Clean Model about pinocchio HOT 4 CLOSED

It could even be a HPP requirement as it is needed for the manipulation stack.

My experience of URDF/SRDF parsing in HPP leads me to thinking :

• the URDF parser should create a joint tree below a root joint provided as input,
• parsing several SRDFs for the same robot makes writing SRDF easier (no need to copy SRDF to add new data)

from pinocchio.

Thank you for your feedback. Can you say more about what you need for hpp-manipulation ?

from pinocchio.

The issue raises two aspects: there is a lot of members std::vector in Joint; and the API is not nice, especially the method addBody (which indeed added both a joint and a body).

It seems that the proper solution is to keep the same members in Model, but modify / rename the API.

@fvalenza will separate the actual "addBody" method into "addJoint" (with zero inertia) and "appendBodyToJoint".

Should we keep a method "addJointAndBody" which calls both? I think yes.

from pinocchio.

Solved by #184.

from pinocchio.