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loco-3d / crocoddyl

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
BSD 3-Clause "New" or "Revised" License
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Pinocchio v3 compatibility #1253

Closed nim65s closed 6 months ago

nim65s commented 6 months ago

As you can see in the commit history, @jorisv is doing most of the work, and deserve the credits :) I just opened this draft so that we can more easily talk about those changes for now.

nim65s commented 6 months ago

NB: there is another blocking pointsthan what we can see here. It is being worked on, in private spaces. @LudovicDeMatteis will be able to provide a green light when everything will be ready enough for him.

update: this was https://github.com/stack-of-tasks/pinocchio/issues/2247, and is not related to crocoddyl. Sorry for the false alarm.