Masaki Murooka

Thank you for comments, and sorry for late reply. I updated as the following comment: > keep the parameters of retime_trajectory unchanged, call retime_trajectory_totg, retime_trajectory_itpt etc (Original version is copied...

rebased origin/master and resolved conflicts. but it's a bit hard to test this PR in my own environment now.

Thanks for your comment. I'm still thinking this PR is correct, so could you check again... > As for the first commit, jnt_tra_msgs_ includes multiple points on the trajectory for...

I had the same problem with RRT and RRTstar (`exactSolnPathTerminationCondition` always returns false).

Thank you for your comment @mehdi-benallegue As for saturation due to the bias estimation limit, that is indeed what is happening in the video above, but I had a more...

Thank you, I have confirmed that the CI artifact videos are not playable in some players including Windows Media Player (they are playable in VLC). I don't know the solution...

The robot motion succeeds on my local PC, but fails on CI. I don't know why... https://github.com/isri-aist/MultiContactController/actions/runs/4531802611 https://user-images.githubusercontent.com/6636600/227933683-5565a94f-27c2-4adb-ba8a-abf936bf16fd.mp4

Thanks for pointing that out. This issue is present in all cnoid files in [hrp-choreonoid](https://github.com/isri-aist/hrp-choreonoid/blob/cf508151ee0a9519b7cb64bfaecc1bdad4119d26/projects/HRP5P/sim_mc_openrtm.in.cnoid#L393) (private), [LMC](https://github.com/isri-aist/LocomanipController/blob/7dc96cf4d2de1e135a262789023e393572ad4dcf/cnoid/project/LMC_JVRC1_Cart.in.cnoid#L537), and MCC. Could you please work on addressing this? You will need to...

@ThomasDuvinage Is the work on this Pull Request complete? It would be helpful if you could provide a comprehensive description of the conditions for using this patch (e.g., special branch...

I have prepared the following document as tips for introducing BWC to new robots. This tips section is based on problems encountered when applying BWC to robots outside of JRL....