Fast Talos

[jbmouret]

• new URDF "talos_fast"
• new example

This is a talos with simplified collision detection to make things faster.

[costashatz]

We might want to add a version of Talos without the upper body (maybe someone wants to focus only on the locomotion of a biped):

What do you think?

[jbmouret]

If you use it, no problem for me. The main challenge will be to keep synchronized all these URDFs and documenting them (what they do, how they differ, etc.).

[jbmouret]

Should we merge or should we add your lower body?

[jbmouret]

Also, what do you think of starting to add Readme.md in the directories of the robot? like, what are the features/trade-offs of each URDF.

[costashatz]

Should we merge or should we add your lower body?

I think we should not add this lower body as I agree with you that it'd be difficult to maintain all the different models.

Also, what do you think of starting to add Readme.md in the directories of the robot? like, what are the features/trade-offs of each URDF.

Yes. This is a good idea.

[costashatz]

Also, what do you think of starting to add Readme.md in the directories of the robot? like, what are the features/trade-offs of each URDF.

Should we do this in this PR? Or should we create a new one?

[jbmouret]

I should quickly do it in this PR.

Btw, LAAS has a "fast talos" URDF too (with boxes or automatically generated boxes). We should check it.

[costashatz]

Merging