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I use Pinocchio to compute inverse dynamic of UR5 robot. My code is as follows.
import toppra as ta
import toppra.constraint as constraint
import toppra.algorithm as algo
import numpy as np
imp…
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Given a floating base system subject to a set of rigid constraints:
\begin{equation}
M \dot{\nu} + h = B\tau + J_c^\top f \\\\
J_c \dot{\nu} + \dot{J}_c \nu = 0
\end{equation}
It would be nic…
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Permitir o registro de recursos relacionados a um documento, exemplos: erratas, suplementos, etc.
Campos inicialmente identificados: tipo (lista controlada), título, descrição, link e idioma.
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@S-Dafarra asked about this. This derivative have the nice properties that everything boils down to a lot of 6D cross product between all the joint motion subspace vectors.
References on this:
*…
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I was wondering if there has been attempt to add ZMP computation in metapod or if these is any plan to add ZMP computation support in the future?
Thanks!
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Dear @plancherb1,
Thanks for sharing this set of benchmarks.
I wonder why your are not also comparing with Pinocchio code gen support, which can be up to 10 times faster than standard CPU compiled…
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If the external forces are properlty estimated from sensor readings, the residual coming from the computation of the dynamic step of the RNEA (including the estimated external forces) should be zero. …
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## Bug description
I installed Pinocchio following the instructions here [https://stack-of-tasks.github.io/pinocchio/download.html](url) using robotpkg on a Ubuntu 20.04 machine with python 3.8. Bu…
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## Bug description
I am using ROS 1 (Noetic) in Ubuntu 20.04 to run the project. The code is able to build using the `catkin build` command. However, when I try to run the code using `rosrun` or `r…
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My question is very simple,
we have a float-based robot, and we add the floating-base to `pinocchio` model by the code
```
// add 6 DoF for the floating base
pinocchio::JointModelComposite jointC…