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ami-iit / adam

adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.
https://adam-docs.readthedocs.io/en/latest/
BSD 3-Clause "New" or "Revised" License
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Fix homogeneous transform computation for prismatic joints #66

Closed Giulero closed 6 months ago

Giulero commented 7 months ago

With @YuchuanLu we discovered this bug preventing computations for prismatic joints. The sum is not defined for a list and an array_like, so I wrapped the rpy (that was in a list) in an array. I might come back later for a more smart handling.

traversaro commented 6 months ago

We may want also to add some dummy models with prismatic joints to the tests of consistency with iDynTree (that could have its own problems with prismatic models, see https://github.com/robotology/idyntree/issues/1149).

Giulero commented 6 months ago

I agree!