Fix/dealing with continuous joints#131
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…ration (pinocchio) and jointPosition (hardware (PD control mostly))
…nocchio (cf get_joint_configuration_nq)and joint space configuration used by hardware/ROS (cf get_joint_position_nq)
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MaximilienNaveau
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Jan 15, 2026
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Thank you very much for the work!
In this work package one needs to be extra carefull about system calls like malloc which preempt the CPU. These call are not real-time safe.
Hence you should verify that you do not create unnecessary variables on the fly.
I will merge this PR once all comment have been resolved.
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I ran into a problem when using LFC with Tiago. I wanted to control the wheels but it was a "continuous joint".
Problem was that in case of a continuous joint, Pinocchio will add 2 to nq (cos, sin).
So the modifications are mainly about :