Plans for Pinocchio3.x integration?

stack-of-tasks / tsid

Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio

BSD 2-Clause "Simplified" License

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Plans for Pinocchio3.x integration? #231

Closed egordv closed 3 weeks ago

egordv commented 2 months ago

Hello Andrea! Pinocchio3 was recently released, promising new great features like RigidConstraint and other. Do you have any plans to migrate current TSID implementation to Pinocchio3.x version?

andreadelprete commented 2 months ago

Good point. At the moment there's no plan as far as I know. Honestly, I don't even know what we could gain by switching to pinocchio 3. Maybe @jcarpent could give us some insights on this?

nim65s commented 2 months ago

CI already switched to pinocchio 3. If we want to stay on pinocchio 2, we'll propably have some work to do about it.

andreadelprete commented 3 weeks ago

I think it's fine to stay with Pinocchio 3 as far as I can see, so I'm gonna close this issue for now.