Return joint velocity in world aligned coordinates

[jviereck]

Pinocchio has a way to compute the joint velocities in the world aligned frame. It would be great if this would be possible with the dg binding as well.

[jmirabel]

You mean the LOCAL_ALIGNED_WORLD convention in Pinocchio ?

[jviereck]

Yes.

[jmirabel]

The convention should be specified at signal creation. The whole class DynamicPinocchio should be re-written to be closer to Pinocchio's API.