Carlos Mastalli

Thanks @traversaro for a prompt response. Just for clarity, I would like to install robotstack using the Apple native architecture (i.e., osx-arm64) as I am keen to exploit its benefits.

> @cmastalli so what you're saying is that – even with only native packages (osx-arm64) – you had to install / enable Rosetta for `roscore` to work? > That's unexpected!...

Is there any update regarding this topic?

> mamba create -n testenv ros-noetic-ros-core I apologise if I didn't reply earlier. Please let me re-open this issue. This is the output of `conda list` in this minimal enviroment:...

Thank you for opening the issue. Let me know if there is something else that I can try from my side.

Hi @Andrea8Testa! You should write ```python data.xout[:] = data.pinocchio.ddq ``` as we need to write the data internally, rather than modify the object. Let me know if this fixes your...

You also need to write the internal data in these lines: ```python data.Fx -= np.matmul(a_partial_da, data.multibody.contacts.da0_dx[:self.contact.nc,:]) data.Fx += np.matmul(a_partial_dtau, data.multibody.actuation.dtau_dx) data.Fu = np.matmul(a_partial_dtau, data.multibody.actuation.dtau_du) ``` Additionally, you are allocating data...

> I modified the code to address the suggestions, but the result still does not change. > > ``` > class DifferentialSEADynamics(crocoddyl.DifferentialActionModelAbstract): > def __init__(self, state, actuation, contactModel, costModel): >...

> Hi @cmastalli, > > In [biped.py](https://github.com/loco-3d/crocoddyl/blob/master/bindings/python/crocoddyl/utils/biped.py), I used the class `DifferentialActionModelNumDiff` to inspect the computed `dmodel` as > > ``` > dmodel = DifferentialSEADynamics(self.state, self.actuation, contactModel, costModel) > derivative...

The memory could be reduced it by splitting the implementation of a classe. Let's say for the `DifferentialActionModelContactFwdDynamcs` class, we have 1. `contact-fwddyns-calc.hpp` and `contact-fwddyns-calcdiff.hpp` 2. `contact-fwddyns-calc.cpp` and `contact-fwddyns-calcdiff.cpp` This...