Fabian Schramm

Todo: - [ ] energy dissipation in transmission - [ ] transmission constraints

https://github.com/duburcqa/jiminy/pull/432#discussion_r745625397 ``` auto robot = robot_.lock(); for (std::string const & jointName : jointNames_) { std::vector jointPositionIdx; if (!robot->model.existJointName(jointName)) ``` I fixed the way how to access the robot, but it...

I still have sharedHolders all over the place in the AbstractTransmission. We agreed that we do not need this for them right ? So I will get rid of them

Do we still need Options for the transmission ? To set for example to mechanical reduction ratio in case of a simple transmission ?

Ok, I'm trying to understand it using the `AbstractMotor`, and I'm wonderig why do we have `baseMotorOptions_` and `motorOptionsHolder_` one is Structure with the parameters of the motor and public...

https://github.com/duburcqa/jiminy/pull/432#discussion_r770577643 maybe you can explain me quickly what do you mean exactly with this "copy on purpose". I tried to do it in a same way then AbstractMotor.h `virtual hresult_t...

https://github.com/duburcqa/jiminy/pull/432#discussion_r770589573 why in this case you propose to do `bp::return_value_policy()))` whereas the other getters have `bp::return_value_policy()))`

https://github.com/duburcqa/jiminy/pull/432#discussion_r770581950 why you think we shouold q and v in this case? I thought the simple transmission is just a basic reduction ratio that is state independent

```bash /home/fabian.schramm/wdc_workspace/src/jiminy/core/src/engine/EngineMultiRobot.cc: In member function ‘const vectorN_t& jiminy::EngineMultiRobot::computeAcceleration(jiminy::systemHolder_t&, jiminy::syst emDataHolder_t&, const vectorN_t&, const vectorN_t&, const vectorN_t&, jiminy::forceVector_t&)’: /home/fabian.schramm/wdc_workspace/src/jiminy/core/src/engine/EngineMultiRobot.cc:3690:14: error: ‘pinocchio::Data’ {aka ‘struct pinocchio::DataTpl’} has no member named ‘rotorInertia’ 3690 |...

Hey @Sabotm, I achieved to use the scripts by cloning this library here: https://github.com/machines-in-motion/lmpc_walking into the exercizes folder as LMPC_walking.