NdTrajectoryGenerator

[andreadelprete]

Hi @olivier-stasse
I was looking for the old NdTrajectoryGenerator, which has been removed from this repo. I thought it had been moved to sot-core, but I cannot find it there. Can you help me out please?

Thanks!
Andrea

[gabrielebndn]

Hi @andreadelprete,
we copied NdTrajectoryGenerator in sot-talos-balance. However, when we made the first release, it was conflicting with the version here, so it was removed from sot-torque-control.
The idea was to move it to sot-core as soon as some problems would be fixed (see https://gepgitlab.laas.fr/loco-3d/sot-talos-balance/issues/94 and
https://gepgitlab.laas.fr/loco-3d/sot-talos-balance/issues/47#note_4984), mostly waiting for package curves to be ready (see https://gepgitlab.laas.fr/loco-3d/curves/issues/1). However, this is still work in progress

[olivier-stasse]

Hi @andreadelprete ,
Sorry for the late reply. If you need it we can try to fix this starting in January to have a workable NdTrajectoryGenerator in sot-core asap.
Best,
Olivier.

[andreadelprete]

I've found a workaround, so it's not urgent for me, but it would be nice to have it back somewhere eventually because I think it's a useful entity.

[olivier-stasse]

@andreadelprete sorry to come back to this but will you be ok if we switch to a newer library and btw avoid duplication of code and move to sot-core ? see loco-3d/sot-talos-balance#4

[andreadelprete]

ok