Once Pinocchio 3.0 is out on PyPi, we should switch this library over... although it already is available on Conda-Forge, so development can certainly start. I'd still rather stick to pip install if possible, though, so happy to wait it out.
If HPP-FCL is also upgraded as part of this, it should give us the ability to get nearest/witness points from the CollisionRequest objects which should help with the collision-aware IK / trajectory optimization... I hope.
Once Pinocchio 3.0 is out on PyPi, we should switch this library over... although it already is available on Conda-Forge, so development can certainly start. I'd still rather stick to
pip installif possible, though, so happy to wait it out.See https://github.com/stack-of-tasks/pinocchio/discussions/2265 for more details.
If HPP-FCL is also upgraded as part of this, it should give us the ability to get nearest/witness points from the
CollisionRequestobjects which should help with the collision-aware IK / trajectory optimization... I hope.