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Extend Support for Mimic Joint#2441

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MegMll wants to merge 166 commits intostack-of-tasks:develstack-of-tasks/pinocchio:develfrom MegMll:topic/mimicMegMll/pinocchio:topic/mimicCopy head branch name to clipboard

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Commits

Commits on Dec 16, 2024

• Add Urdf support for mimic joint (revolute and prismatic)

  

  Megane Millan

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  ffcb572

• Sample Model : Now support a mimic joint at the end if wanted

  

  Megane Millan

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  fed49cf

• [Joints] Added support for nj and idx_j

  

  Megane Millan

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  e203020

• [Joint] Mimic joint is now based on the variant and not templated

  

  Megane Millan

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  6d20fe1

• [Model] Support for nj and idx_j

  

  Megane Millan

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  36e939c

• [Data] Jacobian is now indexed on nj

  

  Megane Millan

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  8ef2842

• [LieGroup] Neutral Specialization for mimic joints

  

  Megane Millan

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  2912535

• [Serialization] Fix serialization

  

  Megane Millan

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  fb3f2c7

• [Unittest] Fix unittest

  

  Megane Millan

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  2419caf

• [unittest] Fix for mimic

  

  Megane Millan

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  50da23c

• [Python] Add bindings

  

  Megane Millan

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  017c2c2

• [Urdf] Add possibility to use mimic or not

  

  Megane Millan

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  54e7b59

• [Serialization] Fix Test and serialization

  

  Megane Millan

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  edbf297

• [Mimic] Joint Tpl instead of JointBase

  

  Megane Millan

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  e7fc04d

• [Broken test] copy visitor from variant to variant

  

  Megane Millan

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  be25337

• Add mimic to shortcuts

  

  Megane Millan

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  726794d

• wip

  

  Megane Millan

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  f4aa7da

• Copy constructor instead of =

  

  Megane Millan

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  bcf0160

• [EtienneAr feedback] Add mimic constructor for different primay/secondary joint types

  

  Megane Millan

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  e0dce05

• [EtienneAr feedback] Move transferVariant to joint-basic-visitors and document it

  

  Megane Millan

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  2d1fb29

• [EtienneAr feedback] PoC: fix appendModel

  

  Megane Millan

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  697e29b

• [EtienneAr feedback] Fix sample model for mimic in manipulator

  

  Megane Millan

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  3c6d372

• [EtienneAr feedback] Joint Mimic jointConfigSelector_impl follows conventions en return a 0 length vector (and apply pre-commit formatting)

  

  Megane Millan

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  a9f7e01

• [EtienneAr feedback] Fix appendToModel when mimic joint in model

  

  Megane Millan

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  d9b0cd9

• [EtienneAr feedback] Apply pre-commit

  

  Megane Millan

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  3d12b05

• [EtienneAr feedback] Turn on mimic joint in model, reachable-workspace, sample-models unittest

  

  Megane Millan

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  413e147

• [EtienneAr feedback] Split jointCols jointRows and jointBLock for full and reduced system

  

  Megane Millan

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  245c095

• [URDF] Modified the way mimic joint are added (still broken for romeo....)

  

  Megane Millan

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  2d1e6e9

• [urdf] Fix parsing of mimic joints

  

  Megane Millan

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  315780f

• [Example] Fix to include mimic

  

  Megane Millan

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  d1518e2

• [robot_wrapper] Fix to include mimic

  

  Megane Millan

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  9794ef2

• Merge branch

  

  Megane Millan

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  b39cedf

• [RNEA] Modify to take mimic into account

  

  Megane Millan

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  909e88e

• [Mimic] Modify to be able to mimic from base to Tpl

  

  Megane Millan

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  2bf3b5b

• [SampleModel] Test to compare a mimic and non mimic model

  

  Megane Millan

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  d200c46

• [Data] Check on mimic is disable for now

  

  Megane Millan

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  f9cbb92

• Working test

  

  Megane Millan

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  84d2a51

• [EtienneAr feedback] Fix RNEA: initialize tau to zero before summing

  

  Megane Millan

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  de738d2

• [EtienneAr feedback] Fix crba for mimic joints

  

  Megane Millan

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  3e04bf5

• [EtienneAr feedback] Test crba before rnea for mimic joints

  

