PINOCCHIO_EXPLICIT_INSTANTIATION DECLARATION… 

    … to DEFINITION for transformJointIntoMimic
    Megane Millan committed Oct 28, 2024
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  162. [EtienneAr Feedback] Update changelog

    Megane Millan committed Oct 28, 2024
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  163. [EtienneAr Feedback] Add explicit to single argument constructors

    Megane Millan committed Oct 28, 2024
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  164. Applied pre-commit

    Megane Millan committed Oct 28, 2024
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  165. Fix init problem

    Megane Millan committed Oct 28, 2024
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