Now state can handle systems with root joints as S03 or Euclidean groups (!265) · Merge requests · loco-3d / crocoddyl

Carlos Mastalli requested to merge cmastall/crocoddyl:topic/state-multibody-fix into devel Nov 13, 2019

A proper solution needs to be developed in Pinocchio. For more details see the following issue: https://github.com/stack-of-tasks/pinocchio/issues/949

I have provided this temporary-fix, since it's limiting us to apply the StateMultibody in fixed-base system with less than 6 DoF. This issue was reported by @jmarti during the integration of double pendulum system.

Now state can handle systems with root joints as S03 or Euclidean groups

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