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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 6D contact option to centroidal dynamics #136

Closed edantec closed 2 months ago

edantec commented 3 months ago

This PR aims at adding a new feature to the centroidal dynamics and costs formulation, namely the option to consider 6D contacts with angular forces. It also provides an approximated wrench cone residual with 4 facets. The 6D contact dynamics is especially useful for robots with large feet like Talos.

ManifoldFR commented 3 months ago

Nevermind, the bloody contact-info.hpp header only exists for Pinocchio 3 😐

Let's just open an issue to switch that over