Get access to Pinocchio Data in Actuation Data

[msabbah06]

Hello,
I am currently working on a custom actuation model for my project. This actuation model would require to get access to the Pinocchio Data to perform its calc and calcDiff. However, for now it is not possible to create Actuation Data that can take as input a Pinocchio Model.

Describe the solution you'd like
The idea I had in mind was to modify the code for the createData function of the ActuationModel so that it can take a Pinocchio Model as input.

Describe alternatives you've considered
I also thought about adding access to the Data Collector for the actuation data and do as it is done for the cost with a shareMemory function. But I don't know if this modification is mandatory.

What do you think ? I let the discussion open and I would thank you a lot if you have recomandations. I don't mind adding this feature to crocoddyl since I think I will make the change in my own fork of the repo.

Thank you in advance,
Maxime