  Megane Millan

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  98e9604

• [EtienneAr feedback] Port crba fix to algorithm with other convention

  

  Megane Millan

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  54ae5b1

• [EtienneAr feedback] Port crba fix to rnea, compute-all-terms and constrained-dynamics

  

  Megane Millan

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  d57925a

• [EtienneAr feedback] Revert useless change on Fcrb in crna.hxx

  

  Megane Millan

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  84b808e

• [EtienneAr feedback] Make M matrix symetric in test

  

  Megane Millan

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  dce859d

• [EtienneAr feedback] Properly use data.nle instead of rnea

  

  Megane Millan

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  f973a0c

• [EtienneAr feedback] Fix crba for mimic joints

  

  Megane Millan

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  3e7b83a

• [EtienneAr feedback] Fix RNEA after chage for mimic joints

  

  Megane Millan

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  909fc65

• [example] Change buildModelUrdf - added mimic bool

  

  Megane Millan

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  55d81c9

• [mimic-joint] Added support for FreeFlyer

  

  Megane Millan

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  9521474

• [unittest] Added bool mimic to build urdf

  

  Megane Millan

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  34e8c64

• [Joint] Split Joint ConfigSelector in two functions

  

  Megane Millan

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  ecbfa53

• Apply pre-commit

  

  Megane Millan

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  d847650

• Split JointVelocitySelector in two functions

  

  Megane Millan

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  144c541

• Apply pre-commit

  

  Megane Millan

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  8787107

• [EtienneAr feedback] Add more test for joint mimic in non trivial cases

  

  Megane Millan

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  c69f186

• [EtienneAr feedback] Fix scaling and offset in mimic joint calc

  

  Megane Millan

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  f38f47c

• [EtienneAr feedback] WiP: Fix ConfigVectorAffineTransform template specialization

  

  Megane Millan

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  2d72364

• [EtienneAr feedback] Make visitor for config vector affine transform

  

  Megane Millan

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  5a52328

• [EtienneAr feedback] Move configVectorAffineTransform code to joint-basic-visitor

  

  Megane Millan

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  6340223

• [EtienneAr feedback] Add more test cases for config vector affine transforms

  

  Megane Millan

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  c0a5105

• [EtienneAr feedback] Test affine transform for identity and non identity cases

  

  Megane Millan

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  2b7c4ec

• [EtienneAr feedback] Cleaner floating point comparison for NoAffineTransform assert

  

  Megane Millan

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  5a98d24

• [EtienneAr feedback] keep original q and v in JointDataMimic

  

  Megane Millan

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  9f3230f

• [EtienneAr feedback] [Mimic] Set indexes of ref joint to 0

  

  Megane Millan

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  3b6fb8e

• [EtienneAr feedback] Fix mimic test for slightly new convention of ref joint idx_q, idx_v set to 0

  

  Megane Millan

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  4f81db1

• [EtienneAr feedback] Fix serialization for mimic joint with setIndexes

  

  Megane Millan

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  c50df1f

• [bindings] Added mimic to context

  

  Megane Millan

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  aa1cbb1

• [parser] remove std::cout

  

  Megane Millan

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  8aa386e

• [bindings] BROKEN - Added specialization for mimic joint in bindings

  

  Megane Millan

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  b9f0be7

• [python] Added jointModelMimicable to context

  

  Megane Millan

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  c29abb4

• [bindings] Fix mimic specialization for constructor

  

  Megane Millan

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  cefa08c

• [context] Added mimicable joint

  

  Megane Millan

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  ca4a9e9

• [bindings] Finished specialization for mimic

  

  Megane Millan

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  968ba99

• {Joints@ Added mimicable trait

  

  Megane Millan

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  af94dbe

• [Visitor] Change TransferVariant visitor into checkMimic visitor

  

  Megane Millan

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  2414f29

• [Joint] Remove mimicable joint collection

  

  Megane Millan

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  ff8345e

• [Joint] Use check mimic for jointMimic constructor

  

  Megane Millan

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  fcef9c9

• [bindings] Make bindings conform to new jointMimic

  

  Megane Millan

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  9d7ecaf

• [EtienneAr feedback] Make random humanoid with mimic joint

  

  Megane Millan

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  ed1a872

• [EtienneAr feedback] Fix size in jointBlock

  

