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TODO.md

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Xbot2 Interface

This package replaces the good ole' XBotInterface

TODO List

  • IMU
  • FT
  • chain APIs
  • getModel/getRobot with ConfigOptions param
  • isFloatingBase
  • setFloatingBasePose
  • setFloatingBaseOrientation
  • setFloatingBaseTwist
  • setFloatingBaseAngularVelocity
  • setFloatingBaseState
  • getFloatingBaseLink
  • getCOM
  • getCOMJacobian
  • getCOMVelocity
  • getCOMAcceleration
  • getCentroidalMomentum
  • getCentroidalMomentumMatrix
  • getMass
  • getGravity
  • setGravity
  • getInertiaMatrix
  • getInertiaInverseTimesVector
  • getInertiaInverseTimesMatrix
  • getInertiaInverse
  • computeGravityCompensation
  • get/set joint limits
  • eigen2map / map2eigen
  • syncFrom / setReferenceFrom