GitLab

Following https://github.com/stack-of-tasks/pinocchio/pull/1220, some
Data can't be const anymore.

This commit just removed const until compilation succedded again.

Add python bindings for method addActuationTask of inverse-dynamics-formulation-acc-force. Change name of method addTorqueTask to addActuationTask. Extend python example with UR5 robot with actuation bounds.

Extend InverseDynamicsFormulationAccForce to work also for robot manipulators, which are fully-actuated, so they do not need to specify the unactuated base dynamics as equality constraints in the TSID optimization problem.

Fix bug in python bindings of InverseDynamicsFormulationAccForce. The methods getContactForces and checkContact were assuming that the contact force vectors were always 12d. This was the case a while ago, but now TSID supports also 3d contact points, so this assumption does no longer hold in general. To fix the bug I have introduced a new method that allows the user to get the contact force vector without knowing its size in advance.

Introduce weight for motion task associated to RigidContact. Specify weight (for both motion task and force regularization task) when calling addRigidContact rather than when creating Contact object (to be coherent with weights of other Task's).

inv-dyn-form-acc-force] Fix bug occurring when removing a contact constraint: the inequality constraints on the associated forces were not removed.