  Megane Millan

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  f215206

• [EtienneAr feedback] Fix mimic serialization for joint_q joint_v

  

  Megane Millan

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  7863435

• [EtienneAr feedback] Remove problematic testcase for mimic in python

  

  Megane Millan

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  0007935

• [EtienneAr feedback] Add slightly more test on sample models for mimic

  

  Megane Millan

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  789fe7e

• [EtienneAr feedback] Fix rebase conflict

  

  Megane Millan

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  26699ac

• [EtienneAr feedback] Activate mimic for joint-jacobian test

  

  Megane Millan

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  0bc116e

• [EtienneAr feedback] Fix some size for mimic col/row selection

  

  Megane Millan

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  e9f122b

• [EtienneAr feedback] Fix joint jacobians computation for mimic

  

  Megane Millan

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  c31919c

• [EtienneAr feedback] WiP fix crba malloc

  

  Megane Millan

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  e140300

• [EtienneAr feedback] Remove temporary variables before return for joint mimic

  

  Megane Millan

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  0e7aee6

• [EtienneAr feedback] Add stack allocation feature for JointMotionSubspaceTpl class and remove dedicated class

  

  Megane Millan

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  5f92936

• [CRBA] Update computation of Ag

  

  Megane Millan

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  5520155

• [EtienneAr feedback] Small serialization fix after changes in JoitMotionSubspaceTpl

  

  Megane Millan

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  099871e

• [EtienneAr feedback] Fix on Jcom for mimic

  

  Megane Millan

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  2f6d38b

• [EtienneAr feedback] Fix corriolis computation for mimic leading

  

  Megane Millan

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  23ac3d0

• [EtienneAr feedback] Enable mimic in rnea tests

  

  Megane Millan

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  d073483

• [EtienneAr feedback] Define MaxDim in ScaledJointMotionSubspace and fix mimic test with it

  

  Megane Millan

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  3abadc2

• [EtienneAr feedback] Add dedicated mimic test for crba

  

  Megane Millan

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  c10a2a2

• [EtienneAr feedback] Template ScaledMotionSubspace on MaxDim

  

  Megane Millan

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  8790580

• [EtienneAr feedback] Add getRelativePlacement method for kinematics

  

  Megane Millan

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  930c0e5

• [EtienneAr feedback] add patch to crba for mimic joints

  

  Megane Millan

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  2cd2438

• [EtienneAr feedback] Update comment and remove hardcoded max size for crba patch

  

  Megane Millan

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  2a57b3d

• [EtienneAr feedback] Make random humanoid with mimic joint

  

  Megane Millan

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  90145ba

• [algorithm/model] Added a function to transform a joint into a mimic

  

  Megane Millan

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  f33680d

• [unittest/model] Added test for transformIntoJointMimic

  

  Megane Millan

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  51979a2

• Apply pre-commit

  

  Megane Millan

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  4b7cb8e

• Fix rebase

  

  Megane Millan

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  4d32c04

• [Algorithm/model] Remove useless if

  

  Megane Millan

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  8bc29a8

• [EtienneAr feedback] Fix crba in local convention to prevent heap allocation

  

  Megane Millan

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  a8fce65

• [EtienneAr feedback] Add assert for crba in world convention with mimic joints

  

  Megane Millan

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  77de800

• [EtienneAr feedback] More exhaustive testing of crba for mimic

  

  Megane Millan

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  3346843

• [EtienneAr feedback] Remove useless override of joint{Config,Velocity}From{Nv,Dof}Selector_impl and patch base FromDof ones

  

  Megane Millan

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  2349a36

• [EtienneAr feedback] Fix selectConfigFromDof for JointModelTpl in the case of a mimic by using a visitor

  

  Megane Millan

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  e1290c3

• [EtienneAr feedback] Fix ConfigSelectorFromDof visitor

  

  Megane Millan

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  53cf0f4

• [EtienneAr feedback] Fix CRBA test for mimic, and remove mimic in world convention test

  

  Megane Millan

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  8d933d3

• [EtienneAr feedback] Fix G matric for mimic crba test

  

  Megane Millan

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  0328046

• [EtienneAr feedback] Patch warnings in mimic crba test

  

  Megane Millan

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  7a9597c

• [Algorithm/crba] Fix world convention for mimic joints

  

