Code

Parametric improvements#72

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Giulero merged 32 commits intoami-iit:mainami-iit/adam:mainfrom S-Dafarra:parametric_improvementsS-Dafarra/adam:parametric_improvementsCopy head branch name to clipboardMar 22, 2024

+950-189

Commits

Commits on Feb 29, 2024

• Added PyCharm conf files to gitignore

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  b231b38

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• Workaround issue while loading stickBot model

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  71f3732

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• Fixed order of arguments in get_total_mass and removed leftover forward_kinematics method

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Commits on Mar 5, 2024

• Fixed typos

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Commits on Mar 6, 2024

• Updating the visual info after the parametric modifications

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• Initial draft to convert an ADAM model to an iDynTree model

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• Completed draft of conversion to iDynTree model

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• Added initial test for conversion to iDynTree

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Commits on Mar 7, 2024

• Set visuals

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• Added handling of frames in the conversion to iDynTree

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• Removed useless aliases in iDynTree conversion

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• Adding check when setting visuals to avoid CI failures

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  72e7cb6

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• Removed useless origin field in Link and added Pose for type hinting

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• Removed usages of link origin.

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• Added Inertia type hint and fixed some warnings

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Commits on Mar 8, 2024

• Using List in Pose type hint to avoid warnings about presence of [] operator

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• Avoiding to use iyx in the inertia.

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• Added missing self in method definitions of SpatialMath

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  a5e21bb

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• Properly using Pose objects in parametric joint and links

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  fbeb8e4

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• Added test for comparison from parametric model to iDynTree

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• Added conversion to idyntree to __init__.py

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• Properly setting the transform of visuals and set joint limits in the idyntree conversion

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• Removed check of attribute availability in the conversion to idyntree

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  4539ebd

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• Added Limits type hint and fixed other type warnings

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  e7ee427

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• Removed unused method with empty start string

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• Return an error if the input link is not supported in the parametric model

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  8e25f02

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• Some type hinting fix in tree.py

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  fa390b8

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• Removed useless member in parametric link

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• Added method to retrieve the original densities

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• Use Union in Tree type hint to be compatible with python 3.8

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Commits on Mar 12, 2024

• Set minimum idyntree version in CI

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• improved the documentation of the get_original_densities methods

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