ReferenceConfiguration was not working when using extraConfigs, but an error only appear since the pinocchio update that added explicit checks of the dimensions of the inputs of the difference method.
jointLimitsDistance was not working when using frame name for defining the limb's effector instead of joint name. The current fix do not fix the issue if the effector name is the name of a frame which is not the attached to the last joint of the kinematic sub-tree of the limb ...
In reachability, correctly check the success of the double description method and the computation of the stability constraints. There was a silent failure in Release and a failling assert in Eigen in Debug in the case where getPolytopeInequalities did not converge.
ReferenceConfigurationwas not working when using extraConfigs, but an error only appear since the pinocchio update that added explicit checks of the dimensions of the inputs of thedifferencemethod.jointLimitsDistancewas not working when using frame name for defining the limb's effector instead of joint name. The current fix do not fix the issue if the effector name is the name of a frame which is not the attached to the last joint of the kinematic sub-tree of the limb ...In reachability, correctly check the success of the double description method and the computation of the stability constraints. There was a silent failure in Release and a failling assert in Eigen in Debug in the case where
getPolytopeInequalitiesdid not converge.