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roboptim / roboptim-retargeting

Motion Retargeting using RobOptim (EXPERIMENTAL)
http://www.roboptim.net/
GNU Lesser General Public License v3.0
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Add Torques computations with Choreonoid #18

Closed thomas-moulard closed 10 years ago

thomas-moulard commented 10 years ago

This is more challenging than I thought. The Choreonoid ForwardDynamics interface does not compute from q, dq, ddq but incrementally.

thomas-moulard commented 10 years ago

Previous comment was a mistake, it is obviously InverseDynamics and not Forward. In this case the problem is that for now a fixed root body is required. We can for now set this to one of the robot feet but Choreonoid does not support this yet.