-
There are a few things that annoy me in the current metapod structure:
1. model and storage mixup: we could separate the kinematic model (tree of
joints), the state-independant parameters (masses a…
-
in metapod you can define a simple (head-less) humanoid like this:
```
Galilean frame
| floating joint
torso-----------------+-------------------+-------------------+
| revolute joint | revolu…
-
Currently all the algorithms walk the tree on their own. We could factor this in a few visiting algorithms. Other algorithms (crba, etc.) would be implemented as visitors.
here are some avantages:
- …