  Megane Millan

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  b05e77d

• fix not working for all cases (spaced and parallel)

  

  Megane Millan

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  3fb0085

• [algo/crba] Fix for crba world (works for spaced and parallel)

  

  Megane Millan

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  6d5dd2b

• Fix crba world (small issue with parallel joint at the root where the two subtree meet)

  

  Megane Millan

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  07ff1c7

• Fix for world convention

  

  Megane Millan

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  9f6ecd7

• Make centroidal algorithm compatible with mimic and add tests

  

  Megane Millan

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  ce24f26

• Add mimic tests to rnea

  

  Megane Millan

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  722d22c

• Add security

  

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  ea00182

• [EtienneAr feedback] Fix getRelativePlacement and add unit test

  

  Megane Millan

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  61b2002

• Add security

  

  Megane Millan

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  da12bd3

• [EtienneAr feedback] Fix ForceOperator for generic motion subspace and mimic and prevent any malloc

  

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  3eb60e9

• [EtienneAr feedback] Patch previous fix on ForceOperator for motion subspace tpl

  

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  5eda4c0

• Fix some errrors for com computation

  

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  49a906d

• [Rnea] Patch Algorithms for mimic

  

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  fd93641

• remove mimic joints from test

  

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  83473f7

• [unittest/rnea] Add more test

  

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  a7ae329

• Fix tests and remove modification for Coriolis Matrix

  

  Megane Millan

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  2e95d2e

• [rnea] Remove useless setZero

  

  Megane Millan

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  aee0b64

• [Urdf] Rebase on new pinocchio release

  

  Megane Millan

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  ac81135

• Add assert to non supported algorithms

  

  Megane Millan

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  3351c41

• [algo/crba] Fix local convention for crba

  

  Megane Millan

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  1579ca1

• [EtienneAr feedback] Comment local fix for crba and don't use getRelativePlacement to remove redundant computations

  

  Megane Millan

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  63fe0f0

• [EtienneAr feedback] Add comments to world fix for crba and factorize code to prevent duplication

  

  Megane Millan

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  cbe2e6e

• Update examples

  

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  9a34926

• [EtienneAr Feedback] Fix LOCAL enum ambiguity in getRelativePlacement

  

  Megane Millan

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  e584142

• [EtienneAr Feedback]Fix Scalar / int confusion for model index

  

  Megane Millan

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  190ef77

• [EtienneAr Feedback] Fix explicit ConfigVectorAffineTransformVisitor template parameters

  

  Megane Millan

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  b3db001

• [EtienneAr Feedback] Fix Scalar / int confusion for joint mimic index

  

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  cc9279b

• [bindings/urdf] Rebasing

  

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  11cba68

• Make code compile with CppAd

  

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  1ced065

• [algo/crba] remove double function

  

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  a97d7ed

• [unittest/kinematics] Cast to avoid errors

  

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  3477868

• [multibody/geometry] Force scalar to be double

  

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  b9dd854

• [multibody/op] Only do comparison when scalar=double

  

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  a9cc6e0

• Remove compilation warnings

  

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  a20a039

• Fix crba and some tests for casadi

  

  Megane Millan

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  3b73171

• [EtienneAr Feedback] Fix Scalar forced to double for GeometryObjects

  

  Megane Millan

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  2b592fa

• [EtienneAr Feedback] Fix casadi test for joint mimic

  

  Megane Millan

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  597bca9

• [serialization] Fix template errors

  

  Megane Millan

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  61f97df

• Fix examples

  

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  42085d0

• Fix Serialization

  

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  8239f01

• Fix examples

  

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  1732fa9

• [test/rnea] Try fix for windows

  

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  60e8956

• [EtienneAr Feedback] Swap import order

  

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  6bc1412

• [EtienneAr Feedback] Fix PINOCCHIO_EXPLICIT_INSTANTIATION DECLARATION to DEFINITION for transformJointIntoMimic

  

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  171931a

• [EtienneAr Feedback] Update changelog

  

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  590931e

• [EtienneAr Feedback] Add explicit to single argument constructors

  

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  ea13ed5

• Applied pre-commit

  

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  a218f62

• Fix init problem

  

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  f6038ef

• [algo/jacobian] Fix rebasing

  

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  b90f6e0