Add inertias to the HebiKinematics API:

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Add inertias to the HebiKinematics API: #5

Open daverolli opened 6 years ago

daverolli commented 6 years ago

Add inertias to the HebiKinematics API:

setPayload( ‘inertia’, [ixx iyy izz ixy ixz iyz] )
addBody( ‘inertia’, [ixx iyy izz ixy ixz iyz] )
Not sure if we need to support CoM_rot?
getBodyInertias() -- Returns a 3x3xN set of inertia tensors

ennerf commented 6 years ago

Do you want it in the API before any of the math for it is implemented?

Should we start to deprecate the addBody method in favor of using hrdf (at least for complex use cases)?

daverolli commented 5 years ago

Not sure it makes sense to add inertial stuff to the API until it does something useful. But whatever makes sense to you.

I don't really want to deprecate addBody(). Although HRDF is the default way for loading kinematics configurations, I think being able to programmatically adjust the config may be important in the future, for example if we auto-id kinematics. We might even need to add a removeBody() in that case.