Code

fext adressing major enhancement#145

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Merged

Ipuch merged 23 commits intomainIpuch/bioNC:mainfrom fextIpuch/bioNC:fextCopy head branch name to clipboardDec 2, 2024

+1,972-699

Commits

Commits on Nov 29, 2024

• feat: better external forces

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  48b0c75

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• refactor: transformation matrix

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• slowly refactoring

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• insane refactor to get rid of circular import

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• tests: restored numpy

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Commits on Nov 30, 2024

• refactor: restoring foward dynamics + force + only one works

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• example + test: one pendulum with force fixed

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• example: double pendulum with force fixed hell yeah

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• refactor: to simplify a loop of external force to generalized forces

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• hell yeah this works !

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• test: one more for fext

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• tests: and once more !

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• more tests

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Commits on Dec 2, 2024

• example: extra id with external forces

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  ceb9331

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• tests: fixed

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  a1b59ec

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• fix and extra tests: missing transpose in transofrmation matrix

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• feat: casadi quest

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  86316f7

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• fix: copy trick and tests

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• init

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• restored utils

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• feat: casadi inverse dynamics

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• temporary fix: on joint generalized Forces

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• clean: delete prototype

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