Issue warning/error if a hybrid robot model is used without the HyrodynRobotModel

ARC-OPT / wbc

C++ library for optimization-based control of redundant robots

https://arc-opt.github.io/Documentation/

BSD 3-Clause "New" or "Revised" License

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Closed dmronga closed 2 years ago

dmronga commented 2 years ago

Using the KDL based robot model on a hybrid problem will lead to undefined robot behavior. Possible solution:

[ ] Disallow setting submechanism file + type: at the same time in RobotModelConfig