-
Hi there,
I have just learned about this wonderful tool. I have gone through and It appears it can do multi things such as kinematics and dynamics which I'm really interested in! But I have faced …
-
## Bug description
`crba` is not working in `C++`, but works in `Python`
## Reproduction steps
`C++` code:
```c++
#include
#include "pinocchio/parsers/urdf.hpp"
#include "pinocchio/alg…
-
Could not decode reliable message: Encryption not supported - 84OjhKBQ2sl4Yl4I5Bc0FcME8DJHRmxWgZH3aFaI5b3Bc5dtxcclPlIprtXWgMnHN/0S8N1nPPs7codbFT7OwJ4AudU6fQKTF37t9ZMx1j7bO47YRkqtLNcErBPzEhbhK/Z2IOG22f…
-
I tried to generate the code of function pinocchio::impulseDynamics but i got runtime error
```
terminate called after throwing an instance of 'CppAD::cg::CGException'
what(): GreaterThanOrZer…
-
All our Rigid Body Dynamics Algorithms have been implemented either using plain `for` loops (that are unrolled during JIT compilation incurring in long build times) or `jax.experimental.loops` (that p…
-
Hi,
This is a question about the inconsistencies between crba() and rena(). I used two ways (rnea and crba) to calculate `tau`, but the result was inconsistent:
1. tau = rnea(model, data, q, v, a, e…
-
The implementation of CRBA still uses plain Python for loops. Switching to JAX's for loops should provide a significant improvement in JIT compilation times.
-
Hi, I encountered a compilation error when I try to compile the c++ code on ubuntu 18.04:
` /opt/openrobots/include/pinocchio/parsers/urdf/geometry.hxx:256:7: error: template-id ‘getLinkGeometry’ f…
-
Pinocchio: 2.6.19
Boost: 1.78
Eigen: 3.3.7
same log for codegen test
Log:
>/home/harper/miniconda3/envs/my_env/include/boost/math/constants/constants.hpp: In instantiation of ‘constexpr typename …
-
Hello,
I have a confuse when calculating the inertia. I load model from a urdf file, then run bellow code:
```
pinocchio::crba(*model_floating_, *data_floating_, q);
data_floating_->M.triangularVi…