Add kinodynamical models for robots

Simple-Robotics / aligator

A versatile and efficient framework for constrained trajectory optimization

https://simple-robotics.github.io/aligator/

BSD 2-Clause "Simplified" License

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Add kinodynamical models for robots #131

Closed edantec closed 3 months ago

edantec commented 4 months ago

This PR aims at adding a kinodynamics forward scheme to Aligator. This kinodynamics scheme takes into account the full kinematics of the robot and its centroidal dynamics expressed in base frame. The derivatives are easier to compute than the full dynamics ones, at the price of having to rely on an inverse dynamics QP to output the commanded torques.

A Python script of an optimal control problem involving Solo walking is provided as an example.

ManifoldFR commented 3 months ago

@jcarpent do you still need to review this PR?