search

Zolkin1 / torc

TORC: Tools for Optimization, Robotics, and Control
1 stars 1 forks source link

Model pinocchio #11

Closed Zolkin1 closed 3 months ago

Zolkin1 commented 3 months ago

Added basic model infrastructure and a first version of a full rigid body model (with unit tests). Also has a partial implementation of the single rigid body model with a few todos and tests left there.

Zolkin1 commented 3 months ago

Automated tests won't work right now as I changed the pinocchio dependency to 3.0, but last I checked the pinocchio apt repo was still on 2.7.1. Tests pass locally.