Pierre Puchaud

My LaTeX strings look bold when exporting in .pdf and .eps

10

I'm using plotly to generate my figures for a research article, in pycharm. I need to export my figure in **.eps or .pdf** and I have an issue that doesn't...

Hi, I opened an issue on a previous repo of rbdl. Just to let you know I have implemented this feature in [Biorbd](github.com/pyomeca/biorbd). It is essentially based on rbdl. So...

[RTR] inverse defects on joint acceleration driven

1

### All Submissions: * [x] Have you followed the guidelines in our Contributing document [docs/contribution.md]? * [x] Have you checked to ensure there aren't other open [Pull Requests] for the...

- Should be a method of BiorbdModel.

Can be easily done by any intern. Should be done in one day.

leap frog integrator

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Implement this as an ode solver. https://github.com/ADVRHumanoids/horizon/blob/85f37e8c9785780b9bcf76b30250f20ecb610859/horizon/transcriptions/integrators.py#L144-L170

ACADOS + DefectType

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Idea 1 ```Python3 solver = Solver.ACADOS() solver.set_integrator_type("IRK", defect_type=DefectType.IMPLICIT) ocp.solve(solver) ``` Idea 2 ```Python3 ode_solver = OdeSolver.IRK(defect_type=DefectType.IMPLICIT) solver = Solver.ACADOS() ocp.solve(solver) ``` @aceglia Any thoughts on this ? @pariterre

It would be great to have a method like this, on sol.states, or sol.controls, it would help to reuse solutions as initial guess. ```python def to_initial_guess(v: dict): """ Convert a...

VariableReductor as a subClass of Bimapping ?

1

We could clarify the reduction of degrees of freedom for users with a list of dependence pointing on the DoFs of the model, instead of the dynamic variables.

This should be replaced: markers_diff = BiorbdInterface.mx_to_cx("markers", markers_diff, all_pn.nlp.states["q"]) by something like : markers_diff = nlp.mx_to_cx("markers", markers_diff) using the snippet: var = [] var.extend([nlp.states[key] for key in nlp.states]) var.extend([nlp.controls[key] for...